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This commit introduces the APM Airframe configuration. The interface is the same as the PX4 one, but the way we deal with the uas is a bit different Since the APM stack doesn't provide a xml with airframe definitions a new one was created by hand with only the values that we need, wich will trigger a download of the parameters file from the mavlink github Now it correctly handles the FRAME variable and it's faster regarding the download of the parameters for each type of Frame. Only show Airframes for ArduCopter, not for ArduRover nor ArduPlane Signed-off-by: Tomaz Canabrava <tomaz.canabrava@intel.com>QGC4.4
Tomaz Canabrava
10 years ago
25 changed files with 1312 additions and 206 deletions
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@@ -0,0 +1,60 @@
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#include "APMAirframeComponentAirframes.h" |
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#include "APMAirframeComponentController.h" |
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QMap<QString, APMAirframeComponentAirframes::AirframeType_t*> APMAirframeComponentAirframes::rgAirframeTypes; |
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QMap<QString, APMAirframeComponentAirframes::AirframeType_t*>& APMAirframeComponentAirframes::get() { |
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return rgAirframeTypes; |
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} |
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void APMAirframeComponentAirframes::insert(const QString& group, int groupId, const QString& image,const QString& name, const QString& file) |
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{ |
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AirframeType_t *g; |
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if (!rgAirframeTypes.contains(group)) { |
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g = new AirframeType_t; |
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g->name = group; |
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g->type = groupId; |
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g->imageResource = QString("qrc:/qmlimages/") + (!image.isEmpty() ? image : QString("AirframeStandardPlane.png")); |
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rgAirframeTypes.insert(group, g); |
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} else { |
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g = rgAirframeTypes.value(group); |
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} |
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if (!name.isEmpty() && !file.isEmpty()) |
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g->rgAirframeInfo.append(new APMAirframe(name, file, g->type)); |
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} |
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void APMAirframeComponentAirframes::clear() { |
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QList<AirframeType_t*> valueList = get().values(); |
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foreach(AirframeType_t *pType, valueList) { |
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qDeleteAll(pType->rgAirframeInfo); |
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delete pType; |
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} |
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rgAirframeTypes.clear(); |
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} |
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@ -0,0 +1,62 @@
@@ -0,0 +1,62 @@
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
||||
|
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#ifndef APMAirframeComponentAirframes_H |
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#define APMAirframeComponentAirframes_H |
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#include <QObject> |
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#include <QQuickItem> |
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#include <QList> |
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#include <QMap> |
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#include "UASInterface.h" |
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#include "AutoPilotPlugin.h" |
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class APMAirframe; |
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/// MVC Controller for AirframeComponent.qml.
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class APMAirframeComponentAirframes |
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{ |
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public: |
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typedef struct { |
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QString name; |
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QString imageResource; |
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int type; |
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QList<APMAirframe*> rgAirframeInfo; |
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} AirframeType_t; |
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typedef QMap<QString, AirframeType_t*> AirframeTypeMap; |
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static AirframeTypeMap& get(); |
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static void clear(); |
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static void insert(const QString& group, int groupId, const QString& image,const QString& name = QString(), const QString& file = QString()); |
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protected: |
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static AirframeTypeMap rgAirframeTypes; |
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private: |
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}; |
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#endif |
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@@ -0,0 +1,208 @@
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
||||
|
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
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======================================================================*/ |
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|
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#include "APMAirframeComponentController.h" |
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#include "APMAirframeComponentAirframes.h" |
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#include "APMRemoteParamsDownloader.h" |
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#include "QGCMAVLink.h" |
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#include "MultiVehicleManager.h" |
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#include "AutoPilotPluginManager.h" |
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#include "QGCApplication.h" |
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#include <QVariant> |
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#include <QQmlProperty> |
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bool APMAirframeComponentController::_typesRegistered = false; |
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APMAirframeComponentController::APMAirframeComponentController(void) : |
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_airframeTypesModel(new QmlObjectListModel(this)) |
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{ |
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if (!_typesRegistered) { |
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_typesRegistered = true; |
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qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAiframeType", "Can only reference APMAirframeType"); |
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qmlRegisterUncreatableType<APMAirframe>("QGroundControl.Controllers", 1, 0, "APMAiframe", "Can only reference APMAirframe"); |
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} |
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_fillAirFrames(); |
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Fact *frame = getParameterFact(FactSystem::defaultComponentId, "FRAME"); |
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connect(frame, &Fact::vehicleUpdated, this, &APMAirframeComponentController::_factFrameChanged); |
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_factFrameChanged(frame->rawValue()); |
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} |
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APMAirframeComponentController::~APMAirframeComponentController() |
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{ |
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} |
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void APMAirframeComponentController::_factFrameChanged(QVariant value) |
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{ |
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FrameId v = (FrameId) value.toInt(); |
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for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) { |
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APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i)); |
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Q_ASSERT(airframeType); |
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if (airframeType->type() == v) { |
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_currentAirframeType = airframeType; |
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break; |
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} |
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} |
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emit currentAirframeTypeChanged(_currentAirframeType); |
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} |
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void APMAirframeComponentController::_fillAirFrames() |
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{ |
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for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) { |
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const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex); |
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APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this); |
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Q_CHECK_PTR(airframeType); |
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for (int index = 0; index < pType->rgAirframeInfo.count(); index++) { |
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const APMAirframe* pInfo = pType->rgAirframeInfo.at(index); |
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Q_CHECK_PTR(pInfo); |
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airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type()); |
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} |
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_airframeTypesModel->append(airframeType); |
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} |
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emit loadAirframesCompleted(); |
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} |
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void APMAirframeComponentController::_finishVehicleSetup() { |
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QDir dataLocation = QStandardPaths::standardLocations(QStandardPaths::AppDataLocation).at(0) |
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+ QDir::separator() + qApp->applicationName(); |
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QFile parametersFile(dataLocation.absoluteFilePath(_currentAirframe->params())); |
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parametersFile.open(QIODevice::ReadOnly); |
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QTextStream reader(¶metersFile); |
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while (!reader.atEnd()) { |
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QString line = reader.readLine().trimmed(); |
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if (line.isEmpty() || line.at(0) == QChar('#')) { |
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continue; |
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} |
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QStringList aux = line.split(','); |
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if (parameterExists(-1, aux.at(0))) { |
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Fact *param = getParameterFact(-1, aux.at(0)); |
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param->setRawValue(QVariant::fromValue(aux.at(1))); |
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} |
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} |
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qgcApp()->setOverrideCursor(Qt::ArrowCursor); |
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sender()->deleteLater(); |
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emit currentAirframeChanged(_currentAirframe); |
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} |
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APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) : |
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QObject(parent), |
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_name(name), |
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_imageResource(imageResource), |
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_type(type), |
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_dirty(false) |
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{ |
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} |
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APMAirframeType::~APMAirframeType() |
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{ |
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} |
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void APMAirframeType::addAirframe(const QString& name, const QString& file, int type) |
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{ |
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APMAirframe* airframe = new APMAirframe(name, file, type); |
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Q_CHECK_PTR(airframe); |
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_airframes.append(QVariant::fromValue(airframe)); |
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} |
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APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) : |
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QObject(parent), |
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_name(name), |
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_paramsFile(paramsFile), |
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_type(type) |
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{ |
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} |
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QString APMAirframe::name() const |
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{ |
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return _name; |
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} |
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QString APMAirframe::params() const |
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{ |
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return _paramsFile; |
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} |
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int APMAirframe::type() const |
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{ |
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return _type; |
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} |
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APMAirframe::~APMAirframe() |
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{ |
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} |
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QString APMAirframeType::imageResource() const |
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{ |
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return _imageResource; |
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} |
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QString APMAirframeType::name() const |
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{ |
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return _name; |
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} |
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int APMAirframeType::type() const |
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{ |
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return _type; |
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} |
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APMAirframeType *APMAirframeComponentController::currentAirframeType() const |
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{ |
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return _currentAirframeType; |
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} |
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APMAirframe *APMAirframeComponentController::currentAirframe() const |
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{ |
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return _currentAirframe; |
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} |
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void APMAirframeComponentController::setCurrentAirframe(APMAirframe *t) |
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{ |
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_currentAirframe = t; |
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qgcApp()->setOverrideCursor(Qt::WaitCursor); |
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APMRemoteParamsDownloader *paramDownloader = new APMRemoteParamsDownloader(_currentAirframe->params()); |
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connect(paramDownloader, &APMRemoteParamsDownloader::finished, this, &APMAirframeComponentController::_finishVehicleSetup); |
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} |
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void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t) |
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{ |
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Fact *param = getParameterFact(-1, "FRAME"); |
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Q_ASSERT(param); |
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param->setRawValue(t->type()); |
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} |
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@ -0,0 +1,138 @@
@@ -0,0 +1,138 @@
|
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/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
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|
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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|
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#ifndef APMAirframeComponentController_H |
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#define APMAirframeComponentController_H |
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#include <QObject> |
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#include <QQuickItem> |
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#include <QList> |
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#include <QAbstractListModel> |
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#include "UASInterface.h" |
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#include "AutoPilotPlugin.h" |
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#include "FactPanelController.h" |
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#include "APMAirframeComponentAirframes.h" |
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class APMAirframeModel; |
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class APMAirframeType; |
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/// MVC Controller for APMAirframeComponent.qml.
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class APMAirframeComponentController : public FactPanelController |
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{ |
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Q_OBJECT |
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public: |
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enum FrameId{FRAME_TYPE_PLUS = 0, |
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FRAME_TYPE_X = 1, |
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FRAME_TYPE_V = 2, |
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FRAME_TYPE_H = 3, |
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FRAME_TYPE_NEWY6 = 10}; |
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Q_ENUM(FrameId) |
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APMAirframeComponentController(void); |
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~APMAirframeComponentController(); |
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Q_PROPERTY(QmlObjectListModel* airframeTypesModel MEMBER _airframeTypesModel CONSTANT) |
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Q_PROPERTY(APMAirframeType* currentAirframeType READ currentAirframeType WRITE setCurrentAirframeType NOTIFY currentAirframeTypeChanged) |
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Q_PROPERTY(APMAirframe* currentAirframe READ currentAirframe WRITE setCurrentAirframe NOTIFY currentAirframeChanged) |
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int currentAirframeIndex(void); |
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void setCurrentAirframeIndex(int newIndex); |
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signals: |
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void loadAirframesCompleted(); |
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void currentAirframeTypeChanged(APMAirframeType* airframeType); |
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void currentAirframeChanged(APMAirframe* airframe); |
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|
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public slots: |
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APMAirframeType *currentAirframeType() const; |
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APMAirframe *currentAirframe() const; |
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void setCurrentAirframeType(APMAirframeType *t); |
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void setCurrentAirframe(APMAirframe *t); |
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|
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private slots: |
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void _fillAirFrames(void); |
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void _finishVehicleSetup(void); |
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void _factFrameChanged(QVariant v); |
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|
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private: |
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static bool _typesRegistered; |
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APMAirframeType *_currentAirframeType; |
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APMAirframe *_currentAirframe; |
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int _waitParamWriteSignalCount; |
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QmlObjectListModel *_airframeTypesModel; |
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}; |
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|
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class APMAirframe : public QObject |
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{ |
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Q_OBJECT |
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|
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public: |
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APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent = NULL); |
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~APMAirframe(); |
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|
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Q_PROPERTY(QString name MEMBER _name CONSTANT) |
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Q_PROPERTY(int type MEMBER _type CONSTANT) |
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Q_PROPERTY(QString params MEMBER _paramsFile CONSTANT) |
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|
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QString name() const; |
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QString params() const; |
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int type() const; |
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|
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private: |
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QString _name; |
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QString _paramsFile; |
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int _type; |
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}; |
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|
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class APMAirframeType : public QObject |
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{ |
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Q_OBJECT |
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|
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public: |
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APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent = NULL); |
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~APMAirframeType(); |
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|
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Q_PROPERTY(QString name MEMBER _name CONSTANT) |
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Q_PROPERTY(QString imageResource MEMBER _imageResource CONSTANT) |
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Q_PROPERTY(QVariantList airframes MEMBER _airframes CONSTANT) |
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Q_PROPERTY(int type MEMBER _type CONSTANT) |
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Q_PROPERTY(bool dirty MEMBER _dirty CONSTANT) |
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void addAirframe(const QString& name, const QString& paramsFile, int type); |
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|
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QString name() const; |
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QString imageResource() const; |
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int type() const; |
||||
private: |
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QString _name; |
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QString _imageResource; |
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QVariantList _airframes; |
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int _type; |
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bool _dirty; |
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}; |
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|
||||
#endif |
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@ -0,0 +1,100 @@
@@ -0,0 +1,100 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/// @file
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
#include "APMAirframeLoader.h" |
||||
#include "QGCApplication.h" |
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#include "QGCLoggingCategory.h" |
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#include "APMAirframeComponentAirframes.h" |
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|
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#include <QFile> |
||||
#include <QFileInfo> |
||||
#include <QDir> |
||||
#include <QDebug> |
||||
|
||||
QGC_LOGGING_CATEGORY(APMAirframeLoaderLog, "APMAirframeLoaderLog") |
||||
|
||||
bool APMAirframeLoader::_airframeMetaDataLoaded = false; |
||||
|
||||
APMAirframeLoader::APMAirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) |
||||
{ |
||||
Q_UNUSED(autopilot); |
||||
Q_UNUSED(uas); |
||||
Q_UNUSED(parent); |
||||
Q_ASSERT(uas); |
||||
} |
||||
|
||||
/// Load Airframe Fact meta data
|
||||
void APMAirframeLoader::loadAirframeFactMetaData(void) |
||||
{ |
||||
if (_airframeMetaDataLoaded) { |
||||
return; |
||||
} |
||||
|
||||
qCDebug(APMAirframeLoaderLog) << "Loading APM airframe fact meta data"; |
||||
|
||||
Q_ASSERT(APMAirframeComponentAirframes::get().count() == 0); |
||||
|
||||
QString airframeFilename = ":/AutoPilotPlugins/APM/AirframeFactMetaData.xml"; |
||||
|
||||
qCDebug(APMAirframeLoaderLog) << "Loading meta data file:" << airframeFilename; |
||||
|
||||
QFile xmlFile(airframeFilename); |
||||
Q_ASSERT(xmlFile.exists()); |
||||
|
||||
bool success = xmlFile.open(QIODevice::ReadOnly); |
||||
Q_UNUSED(success); |
||||
Q_ASSERT(success); |
||||
|
||||
QXmlStreamReader xml(xmlFile.readAll()); |
||||
xmlFile.close(); |
||||
if (xml.hasError()) { |
||||
qCWarning(APMAirframeLoaderLog) << "Badly formed XML" << xml.errorString(); |
||||
return; |
||||
} |
||||
|
||||
QString airframeGroup; |
||||
QString image; |
||||
int groupId = 0; |
||||
while (!xml.atEnd()) { |
||||
if (xml.isStartElement()) { |
||||
QString elementName = xml.name().toString(); |
||||
QXmlStreamAttributes attr = xml.attributes(); |
||||
if (elementName == "airframe_group") { |
||||
airframeGroup = attr.value("name").toString(); |
||||
image = attr.value("image").toString(); |
||||
groupId = attr.value("id").toInt(); |
||||
APMAirframeComponentAirframes::insert(airframeGroup, groupId, image); |
||||
} else if (elementName == "airframe") { |
||||
QString name = attr.value("name").toString(); |
||||
QString file = attr.value("file").toString(); |
||||
APMAirframeComponentAirframes::insert(airframeGroup, groupId, image, name, file); |
||||
} |
||||
} |
||||
xml.readNext(); |
||||
} |
||||
|
||||
_airframeMetaDataLoaded = true; |
||||
} |
||||
@ -0,0 +1,59 @@
@@ -0,0 +1,59 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
#ifndef APMAirframeLoader_H |
||||
#define APMAirframeLoader_H |
||||
|
||||
#include <QObject> |
||||
#include <QMap> |
||||
#include <QXmlStreamReader> |
||||
#include <QLoggingCategory> |
||||
|
||||
#include "ParameterLoader.h" |
||||
#include "FactSystem.h" |
||||
#include "UASInterface.h" |
||||
#include "AutoPilotPlugin.h" |
||||
|
||||
/// @file APMAirframeLoader.h
|
||||
/// @author Lorenz Meier <lm@qgroundcontrol.org>
|
||||
|
||||
Q_DECLARE_LOGGING_CATEGORY(APMAirframeLoaderLog) |
||||
|
||||
/// Collection of Parameter Facts for PX4 AutoPilot
|
||||
|
||||
class APMAirframeLoader : QObject |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
/// @param uas Uas which this set of facts is associated with
|
||||
APMAirframeLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL); |
||||
|
||||
static void loadAirframeFactMetaData(void); |
||||
|
||||
private: |
||||
static bool _airframeMetaDataLoaded; ///< true: parameter meta data already loaded
|
||||
static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
|
||||
}; |
||||
|
||||
#endif // APMAirframeLoader_H
|
||||
@ -0,0 +1,181 @@
@@ -0,0 +1,181 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
#include "APMRemoteParamsDownloader.h" |
||||
|
||||
#include <QMessageBox> |
||||
#include <QDesktopServices> |
||||
#include <QFile> |
||||
#include <QFileDialog> |
||||
#include <QNetworkAccessManager> |
||||
#include <QNetworkReply> |
||||
#include <QTimer> |
||||
#include <QJsonDocument> |
||||
#include <QJsonObject> |
||||
#include <QJsonArray> |
||||
#include <QCryptographicHash> |
||||
#include <QApplication> |
||||
|
||||
#include "APMRemoteParamsDownloader.h" |
||||
|
||||
#define FRAME_PARAMS_LIST QUrl("https://api.github.com/repos/diydrones/ardupilot/contents/Tools/Frame_params")
|
||||
#define FRAME_PARAMS_URL "https://raw.github.com/diydrones/ardupilot/master/Tools/Frame_params/"
|
||||
|
||||
static QString dataLocation; |
||||
|
||||
APMRemoteParamsDownloader::APMRemoteParamsDownloader(const QString& file) : |
||||
m_fileToDownload(file), |
||||
m_networkReply(NULL), |
||||
m_downloadedParamFile(NULL) |
||||
{ |
||||
dataLocation = QStandardPaths::standardLocations(QStandardPaths::AppDataLocation).at(0) |
||||
+ QDir::separator() + qApp->applicationName(); |
||||
refreshParamList(); |
||||
} |
||||
|
||||
QString APMRemoteParamsDownloader::statusText() const |
||||
{ |
||||
return m_statusText; |
||||
} |
||||
void APMRemoteParamsDownloader::setStatusText(const QString& text) |
||||
{ |
||||
m_statusText = text; |
||||
} |
||||
|
||||
void APMRemoteParamsDownloader::refreshParamList() |
||||
{ |
||||
setStatusText(tr("Refresh Param file list")); |
||||
|
||||
QUrl url = FRAME_PARAMS_LIST; |
||||
m_networkReply->deleteLater(); |
||||
m_networkReply = m_networkAccessManager.get(QNetworkRequest(url)); |
||||
connect(m_networkReply, SIGNAL(finished()), this, SLOT(httpParamListFinished())); |
||||
connect(m_networkReply, SIGNAL(downloadProgress(qint64,qint64)), |
||||
this, SLOT(updateDataReadProgress(qint64,qint64))); |
||||
} |
||||
|
||||
/* Returned Json Example
|
||||
"_links": { |
||||
"git":"https://api.github.com/repos/diydrones/ardupilot/git/blobs/a7074e606d695566f9a8c87724ad52e5e3baba7d", |
||||
"html":"https://github.com/diydrones/ardupilot/blob/master/Tools/Frame_params/Parrot_Bebop.param", |
||||
"self":"https://api.github.com/repos/diydrones/ardupilot/contents/Tools/Frame_params/Parrot_Bebop.param?ref=master" |
||||
}, |
||||
"download_url":"https://raw.githubusercontent.com/diydrones/ardupilot/master/Tools/Frame_params/Parrot_Bebop.param", |
||||
"git_url":"https://api.github.com/repos/diydrones/ardupilot/git/blobs/a7074e606d695566f9a8c87724ad52e5e3baba7d", |
||||
"html_url":"https://github.com/diydrones/ardupilot/blob/master/Tools/Frame_params/Parrot_Bebop.param", |
||||
"name":"Parrot_Bebop.param","path":"Tools/Frame_params/Parrot_Bebop.param","" |
||||
"sha":"a7074e606d695566f9a8c87724ad52e5e3baba7d", |
||||
"size":533, |
||||
"type":"file", |
||||
"url":"https://api.github.com/repos/diydrones/ardupilot/contents/Tools/Frame_params/Parrot_Bebop.param?ref=master" |
||||
*/ |
||||
void APMRemoteParamsDownloader::startFileDownloadRequest() |
||||
{ |
||||
QUrl url; |
||||
|
||||
QJsonObject obj; |
||||
|
||||
// Find the correct file from the json file list.
|
||||
while(curr != end) { |
||||
obj = (*curr).toObject(); |
||||
url = QUrl(obj["download_url"].toString()); |
||||
QString name = obj["name"].toString(); |
||||
if (name == m_fileToDownload) { |
||||
break; |
||||
} |
||||
curr++; |
||||
} |
||||
if (curr == end) |
||||
return; |
||||
|
||||
QDir parameterDir(dataLocation); |
||||
if (!parameterDir.exists()) |
||||
parameterDir.mkpath(dataLocation); |
||||
|
||||
QString filename = parameterDir.absoluteFilePath(obj["name"].toString()); |
||||
|
||||
if(m_downloadedParamFile) |
||||
m_downloadedParamFile->deleteLater(); |
||||
m_downloadedParamFile = new QFile(filename); |
||||
m_downloadedParamFile->open(QIODevice::WriteOnly); |
||||
|
||||
m_networkReply = m_networkAccessManager.get(QNetworkRequest(url)); |
||||
connect(m_networkReply, SIGNAL(finished()), this, SLOT(httpFinished())); |
||||
connect(m_networkReply, SIGNAL(readyRead()), this, SLOT(httpReadyRead())); |
||||
connect(m_networkReply, SIGNAL(downloadProgress(qint64,qint64)), this, SLOT(updateDataReadProgress(qint64,qint64))); |
||||
curr++; |
||||
} |
||||
|
||||
void APMRemoteParamsDownloader::httpFinished() |
||||
{ |
||||
m_downloadedParamFile->flush(); |
||||
m_downloadedParamFile->close(); |
||||
|
||||
if (m_networkReply->error()) { |
||||
m_downloadedParamFile->remove(); |
||||
setStatusText(tr("Download failed: %1.").arg(m_networkReply->errorString())); |
||||
} |
||||
|
||||
m_networkReply->deleteLater(); |
||||
m_networkReply = NULL; |
||||
delete m_downloadedParamFile; |
||||
m_downloadedParamFile = NULL; |
||||
|
||||
emit finished(); |
||||
} |
||||
|
||||
void APMRemoteParamsDownloader::httpReadyRead() |
||||
{ |
||||
if (m_downloadedParamFile) |
||||
m_downloadedParamFile->write(m_networkReply->readAll()); |
||||
} |
||||
|
||||
void APMRemoteParamsDownloader::updateDataReadProgress(qint64 bytesRead, qint64 totalBytes) |
||||
{ |
||||
Q_UNUSED(bytesRead); |
||||
Q_UNUSED(totalBytes); |
||||
} |
||||
|
||||
void APMRemoteParamsDownloader::httpParamListFinished() |
||||
{ |
||||
if (m_networkReply->error()) { |
||||
qDebug() << "Download failed:" << m_networkReply->errorString(); |
||||
return; |
||||
} |
||||
processDownloadedVersionObject(m_networkReply->readAll()); |
||||
startFileDownloadRequest(); |
||||
} |
||||
|
||||
void APMRemoteParamsDownloader::processDownloadedVersionObject(const QByteArray &listObject) |
||||
{ |
||||
QJsonParseError jsonErrorChecker; |
||||
QJsonDocument jsonDocument = QJsonDocument::fromJson(listObject, &jsonErrorChecker); |
||||
if (jsonErrorChecker.error != QJsonParseError::NoError) { |
||||
qDebug() << "Json error while parsing document:" << jsonErrorChecker.errorString(); |
||||
return; |
||||
} |
||||
|
||||
m_documentArray = jsonDocument.array(); |
||||
curr = m_documentArray.constBegin(); |
||||
end = m_documentArray.constEnd(); |
||||
} |
||||
@ -0,0 +1,47 @@
@@ -0,0 +1,47 @@
|
||||
#ifndef APMREMOTEPARAMSCONTROLLER_H |
||||
#define APMREMOTEPARAMSCONTROLLER_H |
||||
|
||||
#include <QObject> |
||||
#include <QNetworkAccessManager> |
||||
#include <QUrl> |
||||
#include <QJsonArray> |
||||
|
||||
class QNetworkReply; |
||||
class QFile; |
||||
class QUrl; |
||||
|
||||
class APMRemoteParamsDownloader : public QObject |
||||
{ |
||||
Q_OBJECT |
||||
Q_PROPERTY(QString statusText READ statusText) |
||||
public: |
||||
explicit APMRemoteParamsDownloader(const QString& file); |
||||
QString statusText() const; |
||||
public slots: |
||||
void refreshParamList(); |
||||
void httpParamListFinished(); |
||||
void httpFinished(); |
||||
void httpReadyRead(); |
||||
void updateDataReadProgress(qint64 bytesRead, qint64 totalBytes); |
||||
private: |
||||
void setStatusText(const QString& text); |
||||
void startFileDownloadRequest(); |
||||
void manualListSetup(); |
||||
void processDownloadedVersionObject(const QByteArray& listObject); |
||||
void startDownloadingRemoteParams(); |
||||
signals: |
||||
void finished(); |
||||
private: |
||||
QString m_fileToDownload; |
||||
QString m_statusText; |
||||
QNetworkAccessManager m_networkAccessManager; |
||||
QNetworkReply* m_networkReply; |
||||
QFile* m_downloadedParamFile; |
||||
|
||||
// the list of needed documents.
|
||||
QJsonArray m_documentArray; |
||||
QJsonArray::const_iterator curr; |
||||
QJsonArray::const_iterator end; |
||||
}; |
||||
|
||||
#endif // APMREMOTEPARAMSCONTROLLER_H
|
||||
@ -0,0 +1,30 @@
@@ -0,0 +1,30 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?> |
||||
<airframes> |
||||
<version>1</version> |
||||
<airframe_group image="AirframeQuadRotorPlus.png" name="Plus Style" id="0"> |
||||
<airframe name="3DR Aero M" file="3DR_AERO_M.param"/> |
||||
<airframe name="3DR Aero RTF" file="3DR_Aero_RTF.param"/> |
||||
<airframe name="3DR Rover" file="3DR_Rover.param"/> |
||||
<airframe name="3DR Tarot" file="3DR_Tarot.bgsc"/> |
||||
<airframe name="Parrot Bebop" file="Parrot_Bebop.param"/> |
||||
<airframe name="Storm32" file="SToRM32-MAVLink.param"/> |
||||
</airframe_group> |
||||
<airframe_group image="AirframeQuadRotorX.png" name="X Style" id="1"> |
||||
<airframe name="3DR X8-M RTF" file="3DR_X8-M_RTF.param"/> |
||||
<airframe name="3DR Y6A" file="3DR_Y6A_RTF.param"/> |
||||
<airframe name="3DR X8+ RTF" file="3DR_X8+_RTF.param"/> |
||||
<airframe name="3DR QUAD X4 RTF" file="3DR_QUAD_X4_RTF.param"/> |
||||
<airframe name="3DR X8" file="3DR_X8_RTF.param"/> |
||||
</airframe_group> |
||||
<airframe_group image="AirframeSimulation.png" name="V Style" id="2"> |
||||
<airframe name="Iris with GoPro" file="Iris with Front Mount Go Pro.param"/> |
||||
<airframe name="Iris with Tarot" file="Iris with Tarot Gimbal.param"/> |
||||
<airframe name="3DR Iris+" file="3DR_Iris+.param"/> |
||||
<airframe name="Iris" file="Iris.param"/> |
||||
</airframe_group> |
||||
<airframe_group image="AirframeQuadRotorH.png" name="H Style" id="3"> |
||||
</airframe_group> |
||||
<airframe_group image="AirframeHexaRotorX.png" name="Y6B" id="10"> |
||||
<airframe name="3DR Y6B" file="3DR_Y6B_RTF.param"/> |
||||
</airframe_group> |
||||
<airframes> |
||||
@ -1,148 +1,148 @@
@@ -1,148 +1,148 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/// @file
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
#ifndef AUTOPILOTPLUGIN_H |
||||
#define AUTOPILOTPLUGIN_H |
||||
|
||||
#include <QObject> |
||||
#include <QList> |
||||
#include <QString> |
||||
#include <QQmlContext> |
||||
|
||||
#include "VehicleComponent.h" |
||||
#include "FactSystem.h" |
||||
#include "Vehicle.h" |
||||
|
||||
class ParameterLoader; |
||||
class Vehicle; |
||||
class FirmwarePlugin; |
||||
|
||||
/// This is the base class for AutoPilot plugins
|
||||
///
|
||||
/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
|
||||
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
|
||||
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
|
||||
/// generic to a common mavlink implementation.
|
||||
|
||||
class AutoPilotPlugin : public QObject |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
AutoPilotPlugin(Vehicle* vehicle, QObject* parent); |
||||
~AutoPilotPlugin(); |
||||
|
||||
/// true: parameters are ready for use
|
||||
Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged) |
||||
|
||||
/// true: parameters are missing from firmware response, false: all parameters received from firmware
|
||||
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged) |
||||
|
||||
/// List of VehicleComponent objects
|
||||
Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT) |
||||
|
||||
/// false: One or more vehicle components require setup
|
||||
Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged) |
||||
|
||||
/// Reset all parameters to their default values
|
||||
Q_INVOKABLE void resetAllParametersToDefaults(void); |
||||
|
||||
/// Re-request the full set of parameters from the autopilot
|
||||
Q_INVOKABLE void refreshAllParameters(void); |
||||
|
||||
/// Request a refresh on the specific parameter
|
||||
Q_INVOKABLE void refreshParameter(int componentId, const QString& name); |
||||
|
||||
/// Request a refresh on all parameters that begin with the specified prefix
|
||||
Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix); |
||||
|
||||
/// Returns true if the specifed parameter exists from the default component
|
||||
Q_INVOKABLE bool parameterExists(int componentId, const QString& name); |
||||
|
||||
/// Returns all parameter names
|
||||
QStringList parameterNames(int componentId); |
||||
|
||||
/// Returns the specified parameter Fact from the default component
|
||||
/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existince first with
|
||||
/// parameterExists.
|
||||
Fact* getParameterFact(int componentId, const QString& name); |
||||
|
||||
/// Writes the parameter facts to the specified stream
|
||||
void writeParametersToStream(QTextStream &stream); |
||||
|
||||
/// Reads the parameters from the stream and updates values
|
||||
/// @return Errors during load. Empty string for no errors
|
||||
QString readParametersFromStream(QTextStream &stream); |
||||
|
||||
/// Returns true if the specifed fact exists
|
||||
Q_INVOKABLE bool factExists(FactSystem::Provider_t provider, ///< fact provider
|
||||
int componentId, ///< fact component, -1=default component
|
||||
const QString& name); ///< fact name
|
||||
|
||||
/// Returns the specified Fact.
|
||||
/// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
|
||||
/// factExists.
|
||||
Fact* getFact(FactSystem::Provider_t provider, ///< fact provider
|
||||
int componentId, ///< fact component, -1=default component
|
||||
const QString& name); ///< fact name
|
||||
|
||||
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void); |
||||
|
||||
// Must be implemented by derived class
|
||||
virtual const QVariantList& vehicleComponents(void) = 0; |
||||
|
||||
// Property accessors
|
||||
bool parametersReady(void) { return _parametersReady; } |
||||
bool missingParameters(void) { return _missingParameters; } |
||||
bool setupComplete(void); |
||||
|
||||
Vehicle* vehicle(void) { return _vehicle; } |
||||
|
||||
signals: |
||||
void parametersReadyChanged(bool parametersReady); |
||||
void missingParametersChanged(bool missingParameters); |
||||
void setupCompleteChanged(bool setupComplete); |
||||
void parameterListProgress(float value); |
||||
|
||||
protected: |
||||
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
|
||||
AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { } |
||||
|
||||
Vehicle* _vehicle; |
||||
FirmwarePlugin* _firmwarePlugin; |
||||
bool _parametersReady; |
||||
bool _missingParameters; |
||||
bool _setupComplete; |
||||
|
||||
private slots: |
||||
void _uasDisconnected(void); |
||||
void _parametersReadyChanged(bool parametersReady); |
||||
|
||||
private: |
||||
void _recalcSetupComplete(void);
|
||||
}; |
||||
|
||||
#endif |
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/// @file
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
#ifndef AUTOPILOTPLUGIN_H |
||||
#define AUTOPILOTPLUGIN_H |
||||
|
||||
#include <QObject> |
||||
#include <QList> |
||||
#include <QString> |
||||
#include <QQmlContext> |
||||
|
||||
#include "VehicleComponent.h" |
||||
#include "FactSystem.h" |
||||
#include "Vehicle.h" |
||||
|
||||
class ParameterLoader; |
||||
class Vehicle; |
||||
class FirmwarePlugin; |
||||
|
||||
/// This is the base class for AutoPilot plugins
|
||||
///
|
||||
/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
|
||||
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
|
||||
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
|
||||
/// generic to a common mavlink implementation.
|
||||
|
||||
class AutoPilotPlugin : public QObject |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
AutoPilotPlugin(Vehicle* vehicle, QObject* parent); |
||||
~AutoPilotPlugin(); |
||||
|
||||
/// true: parameters are ready for use
|
||||
Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged) |
||||
|
||||
/// true: parameters are missing from firmware response, false: all parameters received from firmware
|
||||
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged) |
||||
|
||||
/// List of VehicleComponent objects
|
||||
Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT) |
||||
|
||||
/// false: One or more vehicle components require setup
|
||||
Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged) |
||||
|
||||
/// Reset all parameters to their default values
|
||||
Q_INVOKABLE void resetAllParametersToDefaults(void); |
||||
|
||||
/// Re-request the full set of parameters from the autopilot
|
||||
Q_INVOKABLE void refreshAllParameters(void); |
||||
|
||||
/// Request a refresh on the specific parameter
|
||||
Q_INVOKABLE void refreshParameter(int componentId, const QString& name); |
||||
|
||||
/// Request a refresh on all parameters that begin with the specified prefix
|
||||
Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix); |
||||
|
||||
/// Returns true if the specifed parameter exists from the default component
|
||||
Q_INVOKABLE bool parameterExists(int componentId, const QString& name); |
||||
|
||||
/// Returns all parameter names
|
||||
QStringList parameterNames(int componentId); |
||||
|
||||
/// Returns the specified parameter Fact from the default component
|
||||
/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existince first with
|
||||
/// parameterExists.
|
||||
Fact* getParameterFact(int componentId, const QString& name); |
||||
|
||||
/// Writes the parameter facts to the specified stream
|
||||
void writeParametersToStream(QTextStream &stream); |
||||
|
||||
/// Reads the parameters from the stream and updates values
|
||||
/// @return Errors during load. Empty string for no errors
|
||||
QString readParametersFromStream(QTextStream &stream); |
||||
|
||||
/// Returns true if the specifed fact exists
|
||||
Q_INVOKABLE bool factExists(FactSystem::Provider_t provider, ///< fact provider
|
||||
int componentId, ///< fact component, -1=default component
|
||||
const QString& name); ///< fact name
|
||||
|
||||
/// Returns the specified Fact.
|
||||
/// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
|
||||
/// factExists.
|
||||
Fact* getFact(FactSystem::Provider_t provider, ///< fact provider
|
||||
int componentId, ///< fact component, -1=default component
|
||||
const QString& name); ///< fact name
|
||||
|
||||
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void); |
||||
|
||||
// Must be implemented by derived class
|
||||
virtual const QVariantList& vehicleComponents(void) = 0; |
||||
|
||||
// Property accessors
|
||||
bool parametersReady(void) { return _parametersReady; } |
||||
bool missingParameters(void) { return _missingParameters; } |
||||
bool setupComplete(void); |
||||
|
||||
Vehicle* vehicle(void) { return _vehicle; } |
||||
|
||||
signals: |
||||
void parametersReadyChanged(bool parametersReady); |
||||
void missingParametersChanged(bool missingParameters); |
||||
void setupCompleteChanged(bool setupComplete); |
||||
void parameterListProgress(float value); |
||||
|
||||
protected: |
||||
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
|
||||
AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { } |
||||
|
||||
Vehicle* _vehicle; |
||||
FirmwarePlugin* _firmwarePlugin; |
||||
bool _parametersReady; |
||||
bool _missingParameters; |
||||
bool _setupComplete; |
||||
|
||||
private slots: |
||||
void _uasDisconnected(void); |
||||
void _parametersReadyChanged(bool parametersReady); |
||||
|
||||
private: |
||||
void _recalcSetupComplete(void); |
||||
}; |
||||
|
||||
#endif |
||||
|
||||
Loading…
Reference in new issue