rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

Merge remote-tracking branch 'origin/pt/mixer_bug' into next

Browse Source
This commit is contained in:
James Cotton 2011-10-06 21:33:59 -05:00
commit 4b04a5d9ea
27 changed files with 1106 additions and 334 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ground/openpilotgcs/src/plugins/config/Config.pluginspec
View File

@ -9,5 +9,6 @@
<dependency name="UAVObjects" version="1.0.0"/>
<dependency name="UAVTalk" version="1.0.0"/>
<dependency name="UAVObjectUtil" version="1.0.0"/>
<dependency name="UAVSettingsImportExport" version="1.0.0"/>
</dependencyList>
</plugin>

2
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -8,7 +8,7 @@ include(../../plugins/uavtalk/uavtalk.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)
include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
INCLUDEPATH += ../../libs/eigen
OTHER_FILES += Config.pluginspec

32
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -36,6 +36,10 @@
#include <math.h>
#include <QDesktopServices>
#include <QUrl>
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <QEventLoop>
/**
Helper delegate for the custom mixer editor table.
@ -443,6 +447,8 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, d
*/
void ConfigAirframeWidget::refreshWidgetsValues()
{
if(!allObjectsUpdated())
return;
bool dirty=isDirty();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
@ -1516,6 +1522,16 @@ bool ConfigAirframeWidget::setupFrameVtail()
*/
bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
{
qDebug()<<"Mixer factors";
qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
@ -1533,11 +1549,15 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
for (int i=0 ; i<8; i++) {
int channel = mmList.at(i)->currentIndex()-1;
if (channel > -1)
setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
if(mmList.at(i)->isEnabled())
{
int channel = mmList.at(i)->currentIndex()-1;
if (channel > -1)
setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
}
}
// obj->updated();
return true;
@ -1549,6 +1569,7 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
*/
void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
{
qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(mixerTypes.at(channel));
@ -1560,10 +1581,13 @@ void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(roll*127,ti);
qDebug()<<"Set roll="<<roll*127;
ti = field->getElementNames().indexOf("Pitch");
field->setValue(pitch*127,ti);
qDebug()<<"Set pitch="<<pitch*127;
ti = field->getElementNames().indexOf("Yaw");
field->setValue(yaw*127,ti);
qDebug()<<"Set yaw="<<yaw*127;
}
/**

38
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
View File

@ -26,14 +26,17 @@
*/
#include "configtaskwidget.h"
#include <QtGui/QWidget>
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
#include "configgadgetwidget.h"
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false)
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
}
void ConfigTaskWidget::addWidget(QWidget * widget)
{
@ -62,6 +65,8 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
{
obj = objManager->getObject(QString(object));
Q_ASSERT(obj);
objectUpdates.insert(obj,true);
connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
}
//smartsave->addObject(obj);
@ -123,6 +128,7 @@ ConfigTaskWidget::~ConfigTaskWidget()
void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
{
qDebug()<<"ConfigTaskWidget::saveObjectToSD";
// saveObjectToSD is now handled by the UAVUtils plugin in one
// central place (and one central queue)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -153,10 +159,12 @@ void ConfigTaskWidget::onAutopilotDisconnect()
{
isConnected=false;
enableControls(false);
invalidateObjects();
}
void ConfigTaskWidget::onAutopilotConnect()
{
invalidateObjects();
dirty=false;
isConnected=true;
enableControls(true);
@ -308,6 +316,30 @@ void ConfigTaskWidget::enableObjUpdates()
}
}
void ConfigTaskWidget::objectUpdated(UAVObject *obj)
{
objectUpdates[obj]=true;
}
bool ConfigTaskWidget::allObjectsUpdated()
{
bool ret=true;
foreach(UAVObject *obj, objectUpdates.keys())
{
ret=ret & objectUpdates[obj];
}
qDebug()<<"ALL OBJECTS UPDATE:"<<ret;
return ret;
}
void ConfigTaskWidget::invalidateObjects()
{
foreach(UAVObject *obj, objectUpdates.keys())
{
objectUpdates[obj]=false;
}
}

4
ground/openpilotgcs/src/plugins/config/configtaskwidget.h
View File

@ -71,13 +71,16 @@ public:
bool isDirty();
void setDirty(bool value);
void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index);
bool allObjectsUpdated();
public slots:
void onAutopilotDisconnect();
void onAutopilotConnect();
void invalidateObjects();
private slots:
virtual void refreshValues();
virtual void updateObjectsFromWidgets();
void objectUpdated(UAVObject*);
private:
bool isConnected;
QStringList objectsList;
@ -85,6 +88,7 @@ private:
ExtensionSystem::PluginManager *pm;
UAVObjectManager *objManager;
smartSaveButton *smartsave;
QMap<UAVObject *,bool> objectUpdates;
bool dirty;
protected slots:
virtual void disableObjUpdates();

5
ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
View File

@ -49,7 +49,7 @@ void smartSaveButton::processClick()
}
if(up_result==false)
{
//qDebug()<<"Object upload error:"<<obj->getName();
qDebug()<<"Object upload error:"<<obj->getName();
error=true;
continue;
}
@ -59,7 +59,7 @@ void smartSaveButton::processClick()
{
for(int i=0;i<3;++i)
{
//qDebug()<<"try to save:"<<obj->getName();
qDebug()<<"try to save:"<<obj->getName();
connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
utilMngr->saveObjectToSD(obj);
@ -73,6 +73,7 @@ void smartSaveButton::processClick()
}
if(sv_result==false)
{
qDebug()<<"failed to save:"<<obj->getName();
error=true;
}
}

10
ground/openpilotgcs/src/plugins/debuggadget/DebugGadget.pluginspec Normal file
View File

@ -0,0 +1,10 @@
<plugin name="DebugGadget" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2010 OpenPilot Project</copyright>
<license>The GNU Public License (GPL) Version 3</license>
<description>An debug gadget</description>
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
</dependencyList>
</plugin>

31
ground/openpilotgcs/src/plugins/debuggadget/debug.ui Normal file
View File

@ -0,0 +1,31 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Form</class>
<widget class="QWidget" name="Form">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>Save to file</string>
</property>
</widget>
</item>
<item>
<widget class="QTextBrowser" name="plainTextEdit"/>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

13
ground/openpilotgcs/src/plugins/debuggadget/debugengine.cpp Normal file
View File

@ -0,0 +1,13 @@
#include "debugengine.h"
debugengine::debugengine()
{
}
void debugengine::writeToStdErr(const QString &level, const QList<QVariant> &msgs)
{
emit dbgMsgError(level,msgs);
}
void debugengine::writeToStdOut(const QString &level, const QList<QVariant> &msgs)
{
emit dbgMsg(level,msgs);
}

18
ground/openpilotgcs/src/plugins/debuggadget/debugengine.h Normal file
View File

@ -0,0 +1,18 @@
#ifndef DEBUGENGINE_H
#define DEBUGENGINE_H
#include "qxtbasicstdloggerengine.h"
#include <QObject>
class debugengine:public QObject,public QxtBasicSTDLoggerEngine
{
Q_OBJECT
public:
debugengine();
protected:
void writeToStdErr ( const QString & level, const QList<QVariant> & msgs );
void writeToStdOut ( const QString & level, const QList<QVariant> & msgs );
signals:
void dbgMsgError( const QString & level, const QList<QVariant> & msgs );
void dbgMsg( const QString & level, const QList<QVariant> & msgs );
};
#endif // DEBUGENGINE_H

39
ground/openpilotgcs/src/plugins/debuggadget/debuggadget.cpp Normal file
View File

@ -0,0 +1,39 @@
/**
******************************************************************************
*
* @file debuggadget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debuggadget.h"
#include "debuggadgetwidget.h"
DebugGadget::DebugGadget(QString classId, DebugGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
DebugGadget::~DebugGadget()
{
delete m_widget;
}

59
ground/openpilotgcs/src/plugins/debuggadget/debuggadget.h Normal file
View File

@ -0,0 +1,59 @@
/**
******************************************************************************
*
* @file debuggadget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGGADGET_H_
#define DEBUGGADGET_H_
#include <coreplugin/iuavgadget.h>
namespace Core {
class IUAVGadget;
}
//class QWidget;
//class QString;
class DebugGadgetWidget;
using namespace Core;
class DebugGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
DebugGadget(QString classId, DebugGadgetWidget *widget, QWidget *parent = 0);
~DebugGadget();
QList<int> context() const { return m_context; }
QWidget *widget() { return m_widget; }
QString contextHelpId() const { return QString(); }
private:
QWidget *m_widget;
QList<int> m_context;
};
#endif // DEBUGGADGET_H_

21
ground/openpilotgcs/src/plugins/debuggadget/debuggadget.pro Normal file
View File

@ -0,0 +1,21 @@
TEMPLATE = lib
TARGET = DebugGadget
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../libs/libqxt/core/logengines.pri)
HEADERS += debugplugin.h \
debugengine.h
HEADERS += debuggadget.h
HEADERS += debuggadgetwidget.h
HEADERS += debuggadgetfactory.h
SOURCES += debugplugin.cpp \
debugengine.cpp
SOURCES += debuggadget.cpp
SOURCES += debuggadgetfactory.cpp
SOURCES += debuggadgetwidget.cpp
OTHER_FILES += DebugGadget.pluginspec
FORMS += \
debug.ui

47
ground/openpilotgcs/src/plugins/debuggadget/debuggadgetfactory.cpp Normal file
View File

@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file debuggadgetfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debuggadgetfactory.h"
#include "debuggadgetwidget.h"
#include "debuggadget.h"
#include <coreplugin/iuavgadget.h>
DebugGadgetFactory::DebugGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("DebugGadget"),
tr("DebugGadget"),
parent)
{
}
DebugGadgetFactory::~DebugGadgetFactory()
{
}
IUAVGadget* DebugGadgetFactory::createGadget(QWidget *parent) {
DebugGadgetWidget* gadgetWidget = new DebugGadgetWidget(parent);
return new DebugGadget(QString("DebugGadget"), gadgetWidget, parent);
}

50
ground/openpilotgcs/src/plugins/debuggadget/debuggadgetfactory.h Normal file
View File

@ -0,0 +1,50 @@
/**
******************************************************************************
*
* @file debuggadgetfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGGADGETFACTORY_H_
#define DEBUGGADGETFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class DebugGadgetFactory : public IUAVGadgetFactory
{
Q_OBJECT
public:
DebugGadgetFactory(QObject *parent = 0);
~DebugGadgetFactory();
IUAVGadget *createGadget(QWidget *parent);
};
#endif // DEBUGGADGETFACTORY_H_

96
ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp Normal file
View File

@ -0,0 +1,96 @@
/**
******************************************************************************
*
* @file debuggadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debuggadgetwidget.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include "qxtlogger.h"
#include "debugengine.h"
#include <QFile>
#include <QFileDialog>
#include <QMessageBox>
#include <QScrollBar>
#include <QTime>
DebugGadgetWidget::DebugGadgetWidget(QWidget *parent) : QLabel(parent)
{
m_config = new Ui_Form();
m_config->setupUi(this);
debugengine * de=new debugengine();
QxtLogger::getInstance()->addLoggerEngine("debugplugin", de);
connect(de,SIGNAL(dbgMsg(QString,QList<QVariant>)),this,SLOT(dbgMsg(QString,QList<QVariant>)));
connect(de,SIGNAL(dbgMsgError(QString,QList<QVariant>)),this,SLOT(dbgMsgError(QString,QList<QVariant>)));
connect(m_config->pushButton,SIGNAL(clicked()),this,SLOT(saveLog()));
}
DebugGadgetWidget::~DebugGadgetWidget()
{
// Do nothing
}
void DebugGadgetWidget::dbgMsg(const QString &level, const QList<QVariant> &msgs)
{
m_config->plainTextEdit->setTextColor(Qt::red);
m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
sb->setValue(sb->maximum());
}
void DebugGadgetWidget::dbgMsgError(const QString &level, const QList<QVariant> &msgs)
{
m_config->plainTextEdit->setTextColor(Qt::black);
m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
sb->setValue(sb->maximum());
}
void DebugGadgetWidget::saveLog()
{
QString fileName = QFileDialog::getSaveFileName(0, tr("Save log File As"), "");
if (fileName.isEmpty()) {
return;
}
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(m_config->plainTextEdit->toHtml().toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("Log Save"),
tr("Unable to save log: ") + fileName,
QMessageBox::Ok);
return;
}
}

49
ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.h Normal file
View File

@ -0,0 +1,49 @@
/**
******************************************************************************
*
* @file debuggadgetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGGADGETWIDGET_H_
#define DEBUGGADGETWIDGET_H_
#include <QtGui/QLabel>
#include "ui_debug.h"
class DebugGadgetWidget : public QLabel
{
Q_OBJECT
public:
DebugGadgetWidget(QWidget *parent = 0);
~DebugGadgetWidget();
private:
Ui_Form *m_config;
private slots:
void saveLog();
void dbgMsgError( const QString & level, const QList<QVariant> & msgs );
void dbgMsg( const QString & level, const QList<QVariant> & msgs );
};
#endif /* DEBUGGADGETWIDGET_H_ */

65
ground/openpilotgcs/src/plugins/debuggadget/debugplugin.cpp Normal file
View File

@ -0,0 +1,65 @@
/**
******************************************************************************
*
* @file debugplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debugplugin.h"
#include "debuggadgetfactory.h"
#include <QDebug>
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
DebugPlugin::DebugPlugin()
{
// Do nothing
}
DebugPlugin::~DebugPlugin()
{
// Do nothing
}
bool DebugPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new DebugGadgetFactory(this);
addAutoReleasedObject(mf);
return true;
}
void DebugPlugin::extensionsInitialized()
{
// Do nothing
}
void DebugPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(DebugPlugin)

47
ground/openpilotgcs/src/plugins/debuggadget/debugplugin.h Normal file
View File

@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file debugplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGPLUGIN_H_
#define DEBUGPLUGIN_H_
#include <extensionsystem/iplugin.h>
class DebugGadgetFactory;
class DebugPlugin : public ExtensionSystem::IPlugin
{
public:
DebugPlugin();
~DebugPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
DebugGadgetFactory *mf;
};
#endif /* DEBUGPLUGIN_H_ */

7
ground/openpilotgcs/src/plugins/plugins.pro
View File

@ -19,6 +19,12 @@ plugin_emptygadget.subdir = emptygadget
plugin_emptygadget.depends = plugin_coreplugin
SUBDIRS += plugin_emptygadget
# UAV Settings Import/Export plugin
plugin_debuggadget.subdir = debuggadget
#plugin_debughelper.depends = plugin_coreplugin
#plugin_debughelper.depends += plugin_uavobjects
SUBDIRS += plugin_debuggadget
# Welcome plugin
plugin_welcome.subdir = welcome
plugin_welcome.depends = plugin_coreplugin
@ -107,6 +113,7 @@ SUBDIRS += plugin_systemhealth
plugin_config.subdir = config
plugin_config.depends = plugin_coreplugin
plugin_config.depends += plugin_uavobjects
plugin_config.depends += plugin_uavsettingsimportexport
SUBDIRS += plugin_config
#GPS Display gadget

321
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.cpp
View File

@ -31,7 +31,7 @@
#include <QStringList>
#include <QDebug>
#include <QCheckBox>
#include "importsummary.h"
// for menu item
#include <coreplugin/coreconstants.h>
#include <coreplugin/actionmanager/actionmanager.h>
@ -62,321 +62,20 @@ UAVSettingsImportExportPlugin::~UAVSettingsImportExportPlugin()
bool UAVSettingsImportExportPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
// Add Menu entry
Core::ActionManager* am = Core::ICore::instance()->actionManager();
Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_FILE);
Core::Command* cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVSettingsExport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+E"));
cmd->action()->setText(tr("Export UAV Settings..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVSettings()));
cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVSettingsImport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+I"));
cmd->action()->setText(tr("Import UAV Settings..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(importUAVSettings()));
cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVDataExport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->action()->setText(tr("Export UAV Data..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new UAVSettingsImportExportFactory(this);
addAutoReleasedObject(mf);
return true;
}
void UAVSettingsImportExportPlugin::extensionsInitialized()
{
// Do nothing
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportPlugin::importUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVSettings XML files (*.uav);; XML files (*.xml)");
fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
if (fileName.isEmpty()) {
return;
}
// Now open the file
QFile file(fileName);
QDomDocument doc("UAVSettings");
file.open(QFile::ReadOnly|QFile::Text);
if (!doc.setContent(file.readAll())) {
QMessageBox msgBox;
msgBox.setText(tr("File Parsing Failed."));
msgBox.setInformativeText(tr("This file is not a correct XML file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
file.close();
QDomElement root = doc.documentElement();
if (root.tagName() != "settings") {
QMessageBox msgBox;
msgBox.setText(tr("Wrong file contents."));
msgBox.setInformativeText(tr("This file is not a correct UAVSettings file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
// We are now ok: setup the import summary dialog & update it as we
// go along.
ImportSummaryDialog swui;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
swui.show();
QDomNode node = root.firstChild();
while (!node.isNull()) {
QDomElement e = node.toElement();
if (e.tagName() == "object") {
// - Read each object
QString uavObjectName = e.attribute("name");
uint uavObjectID = e.attribute("id").toUInt(NULL,16);
// Sanity Check:
UAVObject* obj = objManager->getObject(uavObjectName);
if (obj == NULL) {
// This object is unknown!
qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
swui.addLine(uavObjectName, "Error (Object unknown)", false);
} else {
// - Update each field
// - Issue and "updated" command
bool error=false;
QDomNode field = node.firstChild();
while(!field.isNull()) {
QDomElement f = field.toElement();
if (f.tagName() == "field") {
UAVObjectField *uavfield = obj->getField(f.attribute("name"));
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
uavfield->setValue(f.attribute("values"));
} else {
// This is an enum:
int i=0;
QStringList list = f.attribute("values").split(",");
foreach (QString element, list) {
uavfield->setValue(element,i++);
}
}
error = false;
} else {
error = true;
}
}
field = field.nextSibling();
}
obj->updated();
if (error) {
swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else
swui.addLine(uavObjectName, "OK", true);
}
}
node = node.nextSibling();
}
swui.exec();
}
// Create an XML document from UAVObject database
QString UAVSettingsImportExportPlugin::createXMLDocument(
const QString docName, const bool isSettings, const bool fullExport)
{
// generate an XML first (used for all export formats as a formatted data source)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
QDomDocument doc(docName);
QDomElement root = doc.createElement(isSettings ? "settings" : "data");
doc.appendChild(root);
QDomElement versionInfo =doc.createElement("versionInfo");
root.appendChild(versionInfo);
QDomElement fw=doc.createElement("Embedded");
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
fw.setAttribute("gitcommittag",utilMngr->getBoardDescriptionStruct().gitTag);
fw.setAttribute("fwtag",utilMngr->getBoardDescriptionStruct().description);
fw.setAttribute("cpuSerial",QString(utilMngr->getBoardCPUSerial().toHex()));
versionInfo.appendChild(fw);
QDomElement gcs=doc.createElement("GCS");
gcs.setAttribute("revision",QString::fromLatin1(Core::Constants::GCS_REVISION_STR));
versionInfo.appendChild(gcs);
// iterate over settings objects
QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
foreach (QList<UAVDataObject*> list, objList) {
foreach (UAVDataObject* obj, list) {
if (obj->isSettings() == isSettings) {
// add each object to the XML
QDomElement o = doc.createElement("object");
o.setAttribute("name", obj->getName());
o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
if (fullExport) {
QDomElement d = doc.createElement("description");
QDomText t = doc.createTextNode(obj->getDescription().remove("@Ref ", Qt::CaseInsensitive));
d.appendChild(t);
o.appendChild(d);
}
// iterate over fields
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
QDomElement f = doc.createElement("field");
// iterate over values
QString vals;
quint32 nelem = field->getNumElements();
for (unsigned int n = 0; n < nelem; ++n) {
vals.append(QString("%1,").arg(field->getValue(n).toString()));
}
vals.chop(1);
f.setAttribute("name", field->getName());
f.setAttribute("values", vals);
if (fullExport) {
f.setAttribute("type", field->getTypeAsString());
f.setAttribute("units", field->getUnits());
f.setAttribute("elements", nelem);
if (field->getType() == UAVObjectField::ENUM) {
f.setAttribute("options", field->getOptions().join(","));
}
}
o.appendChild(f);
}
root.appendChild(o);
}
}
}
return doc.toString(4);
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportPlugin::exportUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVSettings XML files (*.uav)");
fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Settings File As"), "", filters);
if (fileName.isEmpty()) {
return;
}
bool fullExport = false;
// If the filename ends with .xml, we will do a full export, otherwise, a simple export
if (fileName.endsWith(".xml")) {
fullExport = true;
} else if (!fileName.endsWith(".uav")) {
fileName.append(".uav");
}
// generate an XML first (used for all export formats as a formatted data source)
QString xml = createXMLDocument("UAVSettings", true, fullExport);
// save file
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(xml.toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("UAV Settings Export"),
tr("Unable to save settings: ") + fileName,
QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Settings saved."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportPlugin::exportUAVData()
{
if (QMessageBox::question(0, tr("Are you sure?"),
tr("This option is only useful for passing your current "
"system data to the technical support staff. "
"Do you really want to export?"),
QMessageBox::Ok | QMessageBox::Cancel,
QMessageBox::Ok) != QMessageBox::Ok) {
return;
}
// ask for file name
QString fileName;
QString filters = tr("UAVData XML files (*.uav)");
fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Data File As"), "", filters);
if (fileName.isEmpty()) {
return;
}
bool fullExport = false;
// If the filename ends with .xml, we will do a full export, otherwise, a simple export
if (fileName.endsWith(".xml")) {
fullExport = true;
} else if (!fileName.endsWith(".uav")) {
fileName.append(".uav");
}
// generate an XML first (used for all export formats as a formatted data source)
QString xml = createXMLDocument("UAVData", false, fullExport);
// save file
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(xml.toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("UAV Data Export"),
tr("Unable to save data: ") + fileName,
QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Data saved."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
}
void UAVSettingsImportExportPlugin::shutdown()
{
// Do nothing
}
void UAVSettingsImportExportPlugin::extensionsInitialized()
{
}
Q_EXPORT_PLUGIN(UAVSettingsImportExportPlugin)

15
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.h
View File

@ -29,9 +29,10 @@
#include <extensionsystem/iplugin.h>
#include "uavobjectutil/uavobjectutilmanager.h"
#include "importsummary.h"
#include "uavsettingsimportexport_global.h"
#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
class UAVSettingsImportExportPlugin : public ExtensionSystem::IPlugin
#include "uavsettingsimportexportfactory.h"
class UAVSETTINGSIMPORTEXPORT_EXPORT UAVSettingsImportExportPlugin : public ExtensionSystem::IPlugin
{
Q_OBJECT
@ -42,16 +43,10 @@ public:
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
QString createXMLDocument(const QString docName,
const bool isSettings,
const bool fullExport);
UAVSettingsImportExportFactory *mf;
private slots:
void importUAVSettings();
void exportUAVSettings();
void exportUAVData();
};

2
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pri Normal file
View File

@ -0,0 +1,2 @@
include(uavsettingsimportexport_dependencies.pri)
LIBS *= -l$$qtLibraryName(UAVSettingsImportExport)

8
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pro
View File

@ -3,14 +3,16 @@ TEMPLATE = lib
QT += xml
TARGET = UAVSettingsImportExport
DEFINES += UAVSETTINGSIMPORTEXPORT_LIBRARY
include(../../openpilotgcsplugin.pri)
include(uavsettingsimportexport_dependencies.pri)
HEADERS += uavsettingsimportexport.h \
importsummary.h
importsummary.h \
uavsettingsimportexportfactory.h
SOURCES += uavsettingsimportexport.cpp \
importsummary.cpp
importsummary.cpp \
uavsettingsimportexportfactory.cpp
OTHER_FILES += uavsettingsimportexport.pluginspec

40
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport_global.h Normal file
View File

@ -0,0 +1,40 @@
/**
******************************************************************************
*
* @file uavsettingsimportexport_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup
* @{
* @brief
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVSETTINGSIMPORTEXPORT_GLOBAL_H
#define UAVSETTINGSIMPORTEXPORT_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(UAVSETTINGSIMPORTEXPORT_LIBRARY)
# define UAVSETTINGSIMPORTEXPORT_EXPORT Q_DECL_EXPORT
#else
# define UAVSETTINGSIMPORTEXPORT_EXPORT Q_DECL_IMPORT
#endif
#endif // UAVSETTINGSIMPORTEXPORT_GLOBAL_H

365
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp Normal file
View File

@ -0,0 +1,365 @@
/**
******************************************************************************
*
* @file uavsettingsimportexportfactory.cpp
* @author (C) 2011 The OpenPilot Team, http://www.openpilot.org
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVSettingsImportExport UAVSettings Import/Export Plugin
* @{
* @brief UAVSettings Import/Export Plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavsettingsimportexportfactory.h"
#include <QtPlugin>
#include <QStringList>
#include <QDebug>
#include <QCheckBox>
#include "importsummary.h"
// for menu item
#include <coreplugin/coreconstants.h>
#include <coreplugin/actionmanager/actionmanager.h>
#include <coreplugin/icore.h>
#include <QKeySequence>
// for UAVObjects
#include "uavdataobject.h"
#include "uavobjectmanager.h"
#include "extensionsystem/pluginmanager.h"
// for XML object
#include <QDomDocument>
// for file dialog and error messages
#include <QFileDialog>
#include <QMessageBox>
UAVSettingsImportExportFactory::~UAVSettingsImportExportFactory()
{
// Do nothing
}
UAVSettingsImportExportFactory::UAVSettingsImportExportFactory(QObject * parent):QObject(parent)
{
// Add Menu entry
Core::ActionManager* am = Core::ICore::instance()->actionManager();
Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_FILE);
Core::Command* cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVSettingsExport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+E"));
cmd->action()->setText(tr("Export UAV Settings..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVSettings()));
cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVSettingsImport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+I"));
cmd->action()->setText(tr("Import UAV Settings..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(importUAVSettings()));
cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVDataExport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->action()->setText(tr("Export UAV Data..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::importUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVSettings XML files (*.uav);; XML files (*.xml)");
fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
if (fileName.isEmpty()) {
return;
}
// Now open the file
QFile file(fileName);
QDomDocument doc("UAVSettings");
file.open(QFile::ReadOnly|QFile::Text);
if (!doc.setContent(file.readAll())) {
QMessageBox msgBox;
msgBox.setText(tr("File Parsing Failed."));
msgBox.setInformativeText(tr("This file is not a correct XML file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
file.close();
emit importAboutToBegin();
qDebug()<<"Import about to begin";
QDomElement root = doc.documentElement();
if (root.tagName() != "settings") {
QMessageBox msgBox;
msgBox.setText(tr("Wrong file contents."));
msgBox.setInformativeText(tr("This file is not a correct UAVSettings file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
// We are now ok: setup the import summary dialog & update it as we
// go along.
ImportSummaryDialog swui;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
swui.show();
QDomNode node = root.firstChild();
while (!node.isNull()) {
QDomElement e = node.toElement();
if (e.tagName() == "object") {
// - Read each object
QString uavObjectName = e.attribute("name");
uint uavObjectID = e.attribute("id").toUInt(NULL,16);
// Sanity Check:
UAVObject* obj = objManager->getObject(uavObjectName);
if (obj == NULL) {
// This object is unknown!
qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
swui.addLine(uavObjectName, "Error (Object unknown)", false);
} else {
// - Update each field
// - Issue and "updated" command
bool error=false;
QDomNode field = node.firstChild();
while(!field.isNull()) {
QDomElement f = field.toElement();
if (f.tagName() == "field") {
UAVObjectField *uavfield = obj->getField(f.attribute("name"));
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
uavfield->setValue(f.attribute("values"));
} else {
// This is an enum:
int i=0;
QStringList list = f.attribute("values").split(",");
foreach (QString element, list) {
uavfield->setValue(element,i++);
}
}
error = false;
} else {
error = true;
}
}
field = field.nextSibling();
}
obj->updated();
if (error) {
swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else
swui.addLine(uavObjectName, "OK", true);
}
}
node = node.nextSibling();
}
qDebug()<<"End import";
swui.exec();
}
// Create an XML document from UAVObject database
QString UAVSettingsImportExportFactory::createXMLDocument(
const QString docName, const bool isSettings, const bool fullExport)
{
// generate an XML first (used for all export formats as a formatted data source)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
QDomDocument doc(docName);
QDomElement root = doc.createElement(isSettings ? "settings" : "data");
doc.appendChild(root);
QDomElement versionInfo =doc.createElement("versionInfo");
root.appendChild(versionInfo);
QDomElement fw=doc.createElement("Embedded");
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
fw.setAttribute("gitcommittag",utilMngr->getBoardDescriptionStruct().gitTag);
fw.setAttribute("fwtag",utilMngr->getBoardDescriptionStruct().description);
fw.setAttribute("cpuSerial",QString(utilMngr->getBoardCPUSerial().toHex()));
versionInfo.appendChild(fw);
QDomElement gcs=doc.createElement("GCS");
gcs.setAttribute("revision",QString::fromLatin1(Core::Constants::GCS_REVISION_STR));
versionInfo.appendChild(gcs);
// iterate over settings objects
QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
foreach (QList<UAVDataObject*> list, objList) {
foreach (UAVDataObject* obj, list) {
if (obj->isSettings() == isSettings) {
// add each object to the XML
QDomElement o = doc.createElement("object");
o.setAttribute("name", obj->getName());
o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
if (fullExport) {
QDomElement d = doc.createElement("description");
QDomText t = doc.createTextNode(obj->getDescription().remove("@Ref ", Qt::CaseInsensitive));
d.appendChild(t);
o.appendChild(d);
}
// iterate over fields
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
QDomElement f = doc.createElement("field");
// iterate over values
QString vals;
quint32 nelem = field->getNumElements();
for (unsigned int n = 0; n < nelem; ++n) {
vals.append(QString("%1,").arg(field->getValue(n).toString()));
}
vals.chop(1);
f.setAttribute("name", field->getName());
f.setAttribute("values", vals);
if (fullExport) {
f.setAttribute("type", field->getTypeAsString());
f.setAttribute("units", field->getUnits());
f.setAttribute("elements", nelem);
if (field->getType() == UAVObjectField::ENUM) {
f.setAttribute("options", field->getOptions().join(","));
}
}
o.appendChild(f);
}
root.appendChild(o);
}
}
}
return doc.toString(4);
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::exportUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVSettings XML files (*.uav)");
fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Settings File As"), "", filters);
if (fileName.isEmpty()) {
return;
}
bool fullExport = false;
// If the filename ends with .xml, we will do a full export, otherwise, a simple export
if (fileName.endsWith(".xml")) {
fullExport = true;
} else if (!fileName.endsWith(".uav")) {
fileName.append(".uav");
}
// generate an XML first (used for all export formats as a formatted data source)
QString xml = createXMLDocument("UAVSettings", true, fullExport);
// save file
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(xml.toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("UAV Settings Export"),
tr("Unable to save settings: ") + fileName,
QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Settings saved."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::exportUAVData()
{
if (QMessageBox::question(0, tr("Are you sure?"),
tr("This option is only useful for passing your current "
"system data to the technical support staff. "
"Do you really want to export?"),
QMessageBox::Ok | QMessageBox::Cancel,
QMessageBox::Ok) != QMessageBox::Ok) {
return;
}
// ask for file name
QString fileName;
QString filters = tr("UAVData XML files (*.uav)");
fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Data File As"), "", filters);
if (fileName.isEmpty()) {
return;
}
bool fullExport = false;
// If the filename ends with .xml, we will do a full export, otherwise, a simple export
if (fileName.endsWith(".xml")) {
fullExport = true;
} else if (!fileName.endsWith(".uav")) {
fileName.append(".uav");
}
// generate an XML first (used for all export formats as a formatted data source)
QString xml = createXMLDocument("UAVData", false, fullExport);
// save file
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(xml.toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("UAV Data Export"),
tr("Unable to save data: ") + fileName,
QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Data saved."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
}

55
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.h Normal file
View File

@ -0,0 +1,55 @@
/**
******************************************************************************
*
* @file uavsettingsimportexportfactory.h
* @author (C) 2011 The OpenPilot Team, http://www.openpilot.org
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVSettingsImportExport UAVSettings Import/Export Plugin
* @{
* @brief UAVSettings Import/Export Plugin
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVSETTINGSIMPORTEXPORTFACTORY_H
#define UAVSETTINGSIMPORTEXPORTFACTORY_H
#include "uavsettingsimportexport_global.h"
#include "uavobjectutil/uavobjectutilmanager.h"
#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
class UAVSETTINGSIMPORTEXPORT_EXPORT UAVSettingsImportExportFactory : public QObject
{
Q_OBJECT
public:
UAVSettingsImportExportFactory(QObject *parent = 0);
~UAVSettingsImportExportFactory();
private:
QString createXMLDocument(const QString docName,
const bool isSettings,
const bool fullExport);
private slots:
void importUAVSettings();
void exportUAVSettings();
void exportUAVData();
signals:
void importAboutToBegin();
void importEnded();
};
#endif // UAVSETTINGSIMPORTEXPORTFACTORY_H