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

ground/openpilotgcs/src/plugins/config/Config.pluginspec

@@ -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>   

ground/openpilotgcs/src/plugins/config/config.pro

@@ -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

ground/openpilotgcs/src/plugins/config/configairframewidget.cpp

@@ -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
@@ -1533,12 +1549,16 @@ 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++) {
+        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;
 }
 
 /**

ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp

@@ -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((ConfigGadgetWidget*)parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
-    connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
+    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;
+    }
+}
+
 
 
 

ground/openpilotgcs/src/plugins/config/configtaskwidget.h

@@ -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();

ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp

@@ -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;
             }
         }

ground/openpilotgcs/src/plugins/debuggadget/DebugGadget.pluginspec

@@ -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>    

ground/openpilotgcs/src/plugins/debuggadget/debug.ui

@@ -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>

ground/openpilotgcs/src/plugins/debuggadget/debugengine.cpp

@@ -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);
+}

ground/openpilotgcs/src/plugins/debuggadget/debugengine.h

@@ -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

ground/openpilotgcs/src/plugins/debuggadget/debuggadget.cpp

@@ -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;
+}

ground/openpilotgcs/src/plugins/debuggadget/debuggadget.h

@@ -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_

ground/openpilotgcs/src/plugins/debuggadget/debuggadget.pro

@@ -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

ground/openpilotgcs/src/plugins/debuggadget/debuggadgetfactory.cpp

@@ -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);
+}

ground/openpilotgcs/src/plugins/debuggadget/debuggadgetfactory.h

@@ -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_

ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp

@@ -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;
+    }
+}

ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.h

@@ -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_ */

ground/openpilotgcs/src/plugins/debuggadget/debugplugin.cpp

@@ -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)
+

ground/openpilotgcs/src/plugins/debuggadget/debugplugin.h

@@ -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_ */

ground/openpilotgcs/src/plugins/plugins.pro

@@ -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

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.cpp

@@ -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>
@@ -64,319 +64,18 @@ bool UAVSettingsImportExportPlugin::initialize(const QStringList& args, QString
 { 
     Q_UNUSED(args);
     Q_UNUSED(errMsg);
-
+    mf = new UAVSettingsImportExportFactory(this);
-   // Add Menu entry
+    addAutoReleasedObject(mf);
-   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()));
-
     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)
+
+

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.h

@@ -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,
+   UAVSettingsImportExportFactory *mf;
-                             const bool isSettings,
+
-                             const bool fullExport);
 
-private slots:
-   void importUAVSettings();
-   void exportUAVSettings();
-   void exportUAVData();
 
 }; 
 

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pri

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

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pro

@@ -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
 

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport_global.h

@@ -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

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp

@@ -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();
+}

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.h

@@ -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