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Code Issues Releases Activity

Merge remote-tracking branch 'op-public/next' into revo-next

Browse Source 
Conflicts:
	shared/uavobjectdefinition/manualcontrolsettings.xml
This commit is contained in:
Stacey Sheldon 2012-07-08 18:14:09 -04:00
commit 54a161a3d4
107 changed files with 6839 additions and 3952 deletions
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21
Makefile
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@ -490,7 +490,7 @@ uavobjgenerator:
$(MAKE) --no-print-directory -w ; \
)
UAVOBJ_TARGETS := gcs flight python matlab java
UAVOBJ_TARGETS := gcs flight python matlab java wireshark
.PHONY:uavobjects
uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
@ -662,6 +662,12 @@ ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
endif
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
endif
# Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
@ -676,6 +682,13 @@ revolution_short := 'revo'
simposix_short := 'posx'
osd_short := 'osd '
# Short hames of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
pipxtreme_short := 'pipx'
revolution_short := 'revo'
simposix_short := 'posx'
osd_short := 'osd '
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(ALL_BOARDS)
@ -692,6 +705,12 @@ BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
BU_BOARDS := $(filter-out simposix, $(BU_BOARDS))
EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
# SimPosix doesn't have a BL, BU or EF target so we need to
# filter them out to prevent errors on the all_flight target.
BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
BU_BOARDS := $(filter-out simposix, $(BU_BOARDS))
EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))

48
artwork/Misc/multirotor-shapes.svg
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41
flight/Modules/Actuator/actuator.c
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@ -67,7 +67,8 @@ static xTaskHandle taskHandle;
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
// used to inform the actuator thread that actuator update rate is changed
static uint8_t updateRateChanged = 0;
// Private functions
static void actuatorTask(void* parameters);
@ -76,10 +77,12 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
static void setFailsafe();
static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
static bool set_channel(uint8_t mixer_channel, uint16_t value);
static void change_update_rate();
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period);
static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
//this structure is equivalent to the UAVObjects for one mixer.
typedef struct {
uint8_t type;
@ -157,10 +160,9 @@ static void actuatorTask(void* parameters)
int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
change_update_rate();
float * status = (float *)&mixerStatus; //access status objects as an array of floats
// Go to the neutral (failsafe) values until an ActuatorDesired update is received
@ -179,6 +181,12 @@ static void actuatorTask(void* parameters)
continue;
}
if(updateRateChanged!=0)
{
change_update_rate();
updateRateChanged=0;
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
@ -547,10 +555,27 @@ static void setFailsafe()
static void actuator_update_rate(UAVObjEvent * ev)
{
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
if ( ev->obj == ActuatorSettingsHandle() ) {
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
}
// ActuatoSettings are not changed
if ( ev->obj != ActuatorSettingsHandle() )
return;
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
// check if the any rate setting is changed
if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
return;
// signal to the actuator task that ChannelUpdateFreq are changed
updateRateChanged = 1;
}
/**
* @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
*/
static void change_update_rate()
{
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
// save the new rates
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
}
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)

35
flight/Modules/ManualControl/manualcontrol.c
View File

@ -59,7 +59,6 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1f
#define FLIGHT_MODE_LIMIT 1.0f/3.0f
#define ARMED_TIME_MS 1000
#define ARMED_THRESHOLD 0.50f
//safe band to allow a bit of calibration error or trim offset (in microseconds)
@ -238,19 +237,23 @@ static void manualControlTask(void *parameters)
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
// Check the driver is exists
// Check the driver exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER) {
// Check the FlightModeNumber is valid
settings.FlightModeNumber < 1 || settings.FlightModeNumber > MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM ||
// Similar checks for FlightMode channel but only if more than one flight mode has been set. Otherwise don't care
((settings.FlightModeNumber > 1) && (
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER))) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
@ -359,7 +362,6 @@ static void manualControlTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
processFlightMode(&settings, flightMode);
}
@ -950,30 +952,27 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
}
/**
* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
* @brief Determine which of N positions the flight mode switch is in and set flight mode accordingly
* @param[out] cmd Pointer to the command structure to set the flight mode in
* @param[in] settings The settings which indicate which position is which mode
* @param[in] flightMode the value of the switch position
*/
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
static void processFlightMode(ManualControlSettingsData *settings, float flightMode)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t newMode;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[2];
else
newMode = settings->FlightModePosition[1];
// Convert flightMode value into the switch position in the range [0..N-1]
uint8_t pos = ((int16_t)(flightMode * 256.0f) + 256) * settings->FlightModeNumber >> 9;
if (pos >= settings->FlightModeNumber)
pos = settings->FlightModeNumber - 1;
if(flightStatus.FlightMode != newMode) {
uint8_t newMode = settings->FlightModePosition[pos];
if (flightStatus.FlightMode != newMode) {
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
}
}
/**

1
flight/Modules/Stabilization/stabilization.c
View File

@ -444,7 +444,6 @@ static float bound(float val)
static void SettingsUpdatedCb(UAVObjEvent * ev)
{
memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings);
// Set the roll rate PID constants

13
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
View File

@ -274,7 +274,6 @@ void vPortStartFirstTask( void )
*/
portBASE_TYPE xPortStartScheduler( void )
{
portBASE_TYPE xResult;
sigset_t xSignalToBlock;
/**
@ -337,9 +336,9 @@ portBASE_TYPE xPortStartScheduler( void )
PORT_PRINT( "Cleaning Up, Exiting.\n" );
/* Cleanup the mutexes */
xResult = pthread_mutex_destroy( &xRunningThreadMutex );
xResult = pthread_mutex_destroy( &xYieldingThreadMutex );
xResult = pthread_mutex_destroy( &xGuardMutex );
pthread_mutex_destroy( &xRunningThreadMutex );
pthread_mutex_destroy( &xYieldingThreadMutex );
pthread_mutex_destroy( &xGuardMutex );
vPortFree( (void *)pxThreads );
/* Should not get here! */
@ -353,13 +352,12 @@ portBASE_TYPE xPortStartScheduler( void )
void vPortEndScheduler( void )
{
portBASE_TYPE xNumberOfThreads;
portBASE_TYPE xResult;
for ( xNumberOfThreads = 0; xNumberOfThreads < MAX_NUMBER_OF_TASKS; xNumberOfThreads++ )
{
if ( ( pthread_t )NULL != pxThreads[ xNumberOfThreads ].hThread )
{
/* Kill all of the threads, they are in the detached state. */
xResult = pthread_cancel( pxThreads[ xNumberOfThreads ].hThread );
pthread_cancel( pxThreads[ xNumberOfThreads ].hThread );
}
}
@ -683,7 +681,6 @@ void vPortForciblyEndThread( void *pxTaskToDelete )
xTaskHandle hTaskToDelete = ( xTaskHandle )pxTaskToDelete;
xThreadState* xTaskToDelete;
xThreadState* xTaskToResume;
portBASE_TYPE xResult;
PORT_ENTER();
@ -706,7 +703,7 @@ portBASE_TYPE xResult;
/* Send a signal to wake the task so that it definitely cancels. */
pthread_testcancel();
xResult = pthread_cancel( xTaskToDelete->hThread );
pthread_cancel( xTaskToDelete->hThread );
}
else

4
flight/PiOS.posix/posix/pios_delay.c
View File

@ -64,7 +64,7 @@ int32_t PIOS_DELAY_WaituS(uint32_t uS)
static struct timespec wait,rest;
wait.tv_sec=0;
wait.tv_nsec=1000*uS;
while (!nanosleep(&wait,&rest)) {
while (nanosleep(&wait,&rest)!=0) {
wait=rest;
}
@ -90,7 +90,7 @@ int32_t PIOS_DELAY_WaitmS(uint32_t mS)
static struct timespec wait,rest;
wait.tv_sec=mS/1000;
wait.tv_nsec=(mS%1000)*1000000;
while (!nanosleep(&wait,&rest)) {
while (nanosleep(&wait,&rest)!=0) {
wait=rest;
}
//}

4
flight/PiOS/Common/pios_flash_jedec.c
View File

@ -331,10 +331,10 @@ int32_t PIOS_Flash_Jedec_EraseChip()
// Keep polling when bus is busy too
int i = 0;
while(PIOS_Flash_Jedec_Busy() != 0) {
#if defined(PIOS_INCLUDE_FREERTOS)
#if defined(FLASH_FREERTOS)
vTaskDelay(1);
#endif
if ((i++) % 100 == 0)
if ((i++) % 10000 == 0)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
}

8
flight/UAVObjects/inc/uavobjectmanager.h
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@ -59,10 +59,10 @@ typedef void* UAVObjHandle;
* Object update mode, used by multiple modules (e.g. telemetry and logger)
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UAVObjUpdateMode;
/**

5793
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
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85
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -132,16 +132,11 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
}
m_ccpm->PitchCurve->setMin(-1);
resetMixer(m_ccpm->PitchCurve, 5);
resetMixer(m_ccpm->ThrottleCurve, 5);
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
Q_ASSERT(curve2source);
//initialize our two mixer curves
m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
//initialize channel names
m_ccpm->ccpmEngineChannel->addItems(channelNames);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channelNames);
@ -474,14 +469,6 @@ void ConfigCcpmWidget::UpdateType()
}
/**
Resets a mixer curve
*/
void ConfigCcpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
{
mixer->initLinearCurve(numElements,(double)1);
}
void ConfigCcpmWidget::UpdateCurveWidgets()
{
int NumCurvePoints,i,Changed;
@ -501,7 +488,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues);
if (Changed==1)
m_ccpm->ThrottleCurve->setCurve(&curveValues);
curveValues.clear();
Changed=0;
@ -513,7 +501,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
if (Changed==1)
m_ccpm->PitchCurve->setCurve(&curveValues);
}
void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
@ -606,50 +595,40 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
//set default visible
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
if ( CurveType.compare("Flat")==0)
{
m_ccpm->CurveLabel1->setText("Value");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Linear")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Step")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setText("Step at");
m_ccpm->CurveLabel3->setVisible(true);
m_ccpm->CurveValue3->setVisible(true);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Exp")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
@ -660,14 +639,10 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Log")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
@ -677,22 +652,17 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue3->setMinimum(1.0);
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
}
if ( CurveType.compare("Custom")==0)
{
m_ccpm->CurveLabel1->setVisible(false);
m_ccpm->CurveValue1->setVisible(false);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(false);
m_ccpm->CurveToGenerate->setVisible(false);
}
UpdateCurveWidgets();
UpdateCurveWidgets();
}
void ConfigCcpmWidget::GenerateCurve()
@ -881,7 +851,8 @@ void ConfigCcpmWidget::UpdateMixer()
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
QString Channel;
throwConfigError(QString("HeliCP"));
if (throwConfigError(QString("HeliCP")))
return;
GUIConfigDataUnion config = GetConfigData();
@ -1744,13 +1715,16 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigCcpmWidget::throwConfigError(QString airframeType)
bool ConfigCcpmWidget::throwConfigError(QString airframeType)
{
Q_UNUSED(airframeType);
bool error = false;
if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
error = true;
}
else
{
@ -1759,6 +1733,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
error = true;
}
else
{
@ -1767,6 +1742,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
error = true;
}
else
{
@ -1775,6 +1751,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
error = true;
}
else
{
@ -1793,10 +1770,12 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
error = true;
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
return error;
}

3
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -95,7 +95,7 @@ private:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw();
@ -103,7 +103,6 @@ private:
void GenerateCurve();
void UpdateMixer();
void UpdateType();
void resetMixer(MixerCurveWidget *mixer, int numElements);
void UpdateCurveWidgets();
void updatePitchCurveValue(QList<double>,double);
void updateThrottleCurveValue(QList<double>,double);

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -262,15 +262,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
(m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -351,14 +343,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -436,14 +421,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -526,7 +504,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigFixedWingWidget::throwConfigError(QString airframeType)
bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -618,4 +596,6 @@ void ConfigFixedWingWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -289,16 +289,9 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
if (throwConfigError(airframeType)) {
return false;
}
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
@ -352,16 +345,11 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering1ChannelBox->currentText() == "None")
{
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
@ -411,14 +399,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
m_aircraft->gvSteering2ChannelBox->currentText() == "None"))
{
if (throwConfigError(airframeType)) {
return false;
}
@ -468,7 +449,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -558,5 +539,6 @@ void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->gvStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

119
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -93,17 +93,22 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
m_aircraft->triYawChannelBox->setEnabled(true);
}
else if (frameType == "QuadX" || frameType == "Quad X") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
quad->setElementId("quad-x");
//Enable all necessary motor channel boxes...
for (i=1; i <=4; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
// init mixer levels
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
@ -283,20 +288,12 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
QString airframeType;
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
// Curve is also common to all quads:
setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
@ -314,15 +311,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "HexaCoax";
//Show any config errors in GUI
throwConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ) {
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
@ -348,18 +337,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Octo";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
@ -383,17 +363,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoV";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -419,17 +389,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxP";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -454,17 +414,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxX";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
@ -489,12 +439,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Tri";
//Show any config errors in GUI
throwConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
@ -523,8 +470,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1){
@ -868,14 +813,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
// Check coherence:
//Show any config errors in GUI
throwConfigError(4);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None") {
if (throwConfigError(4)) {
return false;
}
@ -943,19 +881,9 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(6);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None") {
if (throwConfigError(6))
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
@ -1069,7 +997,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigMultiRotorWidget::throwConfigError(int numMotors)
bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
{
//Initialize configuration error flag
bool error=false;
@ -1096,6 +1024,7 @@ void ConfigMultiRotorWidget::throwConfigError(int numMotors)
if (error){
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -71,7 +71,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
void throwConfigError(int numMotors);
virtual bool throwConfigError(int numMotors);
protected:

54
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -233,6 +233,30 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
}
}
double VehicleConfig::getMixerValue(UAVDataObject* mixer, QString elementName)
{
Q_ASSERT(mixer);
double value = 0.0;
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
value = field->getDouble();
}
return value;
}
void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, double value)
{
Q_ASSERT(mixer);
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
field->setDouble(value);
}
}
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{
QPointer<UAVObjectField> field;
@ -287,6 +311,36 @@ void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveEle
}
}
bool VehicleConfig::isValidThrottleCurve(QList<double>* curve)
{
Q_ASSERT(curve);
if (curve) {
for (int i=0; i < curve->count(); i++) {
if (curve->at(i) != 0)
return true;
}
}
return false;
}
double VehicleConfig::getCurveMin(QList<double>* curve)
{
double min = 0;
for (int i=0; i<curve->count(); i++)
min = std::min(min, curve->at(i));
return min;
}
double VehicleConfig::getCurveMax(QList<double>* curve)
{
double max = 0;
for (int i=0; i<curve->count(); i++)
max = std::max(max, curve->at(i));
return max;
}
/**
Reset the contents of a field
*/

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -130,9 +130,13 @@ class VehicleConfig: public ConfigTaskWidget
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double>* curve);
double getCurveMin(QList<double>* curve);
double getCurveMax(QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();

2
ground/openpilotgcs/src/plugins/config/configgadget.qrc
View File

@ -7,7 +7,7 @@
<file>images/AHRS-v1.3.png</file>
<file>images/paper-plane.svg</file>
<file>images/curve-bg.svg</file>
<file>images/quad-shapes.svg</file>
<file>images/multirotor-shapes.svg</file>
<file>images/ccpm_setup.svg</file>
<file>images/PipXtreme.png</file>
<file>images/Transmitter.png</file>

81
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -85,6 +85,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
@ -99,6 +103,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
enableControls(false);
populateWidgets();
@ -632,7 +637,8 @@ void ConfigInputWidget::setChannel(int newChan)
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) {
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
m_config->wzNext->setEnabled(true);
m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
} else
@ -1113,10 +1119,11 @@ void ConfigInputWidget::invertControls()
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::moveFMSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv=manualCommandObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
float valueScaled;
int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
@ -1139,12 +1146,72 @@ void ConfigInputWidget::moveFMSlider()
valueScaled = 0;
}
if(valueScaled < -(1.0 / 3.0))
m_config->fmsSlider->setValue(-100);
else if (valueScaled > (1.0/3.0))
m_config->fmsSlider->setValue(100);
// Bound and scale FlightMode from [-1..+1] to [0..1] range
if (valueScaled < -1.0)
valueScaled = -1.0;
else
m_config->fmsSlider->setValue(0);
if (valueScaled > 1.0)
valueScaled = 1.0;
// Convert flightMode value into the switch position in the range [0..N-1]
// This uses the same optimized computation as flight code to be consistent
uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
if (pos >= manualSettingsDataPriv.FlightModeNumber)
pos = manualSettingsDataPriv.FlightModeNumber - 1;
m_config->fmsSlider->setValue(pos);
}
void ConfigInputWidget::updatePositionSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
switch(manualSettingsDataPriv.FlightModeNumber) {
default:
case 6:
m_config->fmsModePos6->setEnabled(true);
// pass through
case 5:
m_config->fmsModePos5->setEnabled(true);
// pass through
case 4:
m_config->fmsModePos4->setEnabled(true);
// pass through
case 3:
m_config->fmsModePos3->setEnabled(true);
// pass through
case 2:
m_config->fmsModePos2->setEnabled(true);
// pass through
case 1:
m_config->fmsModePos1->setEnabled(true);
// pass through
case 0:
break;
}
switch(manualSettingsDataPriv.FlightModeNumber) {
case 0:
m_config->fmsModePos1->setEnabled(false);
// pass through
case 1:
m_config->fmsModePos2->setEnabled(false);
// pass through
case 2:
m_config->fmsModePos3->setEnabled(false);
// pass through
case 3:
m_config->fmsModePos4->setEnabled(false);
// pass through
case 4:
m_config->fmsModePos5->setEnabled(false);
// pass through
case 5:
m_config->fmsModePos6->setEnabled(false);
// pass through
case 6:
default:
break;
}
}
void ConfigInputWidget::updateCalibration()

1
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -146,6 +146,7 @@ private slots:
void moveSticks();
void dimOtherControls(bool value);
void moveFMSlider();
void updatePositionSlider();
void invertControls();
void simpleCalibration(bool state);
void updateCalibration();

193
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -119,9 +119,8 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(0); //Set default vehicle to Fixed Wing
m_aircraft->airframesWidget->setCurrentIndex(0); // Force the tab index to match
m_aircraft->aircraftType->setCurrentIndex(1); //Set default vehicle to MultiRotor
m_aircraft->airframesWidget->setCurrentIndex(1); // Force the tab index to match
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
@ -138,7 +137,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" <<
"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ;
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
m_aircraft->multirotorFrameType->setCurrentIndex(1); //Set default model to "Quad +"
m_aircraft->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X"
//NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
@ -152,10 +151,10 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/quad-shapes.svg"));
renderer->load(QString(":/configgadget/images/multirotor-shapes.svg"));
quad = new QGraphicsSvgItem();
quad->setSharedRenderer(renderer);
quad->setElementId("quad-plus");
quad->setElementId("quad-x");
QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(quad);
scene->setSceneRect(quad->boundingRect());
@ -274,7 +273,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
ConfigFixedWingWidget* fixedwing = new ConfigFixedWingWidget();
QPointer<ConfigFixedWingWidget> fixedwing = new ConfigFixedWingWidget();
channelDesc = fixedwing->getChannelDescriptions();
}
break;
@ -282,7 +281,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
ConfigCcpmWidget* heli = new ConfigCcpmWidget();
QPointer<ConfigCcpmWidget> heli = new ConfigCcpmWidget();
channelDesc = heli->getChannelDescriptions();
}
break;
@ -300,7 +299,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
ConfigMultiRotorWidget* multi = new ConfigMultiRotorWidget();
QPointer<ConfigMultiRotorWidget> multi = new ConfigMultiRotorWidget();
channelDesc = multi->getChannelDescriptions();
}
break;
@ -310,7 +309,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
ConfigGroundVehicleWidget* ground = new ConfigGroundVehicleWidget();
QPointer<ConfigGroundVehicleWidget> ground = new ConfigGroundVehicleWidget();
channelDesc = ground->getChannelDescriptions();
}
break;
@ -444,16 +443,17 @@ void ConfigVehicleTypeWidget::enableFFTest()
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
mixer->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
@ -614,84 +614,55 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
{
Q_UNUSED(o);
if(!allObjectsUpdated())
return;
//if(!allObjectsUpdated())
// return;
//WHAT DOES THIS DO?
bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(QString("AirframeType"));
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve1"));
Q_ASSERT(field);
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues);
m_aircraft->fixedWingThrottle->initCurve(&curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(curveValues);
}
// no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
}
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve2"));
Q_ASSERT(field);
curveValues.clear();
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->groundVehicleThrottle2->initCurve(curveValues);
}
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
@ -716,8 +687,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
} else if (frameType == "Custom") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
}
}
updateCustomAirframeUI();
setDirty(dirty);
@ -786,39 +756,35 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// setup throttlecurve 1
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
int total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
// is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->customThrottle1Curve->setMin(vconfig->getCurveMin(&curveValues));
m_aircraft->customThrottle1Curve->setMax(vconfig->getCurveMax(&curveValues));
m_aircraft->customThrottle1Curve->initCurve(&curveValues);
}
else {
m_aircraft->customThrottle1Curve->initCurve(curveValues);
// no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(),(double)1);
}
// setup throttlecurve 2
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle2Curve->setMin(vconfig->getCurveMin(&curveValues));
m_aircraft->customThrottle2Curve->setMax(vconfig->getCurveMax(&curveValues));
m_aircraft->customThrottle2Curve->initCurve(&curveValues);
}
else {
m_aircraft->customThrottle2Curve->initCurve(curveValues);
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(),(double)1);
}
// Update the mixer table:
for (int channel=0; channel<8; channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
@ -843,6 +809,12 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
}
}
// Update feed forward settings
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100);
m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer,"AccelTime"));
m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer,"DecelTime"));
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer,"MaxAccel"));
}
@ -855,6 +827,17 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -869,12 +852,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());

173
ground/openpilotgcs/src/plugins/config/images/quad-shapes.svg → ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
View File

File diff suppressed because one or more lines are too long
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 438 KiB

After

Width:  |  Height:  |  Size: 407 KiB

333
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -17,7 +17,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="RCInput">
<attribute name="title">
@ -204,31 +204,12 @@
<attribute name="title">
<string>Flight Mode Switch Settings</string>
</attribute>
<widget class="QLabel" name="label_16">
<property name="geometry">
<rect>
<x>310</x>
<y>30</y>
<width>201</width>
<height>17</height>
</rect>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>for multirotors!</string>
</property>
</widget>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>30</x>
<y>160</y>
<width>451</width>
<y>260</y>
<width>541</width>
<height>161</height>
</rect>
</property>
@ -384,19 +365,6 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_9">
<property name="styleSheet">
@ -414,25 +382,177 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBox_2">
<property name="geometry">
<rect>
<x>30</x>
<y>30</y>
<width>451</width>
<height>121</height>
<y>20</y>
<width>541</width>
<height>211</height>
</rect>
</property>
<property name="title">
<string>FlightMode Switch Positions</string>
</property>
<widget class="QComboBox" name="fmsModePos5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>100</x>
<y>140</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>100</x>
<y>110</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
</property>
</widget>
<widget class="QLabel" name="label_pos4">
<property name="geometry">
<rect>
<x>10</x>
<y>115</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 4</string>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>100</x>
<y>170</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QLabel" name="label_pos5">
<property name="geometry">
<rect>
<x>10</x>
<y>145</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 5</string>
</property>
</widget>
<widget class="QLabel" name="label_pos6">
<property name="geometry">
<rect>
<x>10</x>
<y>175</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 6</string>
</property>
</widget>
<widget class="QSlider" name="fmsSlider">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>70</x>
<y>28</y>
<width>20</width>
<height>160</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>This slider moves when you move the flight mode switch
on your remote. It shows currently active flight mode.
Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>5</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="invertedAppearance">
<bool>true</bool>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>1</number>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos2">
<property name="geometry">
<rect>
<x>100</x>
<y>55</y>
<y>50</y>
<width>151</width>
<height>26</height>
</rect>
@ -445,7 +565,20 @@ margin:1px;</string>
<property name="geometry">
<rect>
<x>100</x>
<y>25</y>
<y>80</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos1">
<property name="geometry">
<rect>
<x>100</x>
<y>20</y>
<width>151</width>
<height>26</height>
</rect>
@ -457,37 +590,11 @@ margin:1px;</string>
<string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
</property>
</widget>
<widget class="QLabel" name="label_11">
<widget class="QLabel" name="label_pos2">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 3</string>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos1">
<property name="geometry">
<rect>
<x>100</x>
<y>85</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QLabel" name="label_12">
<property name="geometry">
<rect>
<x>10</x>
<y>60</y>
<x>11</x>
<y>55</y>
<width>62</width>
<height>17</height>
</rect>
@ -496,11 +603,11 @@ margin:1px;</string>
<string>Pos. 2</string>
</property>
</widget>
<widget class="QLabel" name="label_13">
<widget class="QLabel" name="label_pos1">
<property name="geometry">
<rect>
<x>10</x>
<y>90</y>
<x>11</x>
<y>25</y>
<width>62</width>
<height>17</height>
</rect>
@ -509,55 +616,68 @@ margin:1px;</string>
<string>Pos. 1</string>
</property>
</widget>
<widget class="QSlider" name="fmsSlider">
<property name="enabled">
<bool>false</bool>
</property>
<widget class="QLabel" name="label_pos3">
<property name="geometry">
<rect>
<x>70</x>
<y>30</y>
<width>20</width>
<height>81</height>
<x>11</x>
<y>85</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
<property name="text">
<string>Pos. 3</string>
</property>
</widget>
<widget class="QSpinBox" name="fmsPosNum">
<property name="geometry">
<rect>
<x>458</x>
<y>20</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>This slider moves when you move the flight mode switch
on your remote. Setup the flightmode channel on the RC Input tab
if you have not done so already.</string>
<string>Number of positions your FlightMode switch has.
Default is 3.
It will be 2 or 3 for most of setups, but it also can be up to 6.
In that case you have to configure your radio mixers so the whole range
from min to max is split into N equal intervals, and you may set arbitrary
channel value for each flight mode.</string>
</property>
<property name="minimum">
<number>-100</number>
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
<number>6</number>
</property>
<property name="pageStep">
<number>10</number>
<property name="value">
<number>3</number>
</property>
<property name="sliderPosition">
<number>-100</number>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>277</x>
<y>22</y>
<width>171</width>
<height>16</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>100</number>
<property name="text">
<string>Number of flight modes:</string>
</property>
</widget>
<widget class="QLabel" name="label_15">
<property name="geometry">
<rect>
<x>270</x>
<y>30</y>
<width>141</width>
<height>31</height>
<x>310</x>
<y>120</y>
<width>191</width>
<height>30</height>
</rect>
</property>
<property name="font">
@ -567,13 +687,15 @@ if you have not done so already.</string>
</font>
</property>
<property name="text">
<string>Warning: avoid &quot;Manual&quot;</string>
<string>Avoid &quot;Manual&quot; for multirotors!</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</widget>
<zorder>groupBox_2</zorder>
<zorder>groupBox</zorder>
</widget>
<widget class="QWidget" name="tab_4">
<attribute name="title">
@ -763,9 +885,6 @@ Applies and Saves all settings to SD</string>
</widget>
<tabstops>
<tabstop>fmsSlider</tabstop>
<tabstop>fmsModePos3</tabstop>
<tabstop>fmsModePos2</tabstop>
<tabstop>fmsModePos1</tabstop>
<tabstop>fmsSsPos1Roll</tabstop>
<tabstop>fmsSsPos1Pitch</tabstop>
<tabstop>fmsSsPos1Yaw</tabstop>

322
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -1,8 +1,22 @@
<gcs>
<General>
<OverrideLanguage>en_AU</OverrideLanguage>
<AutoConnect>true</AutoConnect>
<AutoSelect>true</AutoSelect>
<LastPreferenceCategory>LineardialGadget</LastPreferenceCategory>
<LastPreferencePage>Mainboard CPU</LastPreferencePage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>476</SettingsWindowHeight>
<SettingsWindowWidth>697</SettingsWindowWidth>
</General>
<IPconnection>
<Current>
<arr_1>
<Port>1</Port>
<UseTCP>0</UseTCP>
</arr_1>
<size>1</size>
</Current>
</IPconnection>
<KeyBindings>
<size>0</size>
</KeyBindings>
@ -11,37 +25,17 @@
<FullScreen>false</FullScreen>
<Maximized>true</Maximized>
</MainWindow>
<Plugins>
<SoundNotifyPlugin>
<configInfo>
<locked>false</locked>
<version>1.0.0</version>
</configInfo>
<data>
<Current>
<arr_1>
<CurrentLanguage></CurrentLanguage>
<DataObject></DataObject>
<ExpireTimeout>0</ExpireTimeout>
<ObjectField></ObjectField>
<Repeat></Repeat>
<SayOrder></SayOrder>
<Sound1></Sound1>
<Sound2></Sound2>
<Sound3></Sound3>
<SoundCollectionPath></SoundCollectionPath>
<Value></Value>
<ValueSpinBox>0</ValueSpinBox>
</arr_1>
<size>1</size>
</Current>
<EnableSound>false</EnableSound>
<listNotifies>
<size>0</size>
</listNotifies>
</data>
</SoundNotifyPlugin>
</Plugins>
<ModePriorities>
<Mode1>91</Mode1>
<Mode2>90</Mode2>
<Mode3>89</Mode3>
<Mode4>88</Mode4>
<Mode5>87</Mode5>
<Welcome>100</Welcome>
</ModePriorities>
<SerialConnection>
<speed>57600</speed>
</SerialConnection>
<UAVGadgetConfigurations>
<ConfigGadget>
<default>
@ -65,7 +59,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -100,7 +94,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
@ -131,11 +125,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
@ -166,11 +157,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
@ -203,9 +191,7 @@
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -240,7 +226,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -275,7 +261,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
@ -308,9 +294,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
@ -343,9 +327,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>11.2</needle1MaxValue>
@ -378,9 +360,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -413,9 +393,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -450,7 +428,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -485,7 +463,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle2</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -516,11 +494,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -555,7 +530,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -590,7 +565,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
@ -621,11 +596,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
@ -656,11 +628,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
@ -693,9 +662,7 @@
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -726,11 +693,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -761,11 +725,10 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -796,11 +759,10 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>ManualControlCommand</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>2000</needle1MaxValue>
@ -831,11 +793,10 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -916,7 +877,7 @@
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Serial port 0</defaultPort>
<defaultPort>Communications Port (COM1)</defaultPort>
<defaultSpeed>11</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
@ -931,7 +892,7 @@
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Serial port 0</defaultPort>
<defaultPort>Communications Port (COM1)</defaultPort>
<defaultSpeed>17</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
@ -948,8 +909,6 @@
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.1</hostAddress>
<inPort>9009</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>9010</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
@ -967,8 +926,6 @@
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.3</hostAddress>
<inPort>6756</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>49000</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
@ -977,17 +934,39 @@
</data>
</XPlane__PCT__20HITL>
</HITL>
<ImportExportGadget>
<HITLv2>
<default>
<configInfo>
<locked>false</locked>
<version>1.0.1</version>
<version>0.0.0</version>
</configInfo>
<data>
<iniFile>gcs.ini</iniFile>
<attActCalc>false</attActCalc>
<attActHW>false</attActHW>
<attActSim>true</attActSim>
<attActual>true</attActual>
<attRaw>true</attRaw>
<attRawRate>20</attRawRate>
<gcsReciever>true</gcsReciever>
<gpsPosRate>200</gpsPosRate>
<gpsPosition>true</gpsPosition>
<homeLocRate>0</homeLocRate>
<homeLocation>true</homeLocation>
<hostAddress>127.0.0.1</hostAddress>
<inPort>40100</inPort>
<inputCommand>true</inputCommand>
<manualControl>false</manualControl>
<manualOutput>false</manualOutput>
<outPort>40200</outPort>
<outputRate>20</outputRate>
<remoteAddress>127.0.0.1</remoteAddress>
<simulatorId>ASimRC</simulatorId>
<sonarAltRate>50</sonarAltRate>
<sonarAltitude>false</sonarAltitude>
<sonarMaxAlt>@Variant(AAAAh0CgAAA=)</sonarMaxAlt>
</data>
</default>
</ImportExportGadget>
</HITLv2>
<LineardialGadget>
<Accel__PCT__20Horizontal__PCT__20X>
<configInfo>
@ -1183,17 +1162,17 @@
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>50</greenMax>
<greenMax>90</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>80</redMin>
<redMin>95</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>80</yellowMax>
<yellowMin>50</yellowMin>
<yellowMax>95</yellowMax>
<yellowMin>90</yellowMin>
</data>
</Mainboard__PCT__20CPU>
<Pitch__PCT__20Desired>
@ -1439,6 +1418,17 @@
<enableVbo>false</enableVbo>
</data>
</Aeroquad__PCT__20__PCT__2B>
<CopterControl>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CopterControl>
<Easyquad__PCT__20X>
<configInfo>
<locked>false</locked>
@ -1571,6 +1561,17 @@
<enableVbo>false</enableVbo>
</data>
</Quadcopter>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<Scorpion__PCT__20Tricopter>
<configInfo>
<locked>false</locked>
@ -1604,28 +1605,6 @@
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<CopterControl>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CopterControl>
</ModelViewGadget>
<OPMapGadget>
<Google__PCT__20Sat>
@ -1712,14 +1691,18 @@
</data>
</smooth>
</PFDGadget>
<PipXtreme>
<QmlViewGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dialFile>Unknown</dialFile>
<useOpenGLFlag>true</useOpenGLFlag>
</data>
</default>
</PipXtreme>
</QmlViewGadget>
<ScopeGadget>
<Accel>
<configInfo>
@ -1738,6 +1721,7 @@
<uavField>x</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1747,6 +1731,7 @@
<uavField>y</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1756,6 +1741,7 @@
<uavField>z</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1781,6 +1767,7 @@
<uavField>Channel-4</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1790,6 +1777,7 @@
<uavField>Channel-5</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1799,6 +1787,7 @@
<uavField>Channel-6</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1808,6 +1797,7 @@
<uavField>Channel-7</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
@ -1833,6 +1823,7 @@
<uavField>Roll</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1842,6 +1833,7 @@
<uavField>Yaw</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1851,6 +1843,7 @@
<uavField>Pitch</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1876,6 +1869,7 @@
<uavField>Pressure</uavField>
<uavObject>BaroAltitude</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1901,6 +1895,7 @@
<uavField>Channel-1</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1910,6 +1905,7 @@
<uavField>Channel-4</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1919,6 +1915,7 @@
<uavField>Channel-5</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1928,6 +1925,7 @@
<uavField>Channel-6</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
@ -1937,6 +1935,7 @@
<uavField>Channel-7</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
@ -1946,6 +1945,7 @@
<uavField>Channel-2</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
@ -1955,6 +1955,7 @@
<uavField>Channel-3</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
@ -1964,6 +1965,7 @@
<uavField>Channel-0</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
@ -1989,6 +1991,7 @@
<uavField>x</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1998,6 +2001,7 @@
<uavField>y</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2007,6 +2011,7 @@
<uavField>z</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2032,6 +2037,7 @@
<uavField>z</uavField>
<uavObject>Gyros</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2041,6 +2047,7 @@
<uavField>y</uavField>
<uavObject>Gyros</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2050,6 +2057,7 @@
<uavField>x</uavField>
<uavObject>Gyros</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2075,6 +2083,7 @@
<uavField>X</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2084,6 +2093,7 @@
<uavField>Y</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2093,6 +2103,7 @@
<uavField>Z</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2118,6 +2129,7 @@
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2127,6 +2139,7 @@
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2136,6 +2149,7 @@
<uavField>StackRemaining-Guidance</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
@ -2145,6 +2159,7 @@
<uavField>StackRemaining-Watchdog</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve11>
@ -2154,6 +2169,7 @@
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2163,6 +2179,7 @@
<uavField>StackRemaining-TelemetryTxPri</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
@ -2172,6 +2189,7 @@
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
@ -2181,6 +2199,7 @@
<uavField>StackRemaining-GPS</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
@ -2190,6 +2209,7 @@
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
@ -2199,6 +2219,7 @@
<uavField>StackRemaining-Altitude</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
@ -2208,6 +2229,7 @@
<uavField>StackRemaining-AHRSComms</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve8>
@ -2217,6 +2239,7 @@
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
@ -2242,6 +2265,7 @@
<uavField>TxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2251,6 +2275,7 @@
<uavField>RxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2260,6 +2285,7 @@
<uavField>TxRetries</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2285,9 +2311,20 @@
<uavField>FlightTime</uavField>
<uavObject>SystemStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>0</color>
<mathFunction></mathFunction>
<uavField></uavField>
<uavObject></uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurveCount>2</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>800</refreshInterval>
@ -2417,26 +2454,14 @@
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Mainboard CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>AHRS CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAABA)</splitterSizes>
<type>splitter</type>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Mainboard CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIwAAAAIAAACN)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAACB)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
@ -2837,9 +2862,10 @@
<version>UAVGadgetManagerV1</version>
</Mode5>
</UAVGadgetManager>
<ViewGroup_Default>@ByteArray(AAAA/wAAAAD9AAAAAAAABQAAAALCAAAABAAAAAQAAAABAAAACPwAAAAA)</ViewGroup_Default>
<Workspace>
<Icon1>:/core/images/ah.png</Icon1>
<AllowTabBarMovement>false</AllowTabBarMovement>
<Icon1>:\core\images\ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/scopes.png</Icon3>
<Icon4>:/core/images/joystick.png</Icon4>
@ -2848,9 +2874,10 @@
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<NumberOfWorkspaces>5</NumberOfWorkspaces>
<TabBarPlacementIndex>1</TabBarPlacementIndex>
<Workspace1>Flight data</Workspace1>
<Workspace10>Workspace10</Workspace10>
<Workspace2>Configuration</Workspace2>
<Workspace3>Scopes</Workspace3>
<Workspace4>HITL</Workspace4>
@ -2859,6 +2886,5 @@
<Workspace7>Workspace7</Workspace7>
<Workspace8>Workspace8</Workspace8>
<Workspace9>Workspace9</Workspace9>
<Workspace10>Workspace10</Workspace10>
</Workspace>
</gcs>

6
ground/openpilotgcs/src/plugins/scope/plotdata.cpp
View File

@ -99,7 +99,7 @@ bool SequentialPlotData::append(UAVObject* obj)
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
//Compute boxcar average
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the front
yDataHistory->append( currentValue );
@ -163,8 +163,8 @@ bool ChronoPlotData::append(UAVObject* obj)
QDateTime NOW = QDateTime::currentDateTime(); //THINK ABOUT REIMPLEMENTING THIS TO SHOW UAVO TIME, NOT SYSTEM TIME
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
//Compute boxcar average
if (meanSamples > 1){
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the front
yDataHistory->append( currentValue );

103
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -51,6 +51,7 @@
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QMutexLocker>
#include <QWheelEvent>
//using namespace Core;
@ -65,8 +66,8 @@ ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
replotTimer = new QTimer(this);
connect(replotTimer, SIGNAL(timeout()), this, SLOT(replotNewData()));
// Listen to telemetry connection/disconnection events, no point
// running the scopes if we are not connected and not replaying logs
// Listen to telemetry connection/disconnection events, no point in
// running the scopes if we are not connected and not replaying logs.
// Also listen to disconnect actions from the user
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(stopPlotting()));
@ -124,13 +125,18 @@ void ScopeGadgetWidget::mouseReleaseEvent(QMouseEvent *e)
void ScopeGadgetWidget::mouseDoubleClickEvent(QMouseEvent *e)
{
mutex.lock();
if (legend())
deleteLegend();
else
addLegend();
mutex.unlock();
update();
//On double-click, toggle legend
mutex.lock();
if (legend())
deleteLegend();
else
addLegend();
mutex.unlock();
//On double-click, reset plot zoom
setAxisAutoScale(QwtPlot::yLeft, true);
update();
QwtPlot::mouseDoubleClickEvent(e);
}
@ -142,6 +148,33 @@ void ScopeGadgetWidget::mouseMoveEvent(QMouseEvent *e)
void ScopeGadgetWidget::wheelEvent(QWheelEvent *e)
{
//Change zoom on scroll wheel event
QwtInterval yInterval=axisInterval(QwtPlot::yLeft);
if (yInterval.minValue() != yInterval.maxValue()) //Make sure that the two values are never the same. Sometimes axisInterval returns (0,0)
{
//Determine what y value to zoom about. NOTE, this approach has a bug that the in that
//the value returned by Qt includes the legend, whereas the value transformed by Qwt
//does *not*. Thus, when zooming with a legend, there will always be a small bias error.
//In practice, this seems not to be a UI problem.
QPoint mouse_pos=e->pos(); //Get the mouse coordinate in the frame
double zoomLine=invTransform(QwtPlot::yLeft, mouse_pos.y()); //Transform the y mouse coordinate into a frame value.
double zoomScale=1.1; //THIS IS AN ARBITRARY CONSTANT, AND PERHAPS SHOULD BE IN A DEFINE INSTEAD OF BURIED HERE
mutex.lock(); //DOES THIS mutex.lock NEED TO BE HERE? I DON'T KNOW, I JUST COPIED IT FROM THE ABOVE CODE
// Set the scale
if (e->delta()<0){
setAxisScale(QwtPlot::yLeft,
(yInterval.minValue()-zoomLine)*zoomScale+zoomLine,
(yInterval.maxValue()-zoomLine)*zoomScale+zoomLine );
}
else{
setAxisScale(QwtPlot::yLeft,
(yInterval.minValue()-zoomLine)/zoomScale+zoomLine,
(yInterval.maxValue()-zoomLine)/zoomScale+zoomLine );
}
mutex.unlock();
}
QwtPlot::wheelEvent(e);
}
@ -203,17 +236,17 @@ void ScopeGadgetWidget::addLegend()
// legend->setFrameStyle(QFrame::Box | QFrame::Sunken);
// insertLegend(legend, QwtPlot::BottomLegend);
// Update the checked/unchecked state of the legend items
// -> this is necessary when hiding a legend where some plots are
// not visible, and the un-hiding it.
foreach (QwtPlotItem *item, this->itemList()) {
bool on = item->isVisible();
QWidget *w = legend->find(item);
if ( w && w->inherits("QwtLegendItem") )
((QwtLegendItem *)w)->setChecked(!on);
}
// Update the checked/unchecked state of the legend items
// -> this is necessary when hiding a legend where some plots are
// not visible, and the un-hiding it.
foreach (QwtPlotItem *item, this->itemList()) {
bool on = item->isVisible();
QWidget *w = legend->find(item);
if ( w && w->inherits("QwtLegendItem") )
((QwtLegendItem *)w)->setChecked(!on);
}
connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)), this, SLOT(showCurve(QwtPlotItem *, bool)));
connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)), this, SLOT(showCurve(QwtPlotItem *, bool)));
}
void ScopeGadgetWidget::preparePlot(PlotType plotType)
@ -234,27 +267,27 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
// setPalette(pal);
// setCanvasBackground(Utils::StyleHelper::baseColor());
setCanvasBackground(QColor(64, 64, 64));
setCanvasBackground(QColor(64, 64, 64));
//Add grid lines
QwtPlotGrid *grid = new QwtPlotGrid;
grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
grid->setMinPen(QPen(Qt::lightGray, 0, Qt::DotLine));
grid->setPen(QPen(Qt::darkGray, 1, Qt::DotLine));
grid->attach(this);
grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
grid->setMinPen(QPen(Qt::lightGray, 0, Qt::DotLine));
grid->setPen(QPen(Qt::darkGray, 1, Qt::DotLine));
grid->attach(this);
// Add the legend
addLegend();
// Add the legend
addLegend();
// Only start the timer if we are already connected
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
if (cm->getCurrentConnection() && replotTimer)
{
if (!replotTimer->isActive())
replotTimer->start(m_refreshInterval);
else
replotTimer->setInterval(m_refreshInterval);
}
if (cm->getCurrentConnection() && replotTimer)
{
if (!replotTimer->isActive())
replotTimer->start(m_refreshInterval);
else
replotTimer->setInterval(m_refreshInterval);
}
}
void ScopeGadgetWidget::showCurve(QwtPlotItem *item, bool on)
@ -412,7 +445,7 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField
//Keep the curve details for later
m_curvesData.insert(curveNameScaled, plotData);
//Link to the signal of new data only if this UAVObject has not been to connected yet
//Link to the new signal data only if this UAVObject has not been connected yet
if (!m_connectedUAVObjects.contains(obj->getName())) {
m_connectedUAVObjects.append(obj->getName());
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
@ -470,6 +503,7 @@ void ScopeGadgetWidget::replotNewData()
replot();
}
/*
void ScopeGadgetWidget::setupExamplePlot()
{
preparePlot(SequentialPlot);
@ -514,6 +548,7 @@ void ScopeGadgetWidget::setupExamplePlot()
replot();
mutex.unlock();
}
*/
void ScopeGadgetWidget::clearCurvePlots()
{

17
ground/openpilotgcs/src/plugins/systemhealth/html/Actuator-Critical.html Normal file
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@ -0,0 +1,17 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Servo Output: Critical</h1>
<p>
One of the following conditions may be present:
<ul>
<li>System is in failsafe mode.</li>
<li>One or more servos outputs failed to update.</li>
</ul>
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Attitude-Critical.html Normal file
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@ -0,0 +1,13 @@
html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Attitude: Critical</h1>
<p>
This alarm will remain set until data is received from the accelerometer.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Attitude-Error.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Attitude: Error</h1>
<p>
Failed to get an update from the accelerometer or gyros.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Battery-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Battery: Critical</h1>
<p>
Battery voltage has fallen below the <b>alarm</b> threshold.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Battery-Error.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Battery: Error</h1>
<p>
Both battery current and voltage are at or below zero.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Battery-Warning.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Battery: Warning</h1>
<p>
Battery voltage has fallen below the <b>warning</b> threshold.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/BootFault-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Boot Fault: Critical</h1>
<p>
System has failed to boot more than three times: system defaults have been set.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/CPU-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>CPU: Critical</h1>
<p>
CPU load has exceeded 95%
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/CPU-Warning.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>CPU: Warning</h1>
<p>
CPU load has exceeded 80%
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/EventSystem-Warning.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Event System: Warning</h1>
<p>
There were problems with UAVObject events or callbacks
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/FlightTime-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Flight Time: Critical</h1>
<p>
Estimated flight time based on battery usage is less than 30s.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/FlightTime-Error.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Flight Time: Error</h1>
<p>
Estimated flight time cannot be determined as battery voltage and current are at or below 0.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/FlightTime-Warning.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Flight Time: Warning</h1>
<p>
Estimated flight time based on battery usage is less than 60s.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/GPS-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>GPS: Critical</h1>
<p>
The GPS is receiving data but there is no position fix.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/GPS-Error.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>GPS: Error</h1>
<p>
The GPS has timed out; either there is no GPS plugged in, the GPS has locked up or there is some other hardware fault.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/GPS-Warning.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>GPS: Warning</h1>
<p>
The GPS has a fix and navigation can be used. However, the position quality is very low (the indication is &lt;7 satellites)
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Guidance-Warning.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Guidance: Warning</h1>
<p>
Timed out waiting for an attitude update.
</p>
</body>
</html>

24
ground/openpilotgcs/src/plugins/systemhealth/html/ManualControl-Critical.html Normal file
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@ -0,0 +1,24 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>RC Input: Critical</h1>
<p>
One of the following conditions may be present:
<ul>
<li>
<p>One or more of the r/c input channel types is not set.</p>
<p>On the GCS configuration page, make sure all inputs have a Type set.</p>
</li>
<li>One or more of the r/c input channel mappings are invalid.</li>
<li>The driver is uninitialized for one or more of the r/c input channels.</li>
<li>Current flight mode is undefined: this indicates a bug in the code.</li>
<li>Current flight mode set to guidance but flight status flight mode is reported as something other than altitude hold.</li>
<li>During update of desired stabilization mode, flight status is reported as something other than stabilized 1, 2 or 3.</li>
</ul>
</p>
</body>
</html>

17
ground/openpilotgcs/src/plugins/systemhealth/html/ManualControl-Warning.html Normal file
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@ -0,0 +1,17 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>RC Input: Warning</h1>
<p>
One of the following conditions may be present:
<ul>
<li>System is in failsafe mode.</li>
<li>Failed to update one or more of the accessory channels.</li>
</ul>
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Memory-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Memory: Critical</h1>
<p>
Either the remaining heap space or the IRQ stack has fallen below the <b>critical</b> limit (1000 bytes heap, 80 entries IRQ stack).
</p>
</body>
</html>

16
ground/openpilotgcs/src/plugins/systemhealth/html/Memory-Warning.html Normal file
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@ -0,0 +1,16 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Memory: Warning</h1>
<p>
Either the remaining heap space or the IRQ stack has fallen below the <b>warning</b> limit (4000 bytes heap, 150 entries IRQ stack).
</p>
<p>
<b>Note:</b> if this is an original CC board (not CC3D or Revo), this condition is normal.
</p>
</body>
</html>

18
ground/openpilotgcs/src/plugins/systemhealth/html/Sensors-Critical.html Normal file
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@ -0,0 +1,18 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Sensors: Critical</h1>
<p>
One of the following conditions may be present:
<ul>
<li>Either the accelerometer, gyro or magnetometer tests failed.</li>
<li>Timed out waiting for data from the accelerometer or gyro.</li>
</ul>
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Stabilization-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Stabilization: Warning</h1>
<p>
Timed out waiting for an attitude update.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Stack-Critical.html Normal file
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@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Stack: Critical</h1>
<p>
Stack overflow
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Telemetry-Error.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Telemetry: Error</h1>
<p>
Telemetry system is disconnected.
</p>
</body>
</html>

43
ground/openpilotgcs/src/plugins/systemhealth/systemhealth.pro
View File

@ -1,20 +1,23 @@
TEMPLATE = lib
TARGET = SystemHealthGadget
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(systemhealth_dependencies.pri)
HEADERS += systemhealthplugin.h
HEADERS += systemhealthgadget.h
HEADERS += systemhealthgadgetwidget.h
HEADERS += systemhealthgadgetfactory.h
HEADERS += systemhealthgadgetconfiguration.h
HEADERS += systemhealthgadgetoptionspage.h
SOURCES += systemhealthplugin.cpp
SOURCES += systemhealthgadget.cpp
SOURCES += systemhealthgadgetfactory.cpp
SOURCES += systemhealthgadgetwidget.cpp
SOURCES += systemhealthgadgetconfiguration.cpp
SOURCES += systemhealthgadgetoptionspage.cpp
OTHER_FILES += SystemHealthGadget.pluginspec
FORMS += systemhealthgadgetoptionspage.ui
TEMPLATE = lib
TARGET = SystemHealthGadget
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(systemhealth_dependencies.pri)
HEADERS += systemhealthplugin.h
HEADERS += systemhealthgadget.h
HEADERS += systemhealthgadgetwidget.h
HEADERS += systemhealthgadgetfactory.h
HEADERS += systemhealthgadgetconfiguration.h
HEADERS += systemhealthgadgetoptionspage.h
SOURCES += systemhealthplugin.cpp
SOURCES += systemhealthgadget.cpp
SOURCES += systemhealthgadgetfactory.cpp
SOURCES += systemhealthgadgetwidget.cpp
SOURCES += systemhealthgadgetconfiguration.cpp
SOURCES += systemhealthgadgetoptionspage.cpp
OTHER_FILES += SystemHealthGadget.pluginspec
FORMS += systemhealthgadgetoptionspage.ui
RESOURCES += \
systemhealth.qrc

7
ground/openpilotgcs/src/plugins/systemhealth/systemhealth.qrc Normal file
View File

@ -0,0 +1,7 @@
<RCC>
<qresource prefix="/systemhealth">
<file>html/Actuator-Critical.html</file>
<file>html/ManualControl-Critical.html</file>
<file>html/ManualControl-Warning.html</file>
</qresource>
</RCC>

22
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file systemhealthgadgetwidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @author OpenPilot Team & Edouard Lafargue Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SystemHealthPlugin System Health Plugin
@ -32,6 +32,7 @@
#include "systemalarms.h"
#include <QDebug>
#include <QWhatsThis>
/*
* Initialize the widget
@ -195,3 +196,22 @@ void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
Q_UNUSED(event);
fitInView(background, Qt::KeepAspectRatio );
}
void SystemHealthGadgetWidget::mousePressEvent ( QMouseEvent * event )
{
QGraphicsScene *graphicsScene = scene();
if(graphicsScene){
QPoint point = event->pos();
foreach(QGraphicsItem* sceneItem, items(point)){
QGraphicsSvgItem *clickedItem = dynamic_cast<QGraphicsSvgItem*>(sceneItem);
if(clickedItem && (clickedItem != foreground) && clickedItem != background){
QFile alarmDescription(":/systemhealth/html/" + clickedItem->elementId() + ".html");
if(alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)){
QTextStream textStream(&alarmDescription);
QWhatsThis::showText(event->globalPos(), textStream.readAll());
}
}
}
}
}

4
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file systemhealthgadgetwidget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @author OpenPilot Team & Edouard Lafargue Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SystemHealthPlugin System Health Plugin
@ -34,6 +34,7 @@
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QMouseEvent>
#include <QFile>
#include <QTimer>
@ -52,6 +53,7 @@ public:
protected:
void paintEvent(QPaintEvent *event);
void resizeEvent(QResizeEvent *event);
void mousePressEvent ( QMouseEvent * event );
private slots:
void updateAlarms(UAVObject *systemAlarm); // Called by the systemalarms UAVObject

1
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -176,6 +176,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
FieldTreeItem *item;
UAVObjectField::FieldType type = field->getType();
switch (type) {
case UAVObjectField::BITFIELD:
case UAVObjectField::ENUM: {
QStringList options = field->getOptions();
QVariant value = field->getValue();

16
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -38,17 +38,13 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
// Setup default metadata of metaobject (can not be changed)
UAVObject::MetadataInitialize(ownMetadata);
// Setup fields
QStringList boolEnum;
boolEnum << tr("False") << tr("True");
QStringList updateModeEnum;
updateModeEnum << tr("Periodic") << tr("On Change") << tr("Manual") << tr("Never");
QStringList accessModeEnum;
accessModeEnum << tr("Read/Write") << tr("Read Only");
QStringList modesBitField;
modesBitField << tr("FlightReadOnly") << tr("GCSReadOnly") << tr("FlightTelemetryAcked") << tr("GCSTelemetryAcked") << tr("FlightUpdatePeriodic") << tr("FlightUpdateOnChange") << tr("GCSUpdatePeriodic") << tr("GCSUpdateOnChange");
QList<UAVObjectField*> fields;
fields.append( new UAVObjectField(tr("Modes"), tr(""), UAVObjectField::UINT8, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Modes"), tr("boolean"), UAVObjectField::BITFIELD, modesBitField, QStringList()) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));

8
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -59,10 +59,10 @@ public:
* Object update mode
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UpdateMode;
/**

82
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -86,6 +86,10 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
case ENUM:
numBytesPerElement = sizeof(quint8);
break;
case BITFIELD:
numBytesPerElement = sizeof(quint8);
this->options = QStringList()<<tr("0")<<tr("1");
break;
case STRING:
numBytesPerElement = sizeof(quint8);
break;
@ -133,14 +137,15 @@ void UAVObjectField::limitsInitialize(const QString &limits)
QString value=_value.trimmed();
switch (type)
{
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
lstruc.values.append((quint32)value.toULong());
break;
case INT8:
case INT16:
case INT32:
case UINT8:
lstruc.values.append((quint32)value.toULong());
break;
case UINT16:
case UINT32:
lstruc.values.append((qint32)value.toLong());
break;
case FLOAT32:
@ -190,6 +195,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return true;
@ -230,6 +236,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return false;
@ -275,6 +282,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt() && var.toUInt()<=struc.values.at(1).toUInt()))
return false;
return true;
@ -316,6 +324,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt()))
return false;
return true;
@ -350,6 +359,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()<=struc.values.at(0).toUInt()))
return false;
return true;
@ -457,6 +467,8 @@ QString UAVObjectField::getTypeAsString()
return "float32";
case UAVObjectField::ENUM:
return "enum";
case UAVObjectField::BITFIELD:
return "bitfield";
case UAVObjectField::STRING:
return "string";
default:
@ -477,7 +489,15 @@ UAVObject* UAVObjectField::getObject()
void UAVObjectField::clear()
{
QMutexLocker locker(obj->getMutex());
memset(&data[offset], 0, numBytesPerElement*numElements);
switch (type)
{
case BITFIELD:
memset(&data[offset], 0, numBytesPerElement*((quint32)(1+(numElements-1)/8)));
break;
default:
memset(&data[offset], 0, numBytesPerElement*numElements);
break;
}
}
QString UAVObjectField::getName()
@ -507,7 +527,15 @@ quint32 UAVObjectField::getDataOffset()
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
switch (type)
{
case BITFIELD:
return numBytesPerElement * ((quint32) (1+(numElements-1)/8));
break;
default:
return numBytesPerElement * numElements;
break;
}
}
QString UAVObjectField::toString()
@ -584,6 +612,12 @@ qint32 UAVObjectField::pack(quint8* dataOut)
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case BITFIELD:
for (quint32 index = 0; index < (quint32)(1+(numElements-1)/8); ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case STRING:
memcpy(dataOut, &data[offset], numElements);
break;
@ -653,6 +687,12 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case BITFIELD:
for (quint32 index = 0; index < (quint32)(1+(numElements-1)/8); ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case STRING:
memcpy(&data[offset], dataIn, numElements);
break;
@ -661,11 +701,6 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
return getNumBytes();
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
}
bool UAVObjectField::isNumeric()
{
switch (type)
@ -694,6 +729,9 @@ bool UAVObjectField::isNumeric()
case ENUM:
return false;
break;
case BITFIELD:
return true;
break;
case STRING:
return false;
break;
@ -730,6 +768,9 @@ bool UAVObjectField::isText()
case ENUM:
return true;
break;
case BITFIELD:
return false;
break;
case STRING:
return true;
break;
@ -810,6 +851,14 @@ QVariant UAVObjectField::getValue(quint32 index)
return QVariant( options[tmpenum] );
break;
}
case BITFIELD:
{
quint8 tmpbitfield;
memcpy(&tmpbitfield, &data[offset + numBytesPerElement*((quint32)(index/8))], numBytesPerElement);
tmpbitfield = (tmpbitfield >> (index % 8)) & 1;
return QVariant( tmpbitfield );
break;
}
case STRING:
{
data[offset + numElements - 1] = '\0';
@ -845,6 +894,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
case UINT32:
case FLOAT32:
case STRING:
case BITFIELD:
return true;
break;
case ENUM:
@ -926,6 +976,14 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
memcpy(&data[offset + numBytesPerElement*index], &tmpenum, numBytesPerElement);
break;
}
case BITFIELD:
{
quint8 tmpbitfield;
memcpy(&tmpbitfield, &data[offset + numBytesPerElement*((quint32)(index/8))], numBytesPerElement);
tmpbitfield = (tmpbitfield & ~(1 << (index % 8))) | ( (value.toUInt()!=0?1:0) << (index % 8) );
memcpy(&data[offset + numBytesPerElement*((quint32)(index/8))], &tmpbitfield, numBytesPerElement);
break;
}
case STRING:
{
QString str = value.toString();

3
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -42,7 +42,7 @@ class UAVOBJECTS_EXPORT UAVObjectField: public QObject
Q_OBJECT
public:
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING } FieldType;
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING } FieldType;
typedef enum { EQUAL,NOT_EQUAL,BETWEEN,BIGGER,SMALLER } LimitType;
typedef struct
{
@ -70,7 +70,6 @@ public:
void setDouble(double value, quint32 index = 0);
quint32 getDataOffset();
quint32 getNumBytes();
quint32 getNumBytesElement();
bool isNumeric();
bool isText();
QString toString();

1
ground/openpilotgcs/src/plugins/uavobjects/wireshark/Custom.m4 Normal file
View File

@ -0,0 +1 @@
define(_CUSTOM_AC_OUTPUT_, plugins/op-uavtalk/Makefile plugins/op-uavobjects/Makefile)

3
ground/openpilotgcs/src/plugins/uavobjects/wireshark/Custom.make Normal file
View File

@ -0,0 +1,3 @@
_CUSTOM_SUBDIRS_ = \
op-uavtalk \
op-uavobjects

63
ground/openpilotgcs/src/plugins/uavobjects/wireshark/Custom.nmake Normal file
View File

@ -0,0 +1,63 @@
#
# $Id$
#
include ..\config.nmake
#
# Custom plugin build template.
#
# If you need to develop a custom plugin (a plugin not yet released to the
# public) this file is for you.
#
# To generate a custom plugin:
#
# 1. Create the new plugin directory and implement the plugin (at least to be
# ready for a first build try). The easiest way to do this is to copy an
# existing plugin and modify the contents.
# 2. Rename this file to Custom.nmake
# 3. Replace every appearance of foo in this file with your plugin dir name
# 4. Build Wireshark as usual
#
all: op-uavtalk op-uavobjects
op-uavtalk::
cd op-uavtalk
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake
cd ..
op-uavobjects::
cd op-uavobjects
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake
cd ..
clean:
cd op-uavtalk
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake clean
cd ..
cd op-uavobjects
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake clean
cd ..
distclean: clean
cd op-uavtalk
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake distclean
cd ..
cd op-uavobjects
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake distclean
cd ..
maintainer-clean: distclean
cd op-uavtalk
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake maintainer-clean
cd ..
cd op-uavobjects
$(MAKE) /$(MAKEFLAGS) -f Makefile.nmake maintainer-clean
cd ..
install-plugins:
!IFDEF ENABLE_LIBWIRESHARK
xcopy op-uavtalk\*.dll ..\$(INSTALL_DIR)\plugins\$(VERSION) /d
xcopy op-uavobjects\*.dll ..\$(INSTALL_DIR)\plugins\$(VERSION) /d
!ENDIF

3
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/AUTHORS Normal file
View File

@ -0,0 +1,3 @@
Author:
Stacey Sheldon <stac [AT] solidgoldbomb.org>

65
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/CMakeLists.txt Normal file
View File

@ -0,0 +1,65 @@
# CMakeLists.txt
#
# $Id$
#
# Wireshark - Network traffic analyzer
# By Gerald Combs <gerald@wireshark.org>
# Copyright 1998 Gerald Combs
#
# 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 2
# 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.
#
set(DISSECTOR_SRC
packet-op-uavobjects.c
)
set(PLUGIN_FILES
plugin.c
${DISSECTOR_SRC}
)
set(CLEAN_FILES
${PLUGIN_FILES}
)
if (WERROR)
set_source_files_properties(
${CLEAN_FILES}
PROPERTIES
COMPILE_FLAGS -Werror
)
endif()
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
register_dissector_files(plugin.c
plugin
${DISSECTOR_SRC}
)
add_library(op_uavobjects ${LINK_MODE_MODULE}
${PLUGIN_FILES}
)
set_target_properties(op_uavobjects PROPERTIES PREFIX "")
set_target_properties(op_uavobjects PROPERTIES LINK_FLAGS "${WS_LINK_FLAGS}")
target_link_libraries(op-uavobjects)
install(TARGETS op-uavobjects
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/@CPACK_PACKAGE_NAME@/plugins/${CPACK_PACKAGE_VERSION} NAMELINK_SKIP
RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/@CPACK_PACKAGE_NAME@/plugins/${CPACK_PACKAGE_VERSION}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}/@CPACK_PACKAGE_NAME@/plugins/${CPACK_PACKAGE_VERSION}
)

340
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/COPYING Normal file
View File

@ -0,0 +1,340 @@
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Library General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
this service if you wish), that you receive source code or can get it
if you want it, that you can change the software or use pieces of it
in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid
anyone to deny you these rights or to ask you to surrender the rights.
These restrictions translate to certain responsibilities for you if you
distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must give the recipients all the rights that
you have. You must make sure that they, too, receive or can get the
source code. And you must show them these terms so they know their
rights.
We protect your rights with two steps: (1) copyright the software, and
(2) offer you this license which gives you legal permission to copy,
distribute and/or modify the software.
Also, for each author's protection and ours, we want to make certain
that everyone understands that there is no warranty for this free
software. If the software is modified by someone else and passed on, we
want its recipients to know that what they have is not the original, so
that any problems introduced by others will not reflect on the original
authors' reputations.
Finally, any free program is threatened constantly by software
patents. We wish to avoid the danger that redistributors of a free
program will individually obtain patent licenses, in effect making the
program proprietary. To prevent this, we have made it clear that any
patent must be licensed for everyone's free use or not licensed at all.
The precise terms and conditions for copying, distribution and
modification follow.
GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
under the terms of this General Public License. The "Program", below,
refers to any such program or work, and a "work based on the Program"
means either the Program or any derivative work under copyright law:
that is to say, a work containing the Program or a portion of it,
either verbatim or with modifications and/or translated into another
language. (Hereinafter, translation is included without limitation in
the term "modification".) Each licensee is addressed as "you".
Activities other than copying, distribution and modification are not
covered by this License; they are outside its scope. The act of
running the Program is not restricted, and the output from the Program
is covered only if its contents constitute a work based on the
Program (independent of having been made by running the Program).
Whether that is true depends on what the Program does.
1. You may copy and distribute verbatim copies of the Program's
source code as you receive it, in any medium, provided that you
conspicuously and appropriately publish on each copy an appropriate
copyright notice and disclaimer of warranty; keep intact all the
notices that refer to this License and to the absence of any warranty;
and give any other recipients of the Program a copy of this License
along with the Program.
You may charge a fee for the physical act of transferring a copy, and
you may at your option offer warranty protection in exchange for a fee.
2. You may modify your copy or copies of the Program or any portion
of it, thus forming a work based on the Program, and copy and
distribute such modifications or work under the terms of Section 1
above, provided that you also meet all of these conditions:
a) You must cause the modified files to carry prominent notices
stating that you changed the files and the date of any change.
b) You must cause any work that you distribute or publish, that in
whole or in part contains or is derived from the Program or any
part thereof, to be licensed as a whole at no charge to all third
parties under the terms of this License.
c) If the modified program normally reads commands interactively
when run, you must cause it, when started running for such
interactive use in the most ordinary way, to print or display an
announcement including an appropriate copyright notice and a
notice that there is no warranty (or else, saying that you provide
a warranty) and that users may redistribute the program under
these conditions, and telling the user how to view a copy of this
License. (Exception: if the Program itself is interactive but
does not normally print such an announcement, your work based on
the Program is not required to print an announcement.)
These requirements apply to the modified work as a whole. If
identifiable sections of that work are not derived from the Program,
and can be reasonably considered independent and separate works in
themselves, then this License, and its terms, do not apply to those
sections when you distribute them as separate works. But when you
distribute the same sections as part of a whole which is a work based
on the Program, the distribution of the whole must be on the terms of
this License, whose permissions for other licensees extend to the
entire whole, and thus to each and every part regardless of who wrote it.
Thus, it is not the intent of this section to claim rights or contest
your rights to work written entirely by you; rather, the intent is to
exercise the right to control the distribution of derivative or
collective works based on the Program.
In addition, mere aggregation of another work not based on the Program
with the Program (or with a work based on the Program) on a volume of
a storage or distribution medium does not bring the other work under
the scope of this License.
3. You may copy and distribute the Program (or a work based on it,
under Section 2) in object code or executable form under the terms of
Sections 1 and 2 above provided that you also do one of the following:
a) Accompany it with the complete corresponding machine-readable
source code, which must be distributed under the terms of Sections
1 and 2 above on a medium customarily used for software interchange; or,
b) Accompany it with a written offer, valid for at least three
years, to give any third party, for a charge no more than your
cost of physically performing source distribution, a complete
machine-readable copy of the corresponding source code, to be
distributed under the terms of Sections 1 and 2 above on a medium
customarily used for software interchange; or,
c) Accompany it with the information you received as to the offer
to distribute corresponding source code. (This alternative is
allowed only for noncommercial distribution and only if you
received the program in object code or executable form with such
an offer, in accord with Subsection b above.)
The source code for a work means the preferred form of the work for
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If distribution of executable or object code is made by offering
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distribution of the source code, even though third parties are not
compelled to copy the source along with the object code.
4. You may not copy, modify, sublicense, or distribute the Program
except as expressly provided under this License. Any attempt
otherwise to copy, modify, sublicense or distribute the Program is
void, and will automatically terminate your rights under this License.
However, parties who have received copies, or rights, from you under
this License will not have their licenses terminated so long as such
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5. You are not required to accept this License, since you have not
signed it. However, nothing else grants you permission to modify or
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prohibited by law if you do not accept this License. Therefore, by
modifying or distributing the Program (or any work based on the
Program), you indicate your acceptance of this License to do so, and
all its terms and conditions for copying, distributing or modifying
the Program or works based on it.
6. Each time you redistribute the Program (or any work based on the
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restrictions on the recipients' exercise of the rights granted herein.
You are not responsible for enforcing compliance by third parties to
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7. If, as a consequence of a court judgment or allegation of patent
infringement or for any other reason (not limited to patent issues),
conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
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distribute so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you
may not distribute the Program at all. For example, if a patent
license would not permit royalty-free redistribution of the Program by
all those who receive copies directly or indirectly through you, then
the only way you could satisfy both it and this License would be to
refrain entirely from distribution of the Program.
If any portion of this section is held invalid or unenforceable under
any particular circumstance, the balance of the section is intended to
apply and the section as a whole is intended to apply in other
circumstances.
It is not the purpose of this section to induce you to infringe any
patents or other property right claims or to contest validity of any
such claims; this section has the sole purpose of protecting the
integrity of the free software distribution system, which is
implemented by public license practices. Many people have made
generous contributions to the wide range of software distributed
through that system in reliance on consistent application of that
system; it is up to the author/donor to decide if he or she is willing
to distribute software through any other system and a licensee cannot
impose that choice.
This section is intended to make thoroughly clear what is believed to
be a consequence of the rest of this License.
8. If the distribution and/or use of the Program is restricted in
certain countries either by patents or by copyrighted interfaces, the
original copyright holder who places the Program under this License
may add an explicit geographical distribution limitation excluding
those countries, so that distribution is permitted only in or among
countries not thus excluded. In such case, this License incorporates
the limitation as if written in the body of this License.
9. The Free Software Foundation may publish revised and/or new versions
of the General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the Program
specifies a version number of this License which applies to it and "any
later version", you have the option of following the terms and conditions
either of that version or of any later version published by the Free
Software Foundation. If the Program does not specify a version number of
this License, you may choose any version ever published by the Free Software
Foundation.
10. If you wish to incorporate parts of the Program into other free
programs whose distribution conditions are different, write to the author
to ask for permission. For software which is copyrighted by the Free
Software Foundation, write to the Free Software Foundation; we sometimes
make exceptions for this. Our decision will be guided by the two goals
of preserving the free status of all derivatives of our free software and
of promoting the sharing and reuse of software generally.
NO WARRANTY
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
REPAIR OR CORRECTION.
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
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 2 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
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Library General
Public License instead of this License.

3
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/ChangeLog Normal file
View File

@ -0,0 +1,3 @@
2012-06-16 Stacey Sheldon <stac@solidgoldbomb.org>
* initial version

131
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/Makefile.am Normal file
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# Makefile.am
# Automake file for OpenPilot UAVObject Dissector
# Copyright 2012, Stacey Sheldon <stac@solidgoldbomb.org>
#
# $Id$
#
# Wireshark - Network traffic analyzer
# By Gerald Combs <gerald@wireshark.org>
# Copyright 1998 Gerald Combs
#
# 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 2
# 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.
#
INCLUDES = -I$(top_srcdir) -I$(includedir)
include Makefile.common
if HAVE_WARNINGS_AS_ERRORS
AM_CFLAGS = -Werror
endif
plugindir = @plugindir@
plugin_LTLIBRARIES = op_uavobjects.la
op_uavobjects_la_SOURCES = \
plugin.c \
moduleinfo.h \
$(DISSECTOR_SRC) \
$(DISSECTOR_SUPPORT_SRC) \
$(DISSECTOR_INCLUDES)
op_uavobjects_la_LDFLAGS = -module -avoid-version
op_uavobjects_la_LIBADD = @PLUGIN_LIBS@
# Libs must be cleared, or else libtool won't create a shared module.
# If your module needs to be linked against any particular libraries,
# add them here.
LIBS =
#
# Build plugin.c, which contains the plugin version[] string, a
# function plugin_register() that calls the register routines for all
# protocols, and a function plugin_reg_handoff() that calls the handoff
# registration routines for all protocols.
#
# We do this by scanning sources. If that turns out to be too slow,
# maybe we could just require every .o file to have an register routine
# of a given name (packet-aarp.o -> proto_register_aarp, etc.).
#
# Formatting conventions: The name of the proto_register_* routines an
# proto_reg_handoff_* routines must start in column zero, or must be
# preceded only by "void " starting in column zero, and must not be
# inside #if.
#
# DISSECTOR_SRC is assumed to have all the files that need to be scanned.
#
# For some unknown reason, having a big "for" loop in the Makefile
# to scan all the files doesn't work with some "make"s; they seem to
# pass only the first few names in the list to the shell, for some
# reason.
#
# Therefore, we have a script to generate the plugin.c file.
# The shell script runs slowly, as multiple greps and seds are run
# for each input file; this is especially slow on Windows. Therefore,
# if Python is present (as indicated by PYTHON being defined), we run
# a faster Python script to do that work instead.
#
# The first argument is the directory in which the source files live.
# The second argument is "plugin", to indicate that we should build
# a plugin.c file for a plugin.
# All subsequent arguments are the files to scan.
#
plugin.c: $(DISSECTOR_SRC) Makefile.common $(top_srcdir)/tools/make-dissector-reg \
$(top_srcdir)/tools/make-dissector-reg.py
@if test -n "$(PYTHON)"; then \
echo Making plugin.c with python ; \
$(PYTHON) $(top_srcdir)/tools/make-dissector-reg.py $(srcdir) \
plugin $(DISSECTOR_SRC) ; \
else \
echo Making plugin.c with shell script ; \
$(top_srcdir)/tools/make-dissector-reg $(srcdir) \
$(plugin_src) plugin $(DISSECTOR_SRC) ; \
fi
#
# Currently plugin.c can be included in the distribution because
# we always build all protocol dissectors. We used to have to check
# whether or not to build the snmp dissector. If we again need to
# variably build something, making plugin.c non-portable, uncomment
# the dist-hook line below.
#
# Oh, yuk. We don't want to include "plugin.c" in the distribution, as
# its contents depend on the configuration, and therefore we want it
# to be built when the first "make" is done; however, Automake insists
# on putting *all* source into the distribution.
#
# We work around this by having a "dist-hook" rule that deletes
# "plugin.c", so that "dist" won't pick it up.
#
#dist-hook:
# @rm -f $(distdir)/plugin.c
CLEANFILES = \
op-uavobjects \
*~
MAINTAINERCLEANFILES = \
Makefile.in \
plugin.c
EXTRA_DIST = \
Makefile.common \
Makefile.nmake \
moduleinfo.nmake \
plugin.rc.in \
CMakeLists.txt
checkapi:
$(PERL) $(top_srcdir)/tools/checkAPIs.pl -g abort -g termoutput -build $(DISSECTOR_SRC) $(DISSECTOR_INCLUDES)

33
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/Makefile.common-template Normal file
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# Makefile.common for OpenPilot UAVObject Dissector plugin
# Contains the stuff from Makefile.am and Makefile.nmake that is
# a) common to both files and
# b) portable between both files
# Copyright 2012 Stacey Sheldon <stac@solidgoldbomb.org>
#
# $Id$
#
# Wireshark - Network traffic analyzer
# By Gerald Combs <gerald@wireshark.org>
# Copyright 1998 Gerald Combs
#
# 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 2
# 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.
# the name of the plugin
PLUGIN_NAME = op-uavobjects
# the dissector sources (without any helpers)
DISSECTOR_SRC = $(UAVOBJFILENAMES)
DISSECTOR_INCLUDES =

104
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/Makefile.nmake Normal file
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# Makefile.nmake
# nmake file for Wireshark plugin
#
# $Id$
#
include ..\..\config.nmake
include moduleinfo.nmake
include Makefile.common
CFLAGS=$(WARNINGS_ARE_ERRORS) $(STANDARD_CFLAGS) \
/I../.. $(GLIB_CFLAGS) \
/I$(PCAP_DIR)\include
.c.obj::
$(CC) $(CFLAGS) -Fd.\ -c $<
LDFLAGS = $(PLUGIN_LDFLAGS)
!IFDEF ENABLE_LIBWIRESHARK
LINK_PLUGIN_WITH=..\..\epan\libwireshark.lib
CFLAGS=/D_NEED_VAR_IMPORT_ $(CFLAGS)
DISSECTOR_OBJECTS = $(DISSECTOR_SRC:.c=.obj)
DISSECTOR_SUPPORT_OBJECTS = $(DISSECTOR_SUPPORT_SRC:.c=.obj)
OBJECTS = $(DISSECTOR_OBJECTS) $(DISSECTOR_SUPPORT_OBJECTS) plugin.obj
RESOURCE=$(PLUGIN_NAME).res
all: $(PLUGIN_NAME).dll
$(PLUGIN_NAME).rc : moduleinfo.nmake
sed -e s/@PLUGIN_NAME@/$(PLUGIN_NAME)/ \
-e s/@RC_MODULE_VERSION@/$(RC_MODULE_VERSION)/ \
-e s/@RC_VERSION@/$(RC_VERSION)/ \
-e s/@MODULE_VERSION@/$(MODULE_VERSION)/ \
-e s/@PACKAGE@/$(PACKAGE)/ \
-e s/@VERSION@/$(VERSION)/ \
-e s/@MSVC_VARIANT@/$(MSVC_VARIANT)/ \
< plugin.rc.in > $@
$(PLUGIN_NAME).dll $(PLUGIN_NAME).exp $(PLUGIN_NAME).lib : $(OBJECTS) $(LINK_PLUGIN_WITH) $(RESOURCE)
link -dll /out:$(PLUGIN_NAME).dll $(LDFLAGS) $(OBJECTS) $(LINK_PLUGIN_WITH) \
$(GLIB_LIBS) $(RESOURCE)
#
# Build plugin.c, which contains the plugin version[] string, a
# function plugin_register() that calls the register routines for all
# protocols, and a function plugin_reg_handoff() that calls the handoff
# registration routines for all protocols.
#
# We do this by scanning sources. If that turns out to be too slow,
# maybe we could just require every .o file to have an register routine
# of a given name (packet-aarp.o -> proto_register_aarp, etc.).
#
# Formatting conventions: The name of the proto_register_* routines an
# proto_reg_handoff_* routines must start in column zero, or must be
# preceded only by "void " starting in column zero, and must not be
# inside #if.
#
# DISSECTOR_SRC is assumed to have all the files that need to be scanned.
#
# For some unknown reason, having a big "for" loop in the Makefile
# to scan all the files doesn't work with some "make"s; they seem to
# pass only the first few names in the list to the shell, for some
# reason.
#
# Therefore, we have a script to generate the plugin.c file.
# The shell script runs slowly, as multiple greps and seds are run
# for each input file; this is especially slow on Windows. Therefore,
# if Python is present (as indicated by PYTHON being defined), we run
# a faster Python script to do that work instead.
#
# The first argument is the directory in which the source files live.
# The second argument is "plugin", to indicate that we should build
# a plugin.c file for a plugin.
# All subsequent arguments are the files to scan.
#
!IFDEF PYTHON
plugin.c: $(DISSECTOR_SRC) moduleinfo.h Makefile.common ../../tools/make-dissector-reg.py
@echo Making plugin.c (using python)
@$(PYTHON) "../../tools/make-dissector-reg.py" . plugin $(DISSECTOR_SRC)
!ELSE
plugin.c: $(DISSECTOR_SRC) moduleinfo.h Makefile.common ../../tools/make-dissector-reg
@echo Making plugin.c (using sh)
@$(SH) ../../tools/make-dissector-reg . plugin $(DISSECTOR_SRC)
!ENDIF
!ENDIF
clean:
rm -f $(OBJECTS) $(RESOURCE) plugin.c *.pdb *.sbr \
$(PLUGIN_NAME).dll $(PLUGIN_NAME).dll.manifest $(PLUGIN_NAME).lib \
$(PLUGIN_NAME).exp $(PLUGIN_NAME).rc
distclean: clean
maintainer-clean: distclean
checkapi:
$(PERL) ../../tools/checkAPIs.pl -g abort -g termoutput -build $(DISSECTOR_SRC) $(DISSECTOR_INCLUDES)

16
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/moduleinfo.h Normal file
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/* Included *after* config.h, in order to re-define these macros */
#ifdef PACKAGE
#undef PACKAGE
#endif
/* Name of package */
#define PACKAGE "op-uavobjects"
#ifdef VERSION
#undef VERSION
#endif
/* Version number of package */
#define VERSION "0.0.1"

28
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/moduleinfo.nmake Normal file
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#
# $Id$
#
# The name
PACKAGE=op-uavobjects
# The version
MODULE_VERSION_MAJOR=0
MODULE_VERSION_MINOR=0
MODULE_VERSION_MICRO=1
MODULE_VERSION_EXTRA=0
#
# The RC_VERSION should be comma-separated, not dot-separated,
# as per Graham Bloice's message in
#
# http://www.ethereal.com/lists/ethereal-dev/200303/msg00283.html
#
# "The RC_VERSION variable in config.nmake should be comma separated.
# This allows the resources to be built correctly and the version
# number to be correctly displayed in the explorer properties dialog
# for the executables, and XP's tooltip, rather than 0.0.0.0."
#
MODULE_VERSION=$(MODULE_VERSION_MAJOR).$(MODULE_VERSION_MINOR).$(MODULE_VERSION_MICRO).$(MODULE_VERSION_EXTRA)
RC_MODULE_VERSION=$(MODULE_VERSION_MAJOR),$(MODULE_VERSION_MINOR),$(MODULE_VERSION_MICRO),$(MODULE_VERSION_EXTRA)

112
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/packet-op-uavobjects-template.c Normal file
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/*
* !!! Autogenerated from $(XMLFILE) Do NOT Edit !!!
*
* Routines for OpenPilot UAVObject dissection
* Copyright 2012 Stacey Sheldon <stac@solidgoldbomb.org>
*
* $Id$
*
* Wireshark - Network traffic analyzer
* By Gerald Combs <gerald@wireshark.org>
* Copyright 1998 Gerald Combs
*
* 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 2
* 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.
*/
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <epan/packet.h>
#include <epan/ptvcursor.h> /* ptvcursor_* */
#include <glib.h>
#include <string.h>
static int proto_uavo = -1;
/* Subtree expansion tracking */
$(SUBTREESTATICS)
/* Field handles */
$(FIELDHANDLES)
/* Enum string mappings */
$(ENUMFIELDNAMES)
void proto_reg_handoff_op_uavobjects_$(NAMELC)(void);
static int dissect_uavo(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree)
{
int offset = 0;
col_append_str(pinfo->cinfo, COL_INFO, "($(NAME))");
if (tree) { /* we are being asked for details */
proto_tree *uavo_tree = NULL;
ptvcursor_t * cursor;
proto_item *ti = NULL;
/* Add a top-level entry to the dissector tree for this protocol */
ti = proto_tree_add_item(tree, proto_uavo, tvb, 0, -1, ENC_NA);
/* Create a subtree to contain the dissection of this protocol */
uavo_tree = proto_item_add_subtree(ti, ett_uavo);
/* Dissect the packet and populate the subtree */
cursor = ptvcursor_new(uavo_tree, tvb, 0);
/* Populate the fields in this protocol */
$(POPULATETREE)
offset += ptvcursor_current_offset(cursor);
ptvcursor_free(cursor);
} else {
offset = 0;
}
return offset;
}
void proto_register_op_objects_$(NAMELC)(void)
{
$(HEADERFIELDS)
/* Setup protocol subtree array */
static gint *ett[] = {
$(SUBTREES)
};
/* Register this protocol */
proto_uavo = proto_register_protocol("UAVO $(NAME)",
"UAVO $(NAME)",
"uavo-$(NAMELC)");
/* Register the field definitions for this protocol */
proto_register_subtree_array(ett, array_length(ett));
proto_register_field_array(proto_uavo, hf, array_length(hf));
}
void proto_reg_handoff_op_uavobjects_$(NAMELC)(void)
{
dissector_handle_t uavo_handle;
uavo_handle = new_create_dissector_handle(dissect_uavo, proto_uavo);
/* Bind this protocol to its UAV ObjID in UAVTalk */
dissector_add("uavtalk.objid", $(OBJIDHEX), uavo_handle);
}

34
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavobjects/plugin.rc.in Normal file
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#include "winver.h"
VS_VERSION_INFO VERSIONINFO
FILEVERSION @RC_MODULE_VERSION@
PRODUCTVERSION @RC_VERSION@
FILEFLAGSMASK 0x0L
#ifdef _DEBUG
FILEFLAGS VS_FF_DEBUG
#else
FILEFLAGS 0
#endif
FILEOS VOS_NT_WINDOWS32
FILETYPE VFT_DLL
BEGIN
BLOCK "StringFileInfo"
BEGIN
BLOCK "040904b0"
BEGIN
VALUE "CompanyName", "The Wireshark developer community, http://www.wireshark.org/\0"
VALUE "FileDescription", "@PACKAGE@ dissector\0"
VALUE "FileVersion", "@MODULE_VERSION@\0"
VALUE "InternalName", "@PACKAGE@ @MODULE_VERSION@\0"
VALUE "LegalCopyright", "Copyright © 1998 Gerald Combs <gerald@wireshark.org>, Gilbert Ramirez <gram@alumni.rice.edu> and others\0"
VALUE "OriginalFilename", "@PLUGIN_NAME@.dll\0"
VALUE "ProductName", "Wireshark\0"
VALUE "ProductVersion", "@VERSION@\0"
VALUE "Comments", "Build with @MSVC_VARIANT@\0"
END
END
BLOCK "VarFileInfo"
BEGIN
VALUE "Translation", 0x409, 1200
END
END

3
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/AUTHORS Normal file
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Author:
Stacey Sheldon <stac [AT] solidgoldbomb.org>

65
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/CMakeLists.txt Normal file
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# CMakeLists.txt
#
# $Id$
#
# Wireshark - Network traffic analyzer
# By Gerald Combs <gerald@wireshark.org>
# Copyright 1998 Gerald Combs
#
# 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 2
# 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.
#
set(DISSECTOR_SRC
packet-op-uavtalk.c
)
set(PLUGIN_FILES
plugin.c
${DISSECTOR_SRC}
)
set(CLEAN_FILES
${PLUGIN_FILES}
)
if (WERROR)
set_source_files_properties(
${CLEAN_FILES}
PROPERTIES
COMPILE_FLAGS -Werror
)
endif()
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
register_dissector_files(plugin.c
plugin
${DISSECTOR_SRC}
)
add_library(unistim ${LINK_MODE_MODULE}
${PLUGIN_FILES}
)
set_target_properties(unistim PROPERTIES PREFIX "")
set_target_properties(unistim PROPERTIES LINK_FLAGS "${WS_LINK_FLAGS}")
target_link_libraries(op-uavtalk)
install(TARGETS op-uavtalk
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/@CPACK_PACKAGE_NAME@/plugins/${CPACK_PACKAGE_VERSION} NAMELINK_SKIP
RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/@CPACK_PACKAGE_NAME@/plugins/${CPACK_PACKAGE_VERSION}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}/@CPACK_PACKAGE_NAME@/plugins/${CPACK_PACKAGE_VERSION}
)

340
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/COPYING Normal file
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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Library General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
this service if you wish), that you receive source code or can get it
if you want it, that you can change the software or use pieces of it
in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid
anyone to deny you these rights or to ask you to surrender the rights.
These restrictions translate to certain responsibilities for you if you
distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must give the recipients all the rights that
you have. You must make sure that they, too, receive or can get the
source code. And you must show them these terms so they know their
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We protect your rights with two steps: (1) copyright the software, and
(2) offer you this license which gives you legal permission to copy,
distribute and/or modify the software.
Also, for each author's protection and ours, we want to make certain
that everyone understands that there is no warranty for this free
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Finally, any free program is threatened constantly by software
patents. We wish to avoid the danger that redistributors of a free
program will individually obtain patent licenses, in effect making the
program proprietary. To prevent this, we have made it clear that any
patent must be licensed for everyone's free use or not licensed at all.
The precise terms and conditions for copying, distribution and
modification follow.
GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
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Activities other than copying, distribution and modification are not
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Whether that is true depends on what the Program does.
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You may charge a fee for the physical act of transferring a copy, and
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parties remain in full compliance.
5. You are not required to accept this License, since you have not
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prohibited by law if you do not accept this License. Therefore, by
modifying or distributing the Program (or any work based on the
Program), you indicate your acceptance of this License to do so, and
all its terms and conditions for copying, distributing or modifying
the Program or works based on it.
6. Each time you redistribute the Program (or any work based on the
Program), the recipient automatically receives a license from the
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You are not responsible for enforcing compliance by third parties to
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7. If, as a consequence of a court judgment or allegation of patent
infringement or for any other reason (not limited to patent issues),
conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot
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may not distribute the Program at all. For example, if a patent
license would not permit royalty-free redistribution of the Program by
all those who receive copies directly or indirectly through you, then
the only way you could satisfy both it and this License would be to
refrain entirely from distribution of the Program.
If any portion of this section is held invalid or unenforceable under
any particular circumstance, the balance of the section is intended to
apply and the section as a whole is intended to apply in other
circumstances.
It is not the purpose of this section to induce you to infringe any
patents or other property right claims or to contest validity of any
such claims; this section has the sole purpose of protecting the
integrity of the free software distribution system, which is
implemented by public license practices. Many people have made
generous contributions to the wide range of software distributed
through that system in reliance on consistent application of that
system; it is up to the author/donor to decide if he or she is willing
to distribute software through any other system and a licensee cannot
impose that choice.
This section is intended to make thoroughly clear what is believed to
be a consequence of the rest of this License.
8. If the distribution and/or use of the Program is restricted in
certain countries either by patents or by copyrighted interfaces, the
original copyright holder who places the Program under this License
may add an explicit geographical distribution limitation excluding
those countries, so that distribution is permitted only in or among
countries not thus excluded. In such case, this License incorporates
the limitation as if written in the body of this License.
9. The Free Software Foundation may publish revised and/or new versions
of the General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the Program
specifies a version number of this License which applies to it and "any
later version", you have the option of following the terms and conditions
either of that version or of any later version published by the Free
Software Foundation. If the Program does not specify a version number of
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10. If you wish to incorporate parts of the Program into other free
programs whose distribution conditions are different, write to the author
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of promoting the sharing and reuse of software generally.
NO WARRANTY
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OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
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WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
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YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
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 2 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
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Library General
Public License instead of this License.

3
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/ChangeLog Normal file
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2012-06-16 Stacey Sheldon <stac@solidgoldbomb.org>
* initial version

131
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# Makefile.am
# Automake file for OpenPilot UAVTalk protocol
# Copyright 2012, Stacey Sheldon <stac@solidgoldbomb.org>
#
# $Id$
#
# Wireshark - Network traffic analyzer
# By Gerald Combs <gerald@wireshark.org>
# Copyright 1998 Gerald Combs
#
# 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 2
# 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.
#
INCLUDES = -I$(top_srcdir) -I$(includedir)
include Makefile.common
if HAVE_WARNINGS_AS_ERRORS
AM_CFLAGS = -Werror
endif
plugindir = @plugindir@
plugin_LTLIBRARIES = op_uavtalk.la
op_uavtalk_la_SOURCES = \
plugin.c \
moduleinfo.h \
$(DISSECTOR_SRC) \
$(DISSECTOR_SUPPORT_SRC) \
$(DISSECTOR_INCLUDES)
op_uavtalk_la_LDFLAGS = -module -avoid-version
op_uavtalk_la_LIBADD = @PLUGIN_LIBS@
# Libs must be cleared, or else libtool won't create a shared module.
# If your module needs to be linked against any particular libraries,
# add them here.
LIBS =
#
# Build plugin.c, which contains the plugin version[] string, a
# function plugin_register() that calls the register routines for all
# protocols, and a function plugin_reg_handoff() that calls the handoff
# registration routines for all protocols.
#
# We do this by scanning sources. If that turns out to be too slow,
# maybe we could just require every .o file to have an register routine
# of a given name (packet-aarp.o -> proto_register_aarp, etc.).
#
# Formatting conventions: The name of the proto_register_* routines an
# proto_reg_handoff_* routines must start in column zero, or must be
# preceded only by "void " starting in column zero, and must not be
# inside #if.
#
# DISSECTOR_SRC is assumed to have all the files that need to be scanned.
#
# For some unknown reason, having a big "for" loop in the Makefile
# to scan all the files doesn't work with some "make"s; they seem to
# pass only the first few names in the list to the shell, for some
# reason.
#
# Therefore, we have a script to generate the plugin.c file.
# The shell script runs slowly, as multiple greps and seds are run
# for each input file; this is especially slow on Windows. Therefore,
# if Python is present (as indicated by PYTHON being defined), we run
# a faster Python script to do that work instead.
#
# The first argument is the directory in which the source files live.
# The second argument is "plugin", to indicate that we should build
# a plugin.c file for a plugin.
# All subsequent arguments are the files to scan.
#
plugin.c: $(DISSECTOR_SRC) Makefile.common $(top_srcdir)/tools/make-dissector-reg \
$(top_srcdir)/tools/make-dissector-reg.py
@if test -n "$(PYTHON)"; then \
echo Making plugin.c with python ; \
$(PYTHON) $(top_srcdir)/tools/make-dissector-reg.py $(srcdir) \
plugin $(DISSECTOR_SRC) ; \
else \
echo Making plugin.c with shell script ; \
$(top_srcdir)/tools/make-dissector-reg $(srcdir) \
$(plugin_src) plugin $(DISSECTOR_SRC) ; \
fi
#
# Currently plugin.c can be included in the distribution because
# we always build all protocol dissectors. We used to have to check
# whether or not to build the snmp dissector. If we again need to
# variably build something, making plugin.c non-portable, uncomment
# the dist-hook line below.
#
# Oh, yuk. We don't want to include "plugin.c" in the distribution, as
# its contents depend on the configuration, and therefore we want it
# to be built when the first "make" is done; however, Automake insists
# on putting *all* source into the distribution.
#
# We work around this by having a "dist-hook" rule that deletes
# "plugin.c", so that "dist" won't pick it up.
#
#dist-hook:
# @rm -f $(distdir)/plugin.c
CLEANFILES = \
op-uavtalk \
*~
MAINTAINERCLEANFILES = \
Makefile.in \
plugin.c
EXTRA_DIST = \
Makefile.common \
Makefile.nmake \
moduleinfo.nmake \
plugin.rc.in \
CMakeLists.txt
checkapi:
$(PERL) $(top_srcdir)/tools/checkAPIs.pl -g abort -g termoutput -build $(DISSECTOR_SRC) $(DISSECTOR_INCLUDES)

34
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/Makefile.common Normal file
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# Makefile.common for OpenPilot UAVTalk plugin
# Contains the stuff from Makefile.am and Makefile.nmake that is
# a) common to both files and
# b) portable between both files
# Copyright 2012 Stacey Sheldon <stac@solidgoldbomb.org>
#
# $Id$
#
# Wireshark - Network traffic analyzer
# By Gerald Combs <gerald@wireshark.org>
# Copyright 1998 Gerald Combs
#
# 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 2
# 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.
# the name of the plugin
PLUGIN_NAME = op-uavtalk
# the dissector sources (without any helpers)
DISSECTOR_SRC = \
packet-op-uavtalk.c
DISSECTOR_INCLUDES =

104
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/Makefile.nmake Normal file
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# Makefile.nmake
# nmake file for Wireshark plugin
#
# $Id$
#
include ..\..\config.nmake
include moduleinfo.nmake
include Makefile.common
CFLAGS=$(WARNINGS_ARE_ERRORS) $(STANDARD_CFLAGS) \
/I../.. $(GLIB_CFLAGS) \
/I$(PCAP_DIR)\include
.c.obj::
$(CC) $(CFLAGS) -Fd.\ -c $<
LDFLAGS = $(PLUGIN_LDFLAGS)
!IFDEF ENABLE_LIBWIRESHARK
LINK_PLUGIN_WITH=..\..\epan\libwireshark.lib
CFLAGS=/D_NEED_VAR_IMPORT_ $(CFLAGS)
DISSECTOR_OBJECTS = $(DISSECTOR_SRC:.c=.obj)
DISSECTOR_SUPPORT_OBJECTS = $(DISSECTOR_SUPPORT_SRC:.c=.obj)
OBJECTS = $(DISSECTOR_OBJECTS) $(DISSECTOR_SUPPORT_OBJECTS) plugin.obj
RESOURCE=$(PLUGIN_NAME).res
all: $(PLUGIN_NAME).dll
$(PLUGIN_NAME).rc : moduleinfo.nmake
sed -e s/@PLUGIN_NAME@/$(PLUGIN_NAME)/ \
-e s/@RC_MODULE_VERSION@/$(RC_MODULE_VERSION)/ \
-e s/@RC_VERSION@/$(RC_VERSION)/ \
-e s/@MODULE_VERSION@/$(MODULE_VERSION)/ \
-e s/@PACKAGE@/$(PACKAGE)/ \
-e s/@VERSION@/$(VERSION)/ \
-e s/@MSVC_VARIANT@/$(MSVC_VARIANT)/ \
< plugin.rc.in > $@
$(PLUGIN_NAME).dll $(PLUGIN_NAME).exp $(PLUGIN_NAME).lib : $(OBJECTS) $(LINK_PLUGIN_WITH) $(RESOURCE)
link -dll /out:$(PLUGIN_NAME).dll $(LDFLAGS) $(OBJECTS) $(LINK_PLUGIN_WITH) \
$(GLIB_LIBS) $(RESOURCE)
#
# Build plugin.c, which contains the plugin version[] string, a
# function plugin_register() that calls the register routines for all
# protocols, and a function plugin_reg_handoff() that calls the handoff
# registration routines for all protocols.
#
# We do this by scanning sources. If that turns out to be too slow,
# maybe we could just require every .o file to have an register routine
# of a given name (packet-aarp.o -> proto_register_aarp, etc.).
#
# Formatting conventions: The name of the proto_register_* routines an
# proto_reg_handoff_* routines must start in column zero, or must be
# preceded only by "void " starting in column zero, and must not be
# inside #if.
#
# DISSECTOR_SRC is assumed to have all the files that need to be scanned.
#
# For some unknown reason, having a big "for" loop in the Makefile
# to scan all the files doesn't work with some "make"s; they seem to
# pass only the first few names in the list to the shell, for some
# reason.
#
# Therefore, we have a script to generate the plugin.c file.
# The shell script runs slowly, as multiple greps and seds are run
# for each input file; this is especially slow on Windows. Therefore,
# if Python is present (as indicated by PYTHON being defined), we run
# a faster Python script to do that work instead.
#
# The first argument is the directory in which the source files live.
# The second argument is "plugin", to indicate that we should build
# a plugin.c file for a plugin.
# All subsequent arguments are the files to scan.
#
!IFDEF PYTHON
plugin.c: $(DISSECTOR_SRC) moduleinfo.h Makefile.common ../../tools/make-dissector-reg.py
@echo Making plugin.c (using python)
@$(PYTHON) "../../tools/make-dissector-reg.py" . plugin $(DISSECTOR_SRC)
!ELSE
plugin.c: $(DISSECTOR_SRC) moduleinfo.h Makefile.common ../../tools/make-dissector-reg
@echo Making plugin.c (using sh)
@$(SH) ../../tools/make-dissector-reg . plugin $(DISSECTOR_SRC)
!ENDIF
!ENDIF
clean:
rm -f $(OBJECTS) $(RESOURCE) plugin.c *.pdb *.sbr \
$(PLUGIN_NAME).dll $(PLUGIN_NAME).dll.manifest $(PLUGIN_NAME).lib \
$(PLUGIN_NAME).exp $(PLUGIN_NAME).rc
distclean: clean
maintainer-clean: distclean
checkapi:
$(PERL) ../../tools/checkAPIs.pl -g abort -g termoutput -build $(DISSECTOR_SRC) $(DISSECTOR_INCLUDES)

16
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/moduleinfo.h Normal file
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/* Included *after* config.h, in order to re-define these macros */
#ifdef PACKAGE
#undef PACKAGE
#endif
/* Name of package */
#define PACKAGE "op-uavtalk"
#ifdef VERSION
#undef VERSION
#endif
/* Version number of package */
#define VERSION "0.0.1"

28
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/moduleinfo.nmake Normal file
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@ -0,0 +1,28 @@
#
# $Id$
#
# The name
PACKAGE=op-uavtalk
# The version
MODULE_VERSION_MAJOR=0
MODULE_VERSION_MINOR=0
MODULE_VERSION_MICRO=1
MODULE_VERSION_EXTRA=0
#
# The RC_VERSION should be comma-separated, not dot-separated,
# as per Graham Bloice's message in
#
# http://www.ethereal.com/lists/ethereal-dev/200303/msg00283.html
#
# "The RC_VERSION variable in config.nmake should be comma separated.
# This allows the resources to be built correctly and the version
# number to be correctly displayed in the explorer properties dialog
# for the executables, and XP's tooltip, rather than 0.0.0.0."
#
MODULE_VERSION=$(MODULE_VERSION_MAJOR).$(MODULE_VERSION_MINOR).$(MODULE_VERSION_MICRO).$(MODULE_VERSION_EXTRA)
RC_MODULE_VERSION=$(MODULE_VERSION_MAJOR),$(MODULE_VERSION_MINOR),$(MODULE_VERSION_MICRO),$(MODULE_VERSION_EXTRA)

205
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/packet-op-uavtalk.c Normal file
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/* packet-op-uavtalk.c
* Routines for OpenPilot UAVTalk packet dissection
* Copyright 2012 Stacey Sheldon <stac@solidgoldbomb.org>
*
* $Id$
*
* Wireshark - Network traffic analyzer
* By Gerald Combs <gerald@wireshark.org>
* Copyright 1998 Gerald Combs
*
* 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 2
* 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.
*/
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <epan/packet.h>
#include <epan/prefs.h>
#include <epan/ptvcursor.h> /* ptvcursor_* */
#include <glib.h>
#include <string.h>
static guint global_op_uavtalk_port = 9000;
static int proto_op_uavtalk = -1;
static gint ett_op_uavtalk = -1;
static dissector_handle_t data_handle;
static dissector_table_t uavtalk_subdissector_table;
static int hf_op_uavtalk_sync = -1;
static int hf_op_uavtalk_version = -1;
static int hf_op_uavtalk_type = -1;
static int hf_op_uavtalk_len = -1;
static int hf_op_uavtalk_objid = -1;
static int hf_op_uavtalk_crc8 = -1;
#define UAVTALK_SYNC_VAL 0x3C
static const value_string uavtalk_packet_types[]={
{ 0, "TxObj" },
{ 1, "GetObj" },
{ 2, "SetObjAckd" },
{ 3, "Ack" },
{ 4, "Nack" },
{ 0, NULL }
};
void proto_reg_handoff_op_uavtalk(void);
#define UAVTALK_HEADER_SIZE 8
#define UAVTALK_TRAILER_SIZE 1
static int dissect_op_uavtalk(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree)
{
gint offset = 0;
guint8 packet_type = tvb_get_guint8(tvb, 1) & 0x7;
guint32 objid = tvb_get_letohl(tvb, 4);
guint32 payload_length = tvb_get_letohs(tvb, 2) - UAVTALK_HEADER_SIZE - UAVTALK_TRAILER_SIZE;
guint32 reported_length = tvb_reported_length(tvb);
col_set_str(pinfo->cinfo, COL_PROTOCOL, "UAVTALK");
/* Clear out stuff in the info column */
col_clear(pinfo->cinfo, COL_INFO);
col_append_fstr(pinfo->cinfo, COL_INFO, "%s: 0x%08x", val_to_str_const(packet_type, uavtalk_packet_types, ""), objid);
if (objid & 0x1) {
col_append_str(pinfo->cinfo, COL_INFO, "(META)");
}
if (tree) { /* we are being asked for details */
proto_tree *op_uavtalk_tree = NULL;
ptvcursor_t * cursor;
proto_item *ti = NULL;
/* Add a top-level entry to the dissector tree for this protocol */
ti = proto_tree_add_item(tree, proto_op_uavtalk, tvb, 0, -1, ENC_NA);
/* Create a subtree to contain the dissection of this protocol */
op_uavtalk_tree = proto_item_add_subtree(ti, ett_op_uavtalk);
/* Dissect the packet and populate the subtree */
cursor = ptvcursor_new(op_uavtalk_tree, tvb, 0);
/* Populate the fields in this protocol */
ptvcursor_add(cursor, hf_op_uavtalk_sync, 1, ENC_LITTLE_ENDIAN);
ptvcursor_add_no_advance(cursor, hf_op_uavtalk_version, 1, ENC_LITTLE_ENDIAN);
ptvcursor_add(cursor, hf_op_uavtalk_type, 1, ENC_LITTLE_ENDIAN);
ptvcursor_add(cursor, hf_op_uavtalk_len, 2, ENC_LITTLE_ENDIAN);
ptvcursor_add(cursor, hf_op_uavtalk_objid, 4, ENC_LITTLE_ENDIAN);
offset = ptvcursor_current_offset(cursor);
ptvcursor_free(cursor);
proto_tree_add_item(op_uavtalk_tree, hf_op_uavtalk_crc8, tvb, reported_length - UAVTALK_TRAILER_SIZE, UAVTALK_TRAILER_SIZE, ENC_LITTLE_ENDIAN);
} else {
offset = UAVTALK_HEADER_SIZE;
}
{
tvbuff_t * next_tvb = tvb_new_subset(tvb, offset,
reported_length - UAVTALK_HEADER_SIZE - UAVTALK_TRAILER_SIZE,
payload_length);
/* Check if we have an embedded objid to decode */
if ((packet_type == 0) || (packet_type == 2)) {
/* Call any registered subdissector for this objid */
if (!dissector_try_uint(uavtalk_subdissector_table, objid, next_tvb, pinfo, tree)) {
/* No subdissector registered, use the default data dissector */
call_dissector(data_handle, next_tvb, pinfo, tree);
}
} else {
/* Render any remaining data as raw bytes */
call_dissector(data_handle, next_tvb, pinfo, tree);
}
}
return UAVTALK_HEADER_SIZE + UAVTALK_TRAILER_SIZE;
}
void proto_register_op_uavtalk(void)
{
module_t * op_uavtalk_module;
static hf_register_info hf[] = {
{ &hf_op_uavtalk_sync,
{ "Sync Byte", "uavtalk.sync", FT_UINT8,
BASE_HEX, NULL, 0x0, NULL, HFILL }
},
{ &hf_op_uavtalk_version,
{ "Version", "uavtalk.ver", FT_UINT8,
BASE_DEC, NULL, 0xf8, NULL, HFILL }
},
{ &hf_op_uavtalk_type,
{ "Type", "uavtalk.type", FT_UINT8,
BASE_HEX, VALS(uavtalk_packet_types), 0x07, NULL, HFILL }
},
{ &hf_op_uavtalk_len,
{ "Length", "uavtalk.len", FT_UINT16,
BASE_DEC, NULL, 0x0, NULL, HFILL }
},
{ &hf_op_uavtalk_objid,
{ "ObjID", "uavtalk.objid", FT_UINT32,
BASE_HEX, NULL, 0x0, NULL, HFILL }
},
{ &hf_op_uavtalk_crc8,
{ "Crc8", "uavtalk.crc8", FT_UINT8,
BASE_HEX, NULL, 0x0, NULL, HFILL }
},
};
/* Setup protocol subtree array */
static gint *ett[] = {
&ett_op_uavtalk
};
proto_op_uavtalk = proto_register_protocol("OpenPilot UAVTalk Protocol",
"UAVTALK",
"uavtalk");
/* Allow subdissectors for each objid to bind for decoding */
uavtalk_subdissector_table = register_dissector_table("uavtalk.objid", "UAVObject ID", FT_UINT32, BASE_HEX);
proto_register_subtree_array(ett, array_length(ett));
proto_register_field_array(proto_op_uavtalk, hf, array_length(hf));
op_uavtalk_module = prefs_register_protocol(proto_op_uavtalk, proto_reg_handoff_op_uavtalk);
prefs_register_uint_preference(op_uavtalk_module, "udp.port", "UAVTALK UDP port",
"UAVTALK port (default 9000)", 10, &global_op_uavtalk_port);
}
void proto_reg_handoff_op_uavtalk(void)
{
static dissector_handle_t op_uavtalk_handle;
op_uavtalk_handle = new_create_dissector_handle(dissect_op_uavtalk, proto_op_uavtalk);
dissector_add_handle("udp.port", op_uavtalk_handle); /* for "decode as" */
if (global_op_uavtalk_port != 0) {
dissector_add_uint("udp.port", global_op_uavtalk_port, op_uavtalk_handle);
}
/* Lookup the default dissector for raw data */
data_handle = find_dissector("data");
}

34
ground/openpilotgcs/src/plugins/uavobjects/wireshark/op-uavtalk/plugin.rc.in Normal file
View File

@ -0,0 +1,34 @@
#include "winver.h"
VS_VERSION_INFO VERSIONINFO
FILEVERSION @RC_MODULE_VERSION@
PRODUCTVERSION @RC_VERSION@
FILEFLAGSMASK 0x0L
#ifdef _DEBUG
FILEFLAGS VS_FF_DEBUG
#else
FILEFLAGS 0
#endif
FILEOS VOS_NT_WINDOWS32
FILETYPE VFT_DLL
BEGIN
BLOCK "StringFileInfo"
BEGIN
BLOCK "040904b0"
BEGIN
VALUE "CompanyName", "The Wireshark developer community, http://www.wireshark.org/\0"
VALUE "FileDescription", "@PACKAGE@ dissector\0"
VALUE "FileVersion", "@MODULE_VERSION@\0"
VALUE "InternalName", "@PACKAGE@ @MODULE_VERSION@\0"
VALUE "LegalCopyright", "Copyright © 1998 Gerald Combs <gerald@wireshark.org>, Gilbert Ramirez <gram@alumni.rice.edu> and others\0"
VALUE "OriginalFilename", "@PLUGIN_NAME@.dll\0"
VALUE "ProductName", "Wireshark\0"
VALUE "ProductVersion", "@VERSION@\0"
VALUE "Comments", "Build with @MSVC_VARIANT@\0"
END
END
BLOCK "VarFileInfo"
BEGIN
VALUE "Translation", 0x409, 1200
END
END

72
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
View File

@ -43,7 +43,6 @@ Node::Node(MixerCurveWidget *graphWidget)
setCacheMode(DeviceCoordinateCache);
setZValue(-1);
vertical = false;
value = 0;
}
void Node::addEdge(Edge *edge)
@ -61,14 +60,14 @@ QList<Edge *> Node::edges() const
QRectF Node::boundingRect() const
{
qreal adjust = 2;
return QRectF(-10 - adjust, -10 - adjust,
23 + adjust, 23 + adjust);
return QRectF(-12 - adjust, -12 - adjust,
28 + adjust, 28 + adjust);
}
QPainterPath Node::shape() const
{
QPainterPath path;
path.addEllipse(-10, -10, 20, 20);
path.addEllipse(-12, -12, 25, 25);
return path;
}
@ -92,59 +91,60 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
}
painter->setBrush(gradient);
painter->setPen(QPen(Qt::black, 0));
painter->drawEllipse(-10, -10, 20, 20);
painter->drawEllipse(-12, -12, 25, 25);
painter->setPen(QPen(Qt::white, 0));
painter->drawText(-10, 3, QString().sprintf("%.2f", value()));
}
void Node::verticalMove(bool flag){
vertical = flag;
}
double Node::getValue() {
return value;
}
void Node::setValue(double val) {
value = val;
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
{
QPointF newPos = value.toPointF();
double Node::value() {
double h = graph->sceneRect().height();
double ratio = (h - pos().y()) / h;
return ((graph->getMax() - graph->getMin()) * ratio ) + graph->getMin();
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
{
QPointF newPos = val.toPointF();
double h = graph->sceneRect().height();
switch (change) {
case ItemPositionChange: {
if (!vertical)
break;
// Force node to move vertically
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
return newPos;
if (!vertical)
break;
// Force node to move vertically
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
return newPos;
}
case ItemPositionHasChanged: {
foreach (Edge *edge, edgeList)
edge->adjust();
double min = graph->getMin();
double range = graph->getMax() - min;
double ratio = (h - newPos.y()) / h;
double val = (range * ratio ) + min;
setValue(val);
update();
graph->itemMoved(val);
graph->itemMoved(value());
break;
}
default:
break;
};
return QGraphicsItem::itemChange(change, value);
return QGraphicsItem::itemChange(change, val);
}
void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)

7
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
View File

@ -55,22 +55,21 @@ public:
QPainterPath shape() const;
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
void setValue(double val);
double getValue();
double value();
protected:
QVariant itemChange(GraphicsItemChange change, const QVariant &value);
QVariant itemChange(GraphicsItemChange change, const QVariant &val);
void mousePressEvent(QGraphicsSceneMouseEvent *event);
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
private:
double value;
QList<Edge *> edgeList;
QPointF newPos;
MixerCurveWidget *graph;
bool vertical;
};
#endif // MIXERCURVEPOINT_H

82
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
View File

@ -69,6 +69,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
//plot->setElementId("map");
scene->addItem(plot);
plot->setZValue(-1);
scene->setSceneRect(plot->boundingRect());
setScene(scene);
@ -77,11 +78,11 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
MixerCurveWidget::~MixerCurveWidget()
{
for (int i=0; i<nodePool.count(); i++)
delete nodePool.at(i);
while (!nodePool.isEmpty())
delete nodePool.takeFirst();
for (int i=0; i<edgePool.count(); i++)
delete edgePool.at(i);
while (!edgePool.isEmpty())
delete edgePool.takeFirst();
}
Node* MixerCurveWidget::getNode(int index)
@ -122,14 +123,11 @@ Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
If a curve exists already, resets it.
Points should be between 0 and 1.
*/
void MixerCurveWidget::initCurve(QList<double> points)
void MixerCurveWidget::initCurve(const QList<double>* points)
{
if (points.length() < 2)
if (points->length() < 2)
return; // We need at least 2 points on a curve!
if (nodeList.count() != points.count())
initNodes(points.count());
// finally, set node positions
setCurve(points);
}
@ -139,12 +137,8 @@ void MixerCurveWidget::initNodes(int numPoints)
// First of all, clear any existing list
if (nodeList.count()) {
foreach (Node *node, nodeList ) {
QList<Edge*> edges = node->edges();
foreach(Edge *edge, edges) {
if (edge->destNode() == node) {
delete edge;
}
else {
foreach(Edge *edge, node->edges()) {
if (edge->sourceNode() == node) {
scene()->removeItem(edge);
}
}
@ -163,6 +157,8 @@ void MixerCurveWidget::initNodes(int numPoints)
nodeList.append(node);
scene()->addItem(node);
node->setPos(0,0);
if (prevNode) {
scene()->addItem(getEdge(i, prevNode, node));
}
@ -179,7 +175,7 @@ QList<double> MixerCurveWidget::getCurve() {
QList<double> list;
foreach(Node *node, nodeList) {
list.append(node->getValue());
list.append(node->value());
}
return list;
@ -187,51 +183,48 @@ QList<double> MixerCurveWidget::getCurve() {
/**
Sets a linear graph
*/
void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double minValue)
{
Q_UNUSED(maxValue);
Q_UNUSED(minValue);
double range = setRange(minValue, maxValue);
QList<double> points;
for (double i=0; i<numPoints;i++) {
double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
for (double i=0; i < (double)numPoints; i++) {
double val = (range * ( i / (double)(numPoints-1) ) ) + minValue;
points.append(val);
}
initCurve(points);
initCurve(&points);
}
/**
Setd the current curve settings
*/
void MixerCurveWidget::setCurve(QList<double> points)
void MixerCurveWidget::setCurve(const QList<double>* points)
{
curveUpdating = true;
if (nodeList.count() != points.count())
initNodes(points.count());
int ptCnt = points->count();
if (nodeList.count() != ptCnt)
initNodes(ptCnt);
double min = curveMin + 10;
double max = curveMax + 10;
double range = curveMax - curveMin;
qreal w = plot->boundingRect().width()/(points.count()-1);
qreal w = plot->boundingRect().width()/(ptCnt-1);
qreal h = plot->boundingRect().height();
for (int i=0; i<points.count(); i++) {
for (int i=0; i<ptCnt; i++) {
double val = points.at(i);
if (val < curveMin)
val = curveMin;
if (val > curveMax)
val = curveMax;
double val = (points->at(i) < curveMin) ? curveMin : (points->at(i) > curveMax) ? curveMax : points->at(i);
val += 10;
val -= min;
val /= (max - min);
val += range;
val -= (curveMin + range);
val /= range;
nodeList.at(i)->setPos(w*i, h - (val*h));
nodeList.at(i)->verticalMove(true);
Node* node = nodeList.at(i);
node->setPos(w*i, h - (val*h));
node->verticalMove(true);
}
curveUpdating = false;
update();
emit curveUpdated(points, (double)0);
}
@ -252,13 +245,11 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
fitInView(plot, Qt::KeepAspectRatio);
}
void MixerCurveWidget::itemMoved(double itemValue)
{
if (!curveUpdating) {
QList<double> list = getCurve();
emit curveUpdated(list, itemValue);
QList<double> curve = getCurve();
emit curveUpdated(&curve, itemValue);
}
}
@ -278,8 +269,9 @@ double MixerCurveWidget::getMax()
{
return curveMax;
}
void MixerCurveWidget::setRange(double min, double max)
double MixerCurveWidget::setRange(double min, double max)
{
curveMin = min;
curveMax = max;
return curveMax - curveMin;
}

10
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
View File

@ -44,20 +44,20 @@ public:
MixerCurveWidget(QWidget *parent = 0);
~MixerCurveWidget();
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
void initCurve (QList<double> points);
void initCurve (const QList<double>* points);
QList<double> getCurve();
void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
void setCurve(QList<double>);
void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
void setCurve(const QList<double>* points);
void setMin(double value);
double getMin();
void setMax(double value);
double getMax();
void setRange(double min, double max);
double setRange(double min, double max);
static const int NODE_NUMELEM = 5;
signals:
void curveUpdated(QList<double>, double );
void curveUpdated(const QList<double>* points, const double value);
private slots:

185
ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
View File

@ -55,11 +55,6 @@ Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
connect(utalk, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
// Get GCS stats object
gcsStatsObj = GCSTelemetryStats::GetInstance(objMngr);
// Setup transaction timer
transPending = false;
transTimer = new QTimer(this);
transTimer->stop();
connect(transTimer, SIGNAL(timeout()), this, SLOT(transactionTimeout()));
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
updateTimer = new QTimer(this);
@ -70,6 +65,12 @@ Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
txRetries = 0;
}
Telemetry::~Telemetry()
{
for (QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.begin(); itr != transMap.end(); ++itr)
delete itr.value();
}
/**
* Register a new object for periodic updates (if enabled)
*/
@ -231,84 +232,81 @@ void Telemetry::updateObject(UAVObject* obj, quint32 eventType)
*/
void Telemetry::transactionCompleted(UAVObject* obj, bool success)
{
// Check if there is a pending transaction and the objects match
if ( transPending && transInfo.obj->getObjID() == obj->getObjID() )
// Lookup the transaction in the transaction map.
quint32 objId = obj->getObjID();
QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() )
{
// qDebug() << QString("Telemetry: transaction completed for %1").arg(obj->getName());
// Complete transaction
transTimer->stop();
transPending = false;
ObjectTransactionInfo *transInfo = itr.value();
// Remove this transaction as it's complete.
transInfo->timer->stop();
transMap.remove(objId);
delete transInfo;
// Send signal
obj->emitTransactionCompleted(success);
// Process new object updates from queue
processObjectQueue();
} else
{
// qDebug() << "Error: received a transaction completed when did not expect it.";
qDebug() << "Error: received a transaction completed when did not expect it.";
}
}
/**
* Called when a transaction is not completed within the timeout period (timer event)
*/
void Telemetry::transactionTimeout()
void Telemetry::transactionTimeout(ObjectTransactionInfo *transInfo)
{
// qDebug() << "Telemetry: transaction timeout.";
transTimer->stop();
// Proceed only if there is a pending transaction
if ( transPending )
transInfo->timer->stop();
// Check if more retries are pending
if (transInfo->retriesRemaining > 0)
{
// Check if more retries are pending
if (transInfo.retriesRemaining > 0)
{
--transInfo.retriesRemaining;
processObjectTransaction();
++txRetries;
}
else
{
// Terminate transaction
utalk->cancelTransaction();
transPending = false;
// Send signal
transInfo.obj->emitTransactionCompleted(false);
// Process new object updates from queue
processObjectQueue();
++txErrors;
}
--transInfo->retriesRemaining;
processObjectTransaction(transInfo);
++txRetries;
}
else
{
// Stop the timer.
transInfo->timer->stop();
// Terminate transaction
utalk->cancelTransaction(transInfo->obj);
// Send signal
transInfo->obj->emitTransactionCompleted(false);
// Remove this transaction as it's complete.
transMap.remove(transInfo->obj->getObjID());
delete transInfo;
// Process new object updates from queue
processObjectQueue();
++txErrors;
}
}
/**
* Start an object transaction with UAVTalk, all information is stored in transInfo
*/
void Telemetry::processObjectTransaction()
void Telemetry::processObjectTransaction(ObjectTransactionInfo *transInfo)
{
if (transPending)
// Initiate transaction
if (transInfo->objRequest)
{
// qDebug() << tr("Process Object transaction for %1").arg(transInfo.obj->getName());
// Initiate transaction
if (transInfo.objRequest)
{
utalk->sendObjectRequest(transInfo.obj, transInfo.allInstances);
}
else
{
utalk->sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
}
// Start timer if a response is expected
if ( transInfo.objRequest || transInfo.acked )
{
transTimer->start(REQ_TIMEOUT_MS);
}
else
{
transTimer->stop();
transPending = false;
}
} else
utalk->sendObjectRequest(transInfo->obj, transInfo->allInstances);
}
else
{
// qDebug() << "Error: inside of processObjectTransaction with no transPending";
utalk->sendObject(transInfo->obj, transInfo->acked, transInfo->allInstances);
}
// Start timer if a response is expected
if ( transInfo->objRequest || transInfo->acked )
{
transInfo->timer->start(REQ_TIMEOUT_MS);
}
else
{
// Otherwise, remove this transaction as it's complete.
transMap.remove(transInfo->obj->getObjID());
delete transInfo;
}
}
@ -318,7 +316,6 @@ void Telemetry::processObjectTransaction()
void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority)
{
// Push event into queue
// qDebug() << "Push event into queue for obj " << QString("%1 event %2").arg(obj->getName()).arg(event);
ObjectQueueInfo objInfo;
objInfo.obj = obj;
objInfo.event = event;
@ -349,15 +346,8 @@ void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allIn
}
}
// If there is no transaction in progress then process event
if (!transPending)
{
// qDebug() << "No transaction pending, process object queue...";
processObjectQueue();
} else
{
// qDebug() << "Transaction pending, DO NOT process object queue...";
}
// Process the transaction
processObjectQueue();
}
/**
@ -365,15 +355,6 @@ void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allIn
*/
void Telemetry::processObjectQueue()
{
// qDebug() << "Process object queue " << tr("- Depth (%1 %2)").arg(objQueue.length()).arg(objPriorityQueue.length());
// Don nothing if a transaction is already in progress (should not happen)
if (transPending)
{
qxtLog->error("Telemetry: Dequeue while a transaction pending!");
return;
}
// Get object information from queue (first the priority and then the regular queue)
ObjectQueueInfo objInfo;
if ( !objPriorityQueue.isEmpty() )
@ -408,24 +389,23 @@ void Telemetry::processObjectQueue()
if ( ( objInfo.event != EV_UNPACKED ) && ( ( objInfo.event != EV_UPDATED_PERIODIC ) || ( updateMode != UAVObject::UPDATEMODE_THROTTLED ) ) )
{
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = UAVObject::GetGcsTelemetryAcked(metadata);
ObjectTransactionInfo *transInfo = new ObjectTransactionInfo();
transInfo->obj = objInfo.obj;
transInfo->allInstances = objInfo.allInstances;
transInfo->retriesRemaining = MAX_RETRIES;
transInfo->acked = UAVObject::GetGcsTelemetryAcked(metadata);
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL || objInfo.event == EV_UPDATED_PERIODIC )
{
transInfo.objRequest = false;
transInfo->objRequest = false;
}
else if ( objInfo.event == EV_UPDATE_REQ )
{
transInfo.objRequest = true;
transInfo->objRequest = true;
}
// Start transaction
transPending = true;
processObjectTransaction();
} else
{
// qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
transInfo->telem = this;
// Insert the transaction into the transaction map.
transMap.insert(objInfo.obj->getObjID(), transInfo);
processObjectTransaction(transInfo);
}
// If this is a metaobject then make necessary telemetry updates
@ -579,6 +559,29 @@ void Telemetry::newInstance(UAVObject* obj)
registerObject(obj);
}
ObjectTransactionInfo::ObjectTransactionInfo()
{
obj = 0;
allInstances = false;
objRequest = false;
retriesRemaining = 0;
acked = false;
telem = 0;
// Setup transaction timer
timer = new QTimer(this);
timer->stop();
connect(timer, SIGNAL(timeout()), this, SLOT(timeout()));
}
ObjectTransactionInfo::~ObjectTransactionInfo()
{
telem = 0;
timer->stop();
delete timer;
}
void ObjectTransactionInfo::timeout()
{
if (telem)
telem->transactionTimeout(this);
}

57
ground/openpilotgcs/src/plugins/uavtalk/telemetry.h
View File

@ -35,6 +35,24 @@
#include <QMutexLocker>
#include <QTimer>
#include <QQueue>
#include <QMap>
class ObjectTransactionInfo: public QObject {
Q_OBJECT
public:
ObjectTransactionInfo();
~ObjectTransactionInfo();
UAVObject* obj;
bool allInstances;
bool objRequest;
qint32 retriesRemaining;
bool acked;
class Telemetry* telem;
QTimer* timer;
private slots:
void timeout();
};
class Telemetry: public QObject
{
@ -54,24 +72,13 @@ public:
} TelemetryStats;
Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr);
~Telemetry();
TelemetryStats getStats();
void resetStats();
void transactionTimeout(ObjectTransactionInfo *info);
signals:
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
void processPeriodicUpdates();
void transactionCompleted(UAVObject* obj, bool success);
void transactionTimeout();
private:
// Constants
static const int REQ_TIMEOUT_MS = 250;
@ -105,14 +112,6 @@ private:
bool allInstances;
} ObjectQueueInfo;
typedef struct {
UAVObject* obj;
bool allInstances;
bool objRequest;
qint32 retriesRemaining;
bool acked;
} ObjectTransactionInfo;
// Variables
UAVObjectManager* objMngr;
UAVTalk* utalk;
@ -120,11 +119,9 @@ private:
QList<ObjectTimeInfo> objList;
QQueue<ObjectQueueInfo> objQueue;
QQueue<ObjectQueueInfo> objPriorityQueue;
ObjectTransactionInfo transInfo;
bool transPending;
QMap<quint32, ObjectTransactionInfo*>transMap;
QMutex* mutex;
QTimer* updateTimer;
QTimer* transTimer;
QTimer* statsTimer;
qint32 timeToNextUpdateMs;
quint32 txErrors;
@ -137,9 +134,19 @@ private:
void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
void updateObject(UAVObject* obj, quint32 eventMask);
void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
void processObjectTransaction();
void processObjectTransaction(ObjectTransactionInfo *transInfo);
void processObjectQueue();
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
void processPeriodicUpdates();
void transactionCompleted(UAVObject* obj, bool success);
};

35
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -72,8 +72,6 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
mutex = new QMutex(QMutex::Recursive);
respObj = NULL;
memset(&stats, 0, sizeof(ComStats));
connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
@ -157,10 +155,16 @@ bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
/**
* Cancel a pending transaction
*/
void UAVTalk::cancelTransaction()
void UAVTalk::cancelTransaction(UAVObject* obj)
{
QMutexLocker locker(mutex);
respObj = NULL;
quint32 objId = obj->getObjID();
QMap<quint32, Transaction*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() )
{
transMap.remove(objId);
delete itr.value();
}
}
/**
@ -180,8 +184,10 @@ bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
{
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj;
respAllInstances = allInstances;
Transaction *trans = new Transaction();
trans->obj = obj;
trans->allInstances = allInstances;
transMap.insert(obj->getObjID(), trans);
return true;
}
else
@ -627,9 +633,15 @@ UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
*/
void UAVTalk::updateNack(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
Q_ASSERT(obj);
if ( ! obj )
return;
quint32 objId = obj->getObjID();
QMap<quint32, Transaction*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() && (itr.value()->obj->getInstID() == obj->getInstID() || itr.value()->allInstances))
{
respObj = NULL;
transMap.remove(objId);
delete itr.value();
emit transactionCompleted(obj, false);
}
}
@ -640,9 +652,12 @@ void UAVTalk::updateNack(UAVObject* obj)
*/
void UAVTalk::updateAck(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
quint32 objId = obj->getObjID();
QMap<quint32, Transaction*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() && (itr.value()->obj->getInstID() == obj->getInstID() || itr.value()->allInstances))
{
respObj = NULL;
transMap.remove(objId);
delete itr.value();
emit transactionCompleted(obj, true);
}
}

12
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
View File

@ -31,6 +31,7 @@
#include <QIODevice>
#include <QMutex>
#include <QMutexLocker>
#include <QMap>
#include <QSemaphore>
#include "uavobjectmanager.h"
#include "uavtalk_global.h"
@ -55,7 +56,7 @@ public:
~UAVTalk();
bool sendObject(UAVObject* obj, bool acked, bool allInstances);
bool sendObjectRequest(UAVObject* obj, bool allInstances);
void cancelTransaction();
void cancelTransaction(UAVObject* obj);
ComStats getStats();
void resetStats();
@ -66,6 +67,12 @@ private slots:
void processInputStream(void);
private:
typedef struct {
UAVObject* obj;
bool allInstances;
} Transaction;
// Constants
static const int TYPE_MASK = 0xF8;
static const int TYPE_VER = 0x20;
@ -97,8 +104,7 @@ private:
QPointer<QIODevice> io;
UAVObjectManager* objMngr;
QMutex* mutex;
UAVObject* respObj;
bool respAllInstances;
QMap<quint32, Transaction*> transMap;
quint8 rxBuffer[MAX_PACKET_LENGTH];
quint8 txBuffer[MAX_PACKET_LENGTH];
// Variables used by the receive state machine

1
ground/uavobjects/uavobjects.pro
View File

@ -20,6 +20,7 @@ isEmpty(QMAKESPEC) {
win32:SPEC = win32-g++
macx-g++:SPEC = macx-g++
linux-g++:SPEC = linux-g++
linux-g++-32:SPEC = linux-g++
linux-g++-64:SPEC = linux-g++-64
} else {
SPEC = $$QMAKESPEC

5
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -37,8 +37,9 @@ void replaceCommonTags(QString& out, ObjectInfo* info)
{
QStringList updateModeStr,accessModeStr;
updateModeStr << "UPDATEMODE_PERIODIC" << "UPDATEMODE_ONCHANGE"
<< "UPDATEMODE_THROTTLED" << "UPDATEMODE_MANUAL";
updateModeStr << "UPDATEMODE_MANUAL" << "UPDATEMODE_PERIODIC"
<< "UPDATEMODE_ONCHANGE"
<< "UPDATEMODE_THROTTLED";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

290
ground/uavobjgenerator/generators/wireshark/uavobjectgeneratorwireshark.cpp Normal file
View File

@ -0,0 +1,290 @@
/**
******************************************************************************
*
* @file uavobjectgeneratorflight.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief produce flight code for uavobjects
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 "uavobjectgeneratorwireshark.h"
using namespace std;
bool UAVObjectGeneratorWireshark::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
fieldTypeStrHf << "FT_INT8" << "FT_INT16" << "FT_INT32" <<"FT_UINT8"
<<"FT_UINT16" << "FT_UINT32" << "FT_FLOAT" << "FT_UINT8";
fieldTypeStrGlib << "gint8" << "gint16" << "gint32" <<"guint8"
<<"guint16" << "guint32" << "gfloat" << "guint8";
wiresharkCodePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects/wireshark"));
wiresharkOutputPath = QDir( outputpath + QString("wireshark") );
wiresharkOutputPath.mkpath(wiresharkOutputPath.absolutePath());
wiresharkCodeTemplate = readFile( wiresharkCodePath.absoluteFilePath("op-uavobjects/packet-op-uavobjects-template.c") );
wiresharkMakeTemplate = readFile( wiresharkCodePath.absoluteFilePath("op-uavobjects/Makefile.common-template") );
if ( wiresharkCodeTemplate.isNull() || wiresharkMakeTemplate.isNull()) {
cerr << "Error: Could not open wireshark template files." << endl;
return false;
}
/* Copy static files for wireshark plugins root directory into output directory */
QStringList topstaticfiles;
topstaticfiles << "Custom.m4" << "Custom.make" << "Custom.nmake";
for (int i = 0; i < topstaticfiles.length(); ++i) {
QFile::copy(wiresharkCodePath.absoluteFilePath(topstaticfiles[i]),
wiresharkOutputPath.absoluteFilePath(topstaticfiles[i]));
}
/* Copy static files for op-uavtalk dissector into output directory */
QDir uavtalkOutputPath = QDir( outputpath + QString("wireshark/op-uavtalk") );
uavtalkOutputPath.mkpath(uavtalkOutputPath.absolutePath());
QStringList uavtalkstaticfiles;
uavtalkstaticfiles << "AUTHORS" << "COPYING" << "ChangeLog";
uavtalkstaticfiles << "CMakeLists.txt" << "Makefile.nmake";
uavtalkstaticfiles << "Makefile.am" << "moduleinfo.h" << "moduleinfo.nmake";
uavtalkstaticfiles << "plugin.rc.in";
uavtalkstaticfiles << "Makefile.common" << "packet-op-uavtalk.c";
for (int i = 0; i < uavtalkstaticfiles.length(); ++i) {
QFile::copy(wiresharkCodePath.absoluteFilePath("op-uavtalk/" + uavtalkstaticfiles[i]),
uavtalkOutputPath.absoluteFilePath(uavtalkstaticfiles[i]));
}
/* Copy static files for op-uavobjects dissector into output directory */
QDir uavobjectsOutputPath = QDir( outputpath + QString("wireshark/op-uavobjects") );
uavobjectsOutputPath.mkpath(uavobjectsOutputPath.absolutePath());
QStringList uavostaticfiles;
uavostaticfiles << "AUTHORS" << "COPYING" << "ChangeLog";
uavostaticfiles << "CMakeLists.txt" << "Makefile.nmake";
uavostaticfiles << "Makefile.am" << "moduleinfo.h" << "moduleinfo.nmake";
uavostaticfiles << "plugin.rc.in";
for (int i = 0; i < uavostaticfiles.length(); ++i) {
QFile::copy(wiresharkCodePath.absoluteFilePath("op-uavobjects/" + uavostaticfiles[i]),
uavobjectsOutputPath.absoluteFilePath(uavostaticfiles[i]));
}
/* Generate the per-object files from the templates, and keep track of the list of generated filenames */
QString objFileNames;
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo* info = parser->getObjectByIndex(objidx);
process_object(info, uavobjectsOutputPath);
objFileNames.append(" packet-op-uavobjects-" + info->namelc + ".c");
}
/* Write the uavobject dissector's Makefile.common */
wiresharkMakeTemplate.replace( QString("$(UAVOBJFILENAMES)"), objFileNames);
bool res = writeFileIfDiffrent( uavobjectsOutputPath.absolutePath() + "/Makefile.common",
wiresharkMakeTemplate );
if (!res) {
cout << "Error: Could not write wireshark Makefile" << endl;
return false;
}
return true;
}
/**
* Generate the Flight object files
**/
bool UAVObjectGeneratorWireshark::process_object(ObjectInfo* info, QDir outputpath)
{
if (info == NULL)
return false;
// Prepare output strings
QString outCode = wiresharkCodeTemplate;
// Replace common tags
replaceCommonTags(outCode, info);
// Replace the $(SUBTREES) and $(SUBTREESTATICS) tags
QString subtrees;
QString subtreestatics;
subtreestatics.append( QString("static gint ett_uavo = -1;\r\n") );
subtrees.append( QString("&ett_uavo,\r\n") );
for (int n = 0; n < info->fields.length(); ++n) {
if (info->fields[n]->numElements > 1) {
/* Reserve a subtree for each array */
subtreestatics.append( QString("static gint ett_%1_%2 = -1;\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name) );
subtrees.append( QString("&ett_%1_%2,\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name) );
}
}
outCode.replace(QString("$(SUBTREES)"), subtrees);
outCode.replace(QString("$(SUBTREESTATICS)"), subtreestatics);
// Replace the $(FIELDHANDLES) tag
QString type;
QString fields;
for (int n = 0; n < info->fields.length(); ++n) {
fields.append( QString("static int hf_op_uavobjects_%1_%2 = -1;\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name));
if (info->fields[n]->numElements > 1) {
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
fields.append( QString("static int hf_op_uavobjects_%1_%2_%3 = -1;\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name)
.arg(elemNames[m]) );
}
}
}
outCode.replace(QString("$(FIELDHANDLES)"), fields);
// Replace the $(ENUMFIELDNAMES) tag
QString enums;
for (int n = 0; n < info->fields.length(); ++n) {
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString("/* Field %1 information */\r\n").arg(info->fields[n]->name) );
enums.append(QString("/* Enumeration options for field %1 */\r\n").arg(info->fields[n]->name));
enums.append( QString("static const value_string uavobjects_%1_%2[]= {\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name) );
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
enums.append ( QString("\t{ %1, \"%2\" },\r\n")
.arg(m)
.arg(options[m].replace(QRegExp(ENUM_SPECIAL_CHARS), "") ) );
}
enums.append( QString("\t{ 0, NULL }\r\n") );
enums.append( QString("};\r\n") );
}
}
outCode.replace(QString("$(ENUMFIELDNAMES)"), enums);
// Replace the $(POPULATETREE) tag
QString treefields;
for (int n = 0; n < info->fields.length(); ++n) {
if ( info->fields[n]->numElements == 1 ) {
treefields.append( QString(" ptvcursor_add(cursor, hf_op_uavobjects_%1_%2, sizeof(%3), ENC_LITTLE_ENDIAN);\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name)
.arg(fieldTypeStrGlib[info->fields[n]->type]) );
} else {
treefields.append( QString(" {\r\n") );
treefields.append( QString(" proto_item * it = NULL;\r\n") );
treefields.append( QString(" it = ptvcursor_add_no_advance(cursor, hf_op_uavobjects_%1_%2, 1, ENC_NA);\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name) );
treefields.append( QString(" ptvcursor_push_subtree(cursor, it, ett_%1_%2);\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name) );
/* Populate each array element into the table */
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
treefields.append( QString(" ptvcursor_add(cursor, hf_op_uavobjects_%1_%2_%3, sizeof(%4), ENC_LITTLE_ENDIAN);\r\n")
.arg(info->namelc)
.arg(info->fields[n]->name)
.arg(elemNames[m])
.arg(fieldTypeStrGlib[info->fields[n]->type]) );
}
treefields.append( QString(" ptvcursor_pop_subtree(cursor);\r\n") );
treefields.append( QString(" }\r\n") );
}
}
outCode.replace(QString("$(POPULATETREE)"), treefields);
// Replace the $(HEADERFIELDS) tag
QString headerfields;
headerfields.append( QString(" static hf_register_info hf[] = {\r\n") );
for (int n = 0; n < info->fields.length(); ++n) {
// For non-array fields
if ( info->fields[n]->numElements == 1) {
headerfields.append( QString("\t { &hf_op_uavobjects_%1_%2,\r\n")
.arg( info->namelc )
.arg( info->fields[n]->name ) );
headerfields.append( QString("\t { \"%1\", \"%2.%3\", %4,\r\n")
.arg( info->fields[n]->name )
.arg( info->namelc )
.arg( info->fields[n]->name )
.arg( fieldTypeStrHf[info->fields[n]->type] ) );
if ( info->fields[n]->type == FIELDTYPE_ENUM ) {
headerfields.append( QString("\t BASE_DEC, VALS(uavobjects_%1_%2), 0x0, NULL, HFILL \r\n")
.arg( info->namelc )
.arg( info->fields[n]->name ) );
} else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) {
headerfields.append( QString("\t BASE_NONE, NULL, 0x0, NULL, HFILL \r\n") );
} else {
headerfields.append( QString("\t BASE_DEC_HEX, NULL, 0x0, NULL, HFILL\r\n") );
}
headerfields.append( QString("\t },\r\n") );
headerfields.append( QString("\t },\r\n") );
} else {
headerfields.append( QString("\t { &hf_op_uavobjects_%1_%2,\r\n")
.arg( info->namelc )
.arg( info->fields[n]->name ) );
headerfields.append( QString("\t { \"%1\", \"%2.%3\", FT_NONE,\r\n")
.arg( info->fields[n]->name )
.arg( info->namelc )
.arg( info->fields[n]->name ) );
headerfields.append( QString("\t BASE_NONE, NULL, 0x0, NULL, HFILL\r\n") );
headerfields.append( QString("\t },\r\n") );
headerfields.append( QString("\t },\r\n") );
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
headerfields.append( QString("\t { &hf_op_uavobjects_%1_%2_%3,\r\n")
.arg( info->namelc )
.arg( info->fields[n]->name )
.arg( elemNames[m]) );
headerfields.append( QString("\t { \"%1\", \"%2.%3.%4\", %5,\r\n")
.arg( elemNames[m] )
.arg( info->namelc )
.arg( info->fields[n]->name )
.arg( elemNames[m] )
.arg( fieldTypeStrHf[info->fields[n]->type] ) );
if ( info->fields[n]->type == FIELDTYPE_ENUM ) {
headerfields.append( QString("\t BASE_DEC, VALS(uavobjects_%1_%2), 0x0, NULL, HFILL \r\n")
.arg( info->namelc )
.arg( info->fields[n]->name ) );
} else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) {
headerfields.append( QString("\t BASE_NONE, NULL, 0x0, NULL, HFILL \r\n") );
} else {
headerfields.append( QString("\t BASE_DEC_HEX, NULL, 0x0, NULL, HFILL\r\n") );
}
headerfields.append( QString("\t },\r\n") );
headerfields.append( QString("\t },\r\n") );
}
}
}
headerfields.append( QString(" };\r\n") );
outCode.replace(QString("$(HEADERFIELDS)"), headerfields);
// Write the flight code
bool res = writeFileIfDiffrent( outputpath.absolutePath() + "/packet-op-uavobjects-" + info->namelc + ".c", outCode );
if (!res) {
cout << "Error: Could not write wireshark code files" << endl;
return false;
}
return true;
}

48
ground/uavobjgenerator/generators/wireshark/uavobjectgeneratorwireshark.h Normal file
View File

@ -0,0 +1,48 @@
/**
******************************************************************************
*
* @file uavobjectgeneratorflight.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief produce flight code for uavobjects
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 UAVOBJECTGENERATORWIRESHARK_H
#define UAVOBJECTGENERATORWIRESHARK_H
#include "../generator_common.h"
class UAVObjectGeneratorWireshark
{
public:
bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath);
QStringList fieldTypeStrHf;
QStringList fieldTypeStrGlib;
QString wiresharkCodeTemplate, wiresharkMakeTemplate;
QDir wiresharkCodePath;
QDir wiresharkOutputPath;
private:
bool process_object(ObjectInfo* info, QDir outputpath);
};
#endif

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