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Code Issues Releases Activity

Merge branch 'master' into OP-495_CheBuzz_HelpButtons

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This commit is contained in:
David Carlson 2011-05-15 19:36:38 -07:00
commit d076418895
76 changed files with 8336 additions and 5192 deletions
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5
MILESTONES.txt
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@ -105,6 +105,11 @@ C: Gary Mortimer and the Scorpion
D: March 2011
V: http://vimeo.com/22104334
M: First Y6 OpenPilot flight
C: Sami Korhonen (Sambas)
D: May 2011
V: http://www.vimeo.com/23637586
M: First CopterControl flight on a Flybarless Heli
C: ?
D: ?

10
Makefile
View File

@ -265,8 +265,8 @@ gcs_clean: openpilotgcs_clean
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ ; \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) ; \
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) && \
$(MAKE) -w ; \
)
@ -290,8 +290,8 @@ openpilotgcs_clean:
.PHONY: uavobjgenerator
uavobjgenerator:
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ ; \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug ; \
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug && \
$(MAKE) --no-print-directory -w ; \
)
@ -306,7 +306,7 @@ $(UAVOBJ_OUT_DIR):
$(V1) mkdir -p $@
uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) ( cd $(UAVOBJ_OUT_DIR) ; \
$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
)

1
artwork/GCS Icons/README.txt Normal file
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@ -0,0 +1 @@
Those icons come from the Tango set and are used in the GCS.

443
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@ -0,0 +1,443 @@
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After

Width:  |  Height:  |  Size: 5.4 KiB

13
flight/AHRS/Makefile
View File

@ -399,6 +399,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -434,6 +444,5 @@ else
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

12
flight/Bootloaders/AHRS/Makefile
View File

@ -389,6 +389,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -426,4 +436,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

13
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -410,6 +410,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: begin clean_list finished end
@ -430,7 +440,6 @@ clean_list :
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
# Create output files directory
# all known MS Windows OS define the ComSpec environment variable
ifdef ComSpec
@ -447,4 +456,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

6
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -39,9 +39,9 @@ void error(int);
* data. This is non-intuitive for _binary_size where you
* might expect its value to hold the size but you'd be wrong.
*/
extern void _binary_start;
extern void _binary_end;
extern void _binary_size;
extern uint32_t _binary_start;
extern uint32_t _binary_end;
extern uint32_t _binary_size;
const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
const uint32_t * embedded_image_end = (uint32_t *) &(_binary_end);
const uint32_t embedded_image_size = (uint32_t) &(_binary_size);

BIN
flight/Bootloaders/BootloaderUpdater/test.bin
View File

Binary file not shown.

20
flight/Bootloaders/CopterControl/Makefile
View File

@ -428,10 +428,6 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
@ -447,6 +443,20 @@ $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -484,4 +494,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

12
flight/Bootloaders/OpenPilot/Makefile
View File

@ -450,6 +450,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -487,4 +497,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

13
flight/Bootloaders/PipXtreme/Makefile
View File

@ -446,6 +446,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -483,5 +493,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

14
flight/CopterControl/Makefile
View File

@ -205,6 +205,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_com.c
@ -591,6 +592,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -630,5 +641,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program gencode
.PHONY : all build clean clean_list program gencode install

1
flight/CopterControl/System/coptercontrol.c
View File

@ -92,6 +92,7 @@ void OpenPilotInit()
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
while(TRUE){};
#endif
/* Initialize modules */

10
flight/CopterControl/System/inc/pios_config.h
View File

@ -84,16 +84,16 @@
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 450
#define HEAP_LIMIT_CRITICAL 350
#define HEAP_LIMIT_WARNING 350
#define HEAP_LIMIT_CRITICAL 250
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 644
#define PIOS_SYSTEM_STACK_SIZE 644
#define PIOS_STABILIZATION_STACK_SIZE 624
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 504
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998

4
flight/CopterControl/System/pios_board.c
View File

@ -678,8 +678,10 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0);
}
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
PIOS_FLASHFS_Init();
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */

13
flight/INS/Makefile
View File

@ -416,6 +416,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -450,6 +460,5 @@ else
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

15
flight/Modules/Actuator/actuator.c
View File

@ -182,7 +182,7 @@ static void actuatorTask(void* parameters)
nMixers ++;
}
}
if(nMixers < 2) //Nothing can fly with less than two mixers.
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
continue;
@ -198,8 +198,12 @@ static void actuatorTask(void* parameters)
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED)
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
// Set to minimum if disabled. This is not the same as saying PWM pulse = 0 us
status[ct] = -1;
command.Channel[ct] = 0;
continue;
}
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
@ -400,14 +404,19 @@ static void setFailsafe()
// Reset ActuatorCommand to safe values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{
command.Channel[n] = settings.ChannelMin[n];
}
else
else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
{
command.Channel[n] = settings.ChannelNeutral[n];
}
else
{
command.Channel[n] = 0;
}
}
// Set alarm

17
flight/Modules/Attitude/attitude.c
View File

@ -141,18 +141,19 @@ static void AttitudeTask(void *parameters)
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(xTaskGetTickCount() < 10000) {
// For first 5 seconds use accels to get gyro bias
if(xTaskGetTickCount() < 7000) {
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
// Decrease the rate of gyro learning during init
accelKi = .5 / (1 + xTaskGetTickCount() / 5000);
yawBiasRate = 0.01 / (1 + xTaskGetTickCount() / 5000);
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKi = .01;
yawBiasRate = 0.1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());

11
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -30,6 +30,7 @@
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "flightstatus.h"
// Private constants
#define IAP_CMD_STEP_1 1122
@ -156,6 +157,16 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
case IAP_STATE_STEP_2:
if( data.Command == IAP_CMD_STEP_3 ) {
if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
// Abort any attempts if not disarmed
iap_state = IAP_STATE_READY;
break;
}
// we've met the three sequence of command numbers
// we've met the time requirements.
PIOS_IAP_SetRequest1();

4
flight/Modules/GPS/GPS.c
View File

@ -63,7 +63,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// Private constants
//#define FULL_COLD_RESTART // uncomment this to tell the GPS to do a FULL COLD restart
//#define DISABLE_GPS_TRESHOLD //
//#define DISABLE_GPS_THRESHOLD //
#define GPS_TIMEOUT_MS 500
#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
@ -154,7 +154,7 @@ static void gpsTask(void *parameters)
}
#endif
#ifdef DISABLE_GPS_TRESHOLD
#ifdef DISABLE_GPS_THRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n");
#endif

4
flight/Modules/System/systemmod.c
View File

@ -59,8 +59,8 @@
// optimisation options are changed.
#endif
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
#if defined(PIOS_SYSTEM_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
#else
#define STACK_SIZE_BYTES 924
#endif

34
flight/OpenPilot/Makefile
View File

@ -52,14 +52,13 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP FlightPlan
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
PYMODULES = FlightPlan
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
#MODULES += Osd/OsdEtStd
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
@ -124,17 +123,19 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
MODNAMES = $(notdir ${MODULES} ${PYMODULES})
ifndef TESTAPP
## PyMite files
## PyMite files and modules
SRC += $(OUTDIR)/pmlib_img.c
SRC += $(OUTDIR)/pmlib_nat.c
SRC += $(OUTDIR)/pmlibusr_img.c
SRC += $(OUTDIR)/pmlibusr_nat.c
SRC += $(wildcard ${PYMITEVM}/*.c)
SRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += $(wildcard ${PYMITEVM}/*.c)
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
@ -317,7 +318,7 @@ EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
@ -481,7 +482,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
# Default target.
all: gencode gccversion build
all: gccversion build
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
@ -500,6 +501,8 @@ endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
$(PYSRC): gencode
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@ -570,6 +573,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -609,5 +622,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program gencode
.PHONY : all build clean clean_list program gencode install

8
flight/PiOS/Common/pios_flash_w25x.c
View File

@ -222,6 +222,14 @@ int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
return 0;
}
/**
* @brief Read data from a location in flash memory
* @param[in] addr Address in flash to write to
* @param[in] data Pointer to data to write from flash
* @param[in] len Length of data to write (max 256 bytes)
* @return Zero if success or error code
* @retval -1 Unable to claim SPI bus
*/
int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
{
if(PIOS_Flash_W25X_ClaimBus() == -1)

294
flight/PiOS/Common/pios_flashfs_objlist.c Normal file
View File

@ -0,0 +1,294 @@
/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
* @{
*
* @file pios_flashfs_objlist.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A file system for storing UAVObject in flash chip
* @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 "openpilot.h"
#include "uavobjectmanager.h"
// Private functions
static int32_t PIOS_FLASHFS_CleabObjectTableHeader();
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
// Private variables
static int32_t numObjects = -1;
// Private structures
// Header for objects in the file system table
struct objectHeader {
uint32_t objMagic;
uint32_t objId;
uint32_t instId;
uint32_t address;
} __attribute__((packed));;
struct fileHeader {
uint32_t id;
uint16_t instId;
uint16_t size;
} __attribute__((packed));
#define OBJECT_TABLE_MAGIC 0x85FB3C33
#define OBJ_MAGIC 0x3015AE71
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00001000
#define SECTOR_SIZE 0x00001000
/**
* @brief Initialize the flash object setting FS
* @return 0 if success, -1 if failure
*/
int32_t PIOS_FLASHFS_Init()
{
// Check for valid object table or create one
uint32_t object_table_magic;
if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(PIOS_FLASHFS_CleabObjectTableHeader() < 0)
return -1;
}
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
numObjects = 0;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
return -1;
// Counting number of valid headers
if(header.objMagic != OBJ_MAGIC)
break;
numObjects++;
addr += sizeof(header);
}
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not
*/
static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
{
if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
return -1;
uint32_t object_table_magic = OBJECT_TABLE_MAGIC;
if (PIOS_Flash_W25X_WriteData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
return 0;
}
/**
* @brief Get the address of an object
* @param obj UAVObjHandle for that object
* @parma instId Instance id for that object
* @return address if successful, -1 if not found
*/
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
{
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -1;
if(header.objMagic != OBJ_MAGIC)
break; // stop searching once hit first non-object header
else if (header.objId == objId && header.instId == instId)
break;
addr += sizeof(header);
}
if (header.objId == objId && header.instId == instId)
return header.address;
return -1;
}
/**
* @brief Returns an address for a new object and creates entry into object table
* @param[in] obj Object handle for object to be saved
* @param[in] instId The instance id of object to be saved
* @return 0 if success or error code
* @retval -1 Object not found
* @retval -2 No room in object table
* @retval -3 Unable to write entry into object table
* @retval -4 FS not initialized
*/
int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
{
struct objectHeader header;
if(numObjects < 0)
return -4;
// Don't worry about max size of flash chip here, other code will catch that
header.objMagic = OBJ_MAGIC;
header.objId = objId;
header.instId = instId;
header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
// No room for this header in object table
if((addr + sizeof(header)) > OBJECT_TABLE_END)
return -2;
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// This numObejcts value must stay consistent or there will be a break in the table
// and later the table will have bad values in it
numObjects++;
return header.address;
}
/**
* @brief Saves one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or -1 if failure
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
// Could not allocate a sector
if(addr < 0)
return -1;
struct fileHeader header = {
.id = objId,
.instId = instId,
.size = UAVObjGetNumBytes(obj)
};
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
// Save header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// Save data
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
return 0;
}
/**
* @brief Load one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 if unable to retrieve object header
* @retval -3 if loaded data instId or objId don't match
* @retval -4 if unable to retrieve instance data
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
return -1;
struct fileHeader header;
// Load header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -2;
if((header.id != objId) || (header.instId != instId))
return -3;
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
return 0;
}
/**
* @brief Delete object from flash
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 Erase failed
* @note To avoid buffering the file table (1k ram!) the entry in the file table
* remains but destination sector is erased. This will make the load fail as the
* file header won't match the object. At next save it goes back there.
*/
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
return -1;
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
return 0;
}

37
flight/PiOS/inc/pios_flashfs_objlist.h Normal file
View File

@ -0,0 +1,37 @@
/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
* @{
*
* @file pios_flashfs_objlist.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A file system for storing UAVObject in flash chip
* @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 "openpilot.h"
#include "uavobjectmanager.h"
int32_t PIOS_FLASHFS_Init();
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

271
flight/PiOS/pios.h
View File

@ -1,135 +1,136 @@
/**
******************************************************************************
*
* @file pios.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main PiOS header.
* - Central header for the project.
* @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 PIOS_H
#define PIOS_H
/* PIOS Feature Selection */
#include "pios_config.h"
#if defined(PIOS_INCLUDE_FREERTOS)
/* FreeRTOS Includes */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#endif
/* C Lib Includes */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
/* STM32 Std Perf Lib */
#include <stm32f10x.h>
#include <stm32f10x_conf.h>
#if defined(PIOS_INCLUDE_SDCARD)
/* Dosfs Includes */
#include <dosfs.h>
/* Mass Storage Device Includes */
#include <msd.h>
#endif
/* Generic initcall infrastructure */
#include "pios_initcall.h"
/* PIOS Board Specific Device Configuration */
#include "pios_board.h"
/* PIOS Hardware Includes (STM32F10x) */
#include <pios_sys.h>
#include <pios_delay.h>
#include <pios_led.h>
#include <pios_sdcard.h>
#include <pios_usart.h>
#include <pios_irq.h>
#include <pios_adc.h>
#include <pios_servo.h>
#include <pios_i2c.h>
#include <pios_spi.h>
#include <pios_ppm.h>
#include <pios_pwm.h>
#include <pios_spektrum.h>
#include <pios_usb_hid.h>
#include <pios_debug.h>
#include <pios_gpio.h>
#if defined(PIOS_INCLUDE_EXTI)
#include <pios_exti.h>
#endif
#include <pios_wdg.h>
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif
#if defined(PIOS_INCLUDE_HCSR04)
#include <pios_hcsr04.h>
#endif
#if defined(PIOS_INCLUDE_HMC5843)
#include <pios_hmc5843.h>
#endif
#if defined(PIOS_INCLUDE_HMC5883)
#include <pios_hmc5883.h>
#endif
#if defined(PIOS_INCLUDE_I2C_ESC)
#include <pios_i2c_esc.h>
#endif
#if defined(PIOS_INCLUDE_IMU3000)
#include <pios_imu3000.h>
#endif
#include <pios_iap.h>
#if defined(PIOS_INCLUDE_ADXL345)
#include <pios_adxl345.h>
#endif
#if defined(PIOS_INCLUDE_BMA180)
#include <pios_bma180.h>
#endif
#if defined(PIOS_INCLUDE_FLASH)
#include <pios_flash_w25x.h>
#endif
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_bl_helper.h>
#endif
#if defined(PIOS_INCLUDE_USB)
/* USB Libs */
#include <usb_lib.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_H */
/**
******************************************************************************
*
* @file pios.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main PiOS header.
* - Central header for the project.
* @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 PIOS_H
#define PIOS_H
/* PIOS Feature Selection */
#include "pios_config.h"
#if defined(PIOS_INCLUDE_FREERTOS)
/* FreeRTOS Includes */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#endif
/* C Lib Includes */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
/* STM32 Std Perf Lib */
#include <stm32f10x.h>
#include <stm32f10x_conf.h>
#if defined(PIOS_INCLUDE_SDCARD)
/* Dosfs Includes */
#include <dosfs.h>
/* Mass Storage Device Includes */
#include <msd.h>
#endif
/* Generic initcall infrastructure */
#include "pios_initcall.h"
/* PIOS Board Specific Device Configuration */
#include "pios_board.h"
/* PIOS Hardware Includes (STM32F10x) */
#include <pios_sys.h>
#include <pios_delay.h>
#include <pios_led.h>
#include <pios_sdcard.h>
#include <pios_usart.h>
#include <pios_irq.h>
#include <pios_adc.h>
#include <pios_servo.h>
#include <pios_i2c.h>
#include <pios_spi.h>
#include <pios_ppm.h>
#include <pios_pwm.h>
#include <pios_spektrum.h>
#include <pios_usb_hid.h>
#include <pios_debug.h>
#include <pios_gpio.h>
#if defined(PIOS_INCLUDE_EXTI)
#include <pios_exti.h>
#endif
#include <pios_wdg.h>
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif
#if defined(PIOS_INCLUDE_HCSR04)
#include <pios_hcsr04.h>
#endif
#if defined(PIOS_INCLUDE_HMC5843)
#include <pios_hmc5843.h>
#endif
#if defined(PIOS_INCLUDE_HMC5883)
#include <pios_hmc5883.h>
#endif
#if defined(PIOS_INCLUDE_I2C_ESC)
#include <pios_i2c_esc.h>
#endif
#if defined(PIOS_INCLUDE_IMU3000)
#include <pios_imu3000.h>
#endif
#include <pios_iap.h>
#if defined(PIOS_INCLUDE_ADXL345)
#include <pios_adxl345.h>
#endif
#if defined(PIOS_INCLUDE_BMA180)
#include <pios_bma180.h>
#endif
#if defined(PIOS_INCLUDE_FLASH)
#include <pios_flash_w25x.h>
#include <pios_flashfs_objlist.h>
#endif
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_bl_helper.h>
#endif
#if defined(PIOS_INCLUDE_USB)
/* USB Libs */
#include <usb_lib.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_H */

12
flight/PipXtreme/Makefile
View File

@ -439,6 +439,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -476,4 +486,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

185
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -3125,6 +3125,54 @@
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65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flashfs_objlist.c; sourceTree = "<group>"; };
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_flashfs_objlist.h; sourceTree = "<group>"; };
/* End PBXFileReference section */
/* Begin PBXGroup section */
@ -3505,6 +3553,7 @@
657CEEB5121DBC49007A1FBE /* flight */ = {
isa = PBXGroup;
children = (
65FF4BB313791C3300146BE4 /* Bootloaders */,
65F93B9012EE09280047DB36 /* PipXtreme */,
65B7E6AC120DF1CD000C1123 /* AHRS */,
65E6DF7012E02E8E00058553 /* CopterControl */,
@ -7610,6 +7659,7 @@
65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
);
name = Common;
path = ../../PiOS/Common;
@ -7634,6 +7684,7 @@
65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
65E8F04011EFF25C00BBF654 /* pios_exti.h */,
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
@ -8238,6 +8289,140 @@
path = inc;
sourceTree = "<group>";
};
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isa = PBXGroup;
children = (
65FF4BB413791C3300146BE4 /* AHRS */,
65FF4BC413791C3300146BE4 /* BootloaderUpdater */,
65FF4BCB13791C3300146BE4 /* CopterControl */,
65FF4BD513791C3300146BE4 /* OpenPilot */,
65FF4BE213791C3300146BE4 /* PipXtreme */,
);
name = Bootloaders;
path = ../../Bootloaders;
sourceTree = SOURCE_ROOT;
};
65FF4BB413791C3300146BE4 /* AHRS */ = {
isa = PBXGroup;
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65FF4BB513791C3300146BE4 /* ahrs_slave_test.c */,
65FF4BB613791C3300146BE4 /* ahrs_spi_program.c */,
65FF4BB713791C3300146BE4 /* ahrs_spi_program_master.c */,
65FF4BB813791C3300146BE4 /* ahrs_spi_program_slave.c */,
65FF4BB913791C3300146BE4 /* bl_fsm.c */,
65FF4BBA13791C3300146BE4 /* inc */,
65FF4BC113791C3300146BE4 /* main.c */,
65FF4BC213791C3300146BE4 /* Makefile */,
65FF4BC313791C3300146BE4 /* pios_board.c */,
);
path = AHRS;
sourceTree = "<group>";
};
65FF4BBA13791C3300146BE4 /* inc */ = {
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65FF4BBB13791C3300146BE4 /* ahrs_bl.h */,
65FF4BBC13791C3300146BE4 /* ahrs_spi_program.h */,
65FF4BBD13791C3300146BE4 /* ahrs_spi_program_master.h */,
65FF4BBE13791C3300146BE4 /* ahrs_spi_program_slave.h */,
65FF4BBF13791C3300146BE4 /* bl_fsm.h */,
65FF4BC013791C3300146BE4 /* pios_config.h */,
);
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sourceTree = "<group>";
};
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isa = PBXGroup;
children = (
65FF4BC513791C3300146BE4 /* inc */,
65FF4BC713791C3300146BE4 /* main.c */,
65FF4BC813791C3300146BE4 /* Makefile */,
65FF4BC913791C3300146BE4 /* pios_board.c */,
65FF4BCA13791C3300146BE4 /* test.bin */,
);
path = BootloaderUpdater;
sourceTree = "<group>";
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children = (
65FF4BC613791C3300146BE4 /* pios_config.h */,
);
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sourceTree = "<group>";
};
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65FF4BCC13791C3300146BE4 /* inc */,
65FF4BD113791C3300146BE4 /* main.c */,
65FF4BD213791C3300146BE4 /* Makefile */,
65FF4BD313791C3300146BE4 /* op_dfu.c */,
65FF4BD413791C3300146BE4 /* pios_board.c */,
);
path = CopterControl;
sourceTree = "<group>";
};
65FF4BCC13791C3300146BE4 /* inc */ = {
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65FF4BCF13791C3300146BE4 /* pios_config.h */,
65FF4BD013791C3300146BE4 /* pios_usb.h */,
);
path = inc;
sourceTree = "<group>";
};
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children = (
65FF4BD613791C3300146BE4 /* inc */,
65FF4BDC13791C3300146BE4 /* main.c */,
65FF4BDD13791C3300146BE4 /* Makefile */,
65FF4BDE13791C3300146BE4 /* op_dfu.c */,
65FF4BDF13791C3300146BE4 /* pios_board.c */,
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65FF4BDA13791C3300146BE4 /* pios_usb.h */,
65FF4BDB13791C3300146BE4 /* ssp.h */,
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};
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children = (
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65FF4BEB13791C3300146BE4 /* pios_board.c */,
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C6A0FF2B0290797F04C91782 /* Documentation */ = {
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children = (

3105
flight/UAVObjects/uavobjectmanager.c
View File

@ -1,1607 +1,1498 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @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 "openpilot.h"
// Constants
// Private types
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
struct ObjectEventListStruct* next;
};
typedef struct ObjectEventListStruct ObjectEventList;
/**
* List of object instances, holds the actual data structure and instance ID
*/
struct ObjectInstListStruct {
void* data;
uint16_t instId;
struct ObjectInstListStruct* next;
};
typedef struct ObjectInstListStruct ObjectInstList;
/**
* List of objects registered in the object manager
*/
struct ObjectListStruct {
uint32_t id; /** The object ID */
const char* name; /** The object name */
int8_t isMetaobject; /** Set to 1 if this is a metaobject */
int8_t isSingleInstance; /** Set to 1 if this object has a single instance */
int8_t isSettings; /** Set to 1 if this object is a settings object */
uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances; /** Number of instances */
struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
ObjectInstList instances; /** List of object instances, instance 0 always exists */
ObjectEventList* events; /** Event queues registered on the object */
struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
};
typedef struct ObjectListStruct ObjectList;
// Private functions
static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(ObjectList* obj, uint8_t* filename);
static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
#endif
// Private variables
static ObjectList* objList;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
static UAVObjStats stats;
/**
* Initialize the object manager
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
// Done
return 0;
}
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
*/
void UAVObjGetStats(UAVObjStats* statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Clear the statistics counters
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
* \param[in] initCb Default field and metadata initialization function
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
ObjectList* metaObj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry)
{
if (objEntry->id == id)
{
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Create and append entry
objEntry = (ObjectList*)pvPortMalloc(sizeof(ObjectList));
if (objEntry == NULL)
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t)isMetaobject;
objEntry->isSingleInstance = (int8_t)isSingleInstance;
objEntry->isSettings = (int8_t)isSettings;
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
objEntry->instances.data = NULL;
objEntry->instances.instId = 0xFFFF;
objEntry->instances.next = NULL;
objEntry->linkedObj = NULL; // will be set later
LL_APPEND(objList, objEntry);
// Create instance zero
instEntry = createInstance(objEntry, 0);
if ( instEntry == NULL )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Create metaobject and update linkedObj
if (isMetaobject)
{
objEntry->linkedObj = NULL; // will be set later
}
else
{
// Create metaobject
metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
// Link two objects
objEntry->linkedObj = metaObj;
metaObj->linkedObj = objEntry;
}
// Initialize object fields and metadata to default values
if ( initCb != NULL )
{
initCb((UAVObjHandle)objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if ( !objEntry->isMetaobject )
{
UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
}
// If this is a settings object, attempt to load from SD card
if ( objEntry->isSettings )
{
UAVObjLoad( (UAVObjHandle)objEntry, 0 );
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle)objEntry;
}
/**
* Retrieve an object from the list given its id
* \param[in] The object ID
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry)
{
if (objEntry->id == id)
{
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle)objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Retrieve an object from the list given its name
* \param[in] name The name of the object
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByName(char* name)
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry)
{
if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
{
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle)objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Get the object's ID
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
{
return ((ObjectList*)obj)->id;
}
/**
* Get the object's name
* \param[in] obj The object handle
* \return The object's name
*/
const char* UAVObjGetName(UAVObjHandle obj)
{
return ((ObjectList*)obj)->name;
}
/**
* Get the number of bytes of the object's data (for one instance)
* \param[in] obj The object handle
* \return The number of bytes
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
return ((ObjectList*)obj)->numBytes;
}
/**
* Get the object this object is linked to. For regular objects, the linked object
* is the metaobject. For metaobjects the linked object is the parent object.
* This function is normally only needed by the telemetry module.
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{
return (UAVObjHandle)(((ObjectList*)obj)->linkedObj);
}
/**
* Get the number of instances contained in the object.
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ((ObjectList*)obj)->numInstances;
xSemaphoreGiveRecursive(mutex);
return numInstances;
}
/**
* Create a new instance in the object.
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Create new instance
objEntry = (ObjectList*)obj;
instEntry = createInstance(objEntry, objEntry->numInstances);
if ( instEntry == NULL )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if ( initCb != NULL )
{
initCb(obj, instEntry->instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instEntry->instId;
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList*)obj)->isSingleInstance;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList*)obj)->isMetaobject;
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList*)obj)->isSettings;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList*)obj;
// Get the instance
instEntry = getInstance(objEntry, instId);
// If the instance does not exist create it and any other instances before it
if ( instEntry == NULL )
{
instEntry = createInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Set the data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Pack an object to a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList*)obj;
// Get the instance
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Pack data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save the data of the specified object instance to the file system (SD card).
* The object will be appended and the file will not be closed.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
ObjectList* objEntry;
ObjectInstList* instEntry;
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get the instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file,&objEntry->id,sizeof(objEntry->id),&bytesWritten);
// Write the instance ID
if (!objEntry->isSingleInstance)
{
PIOS_FWRITE(file,&instEntry->instId,sizeof(instEntry->instId),&bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file,instEntry->data,objEntry->numBytes,&bytesWritten);
if ( bytesWritten != objEntry->numBytes )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
struct fileHeader {
uint32_t id;
uint16_t instId;
uint16_t size;
} __attribute__((packed));
#define FLASH_MASK 0x001ff000 /* Select a sector */
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList* objEntry = (ObjectList*)obj;
if(objEntry == NULL)
return -1;
ObjectInstList* instEntry = getInstance(objEntry, instId);
if(instEntry == NULL)
return -1;
if(instEntry->data == NULL)
return -1;
struct fileHeader header = {
.id = objEntry->id,
.instId = instId,
.size = objEntry->numBytes
};
uint32_t addr = (objEntry->id & FLASH_MASK);
PIOS_Flash_W25X_EraseSector(addr);
PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
PIOS_Flash_W25X_WriteData(addr + sizeof(header), instEntry->data,objEntry->numBytes);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList* objEntry;
uint8_t filename[14];
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if ( PIOS_FOPEN_WRITE(filename,file) )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
{
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Load an object from the file system (SD card).
* @param[in] file File to read from
* @return The handle of the object loaded or NULL if a failure
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
ObjectList* objEntry;
ObjectInstList* instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if ( PIOS_FREAD(file,&objId,sizeof(objId),&bytesRead) )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if ( obj == 0 )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (ObjectList*)obj;
// Get the instance ID
instId = 0;
if ( !objEntry->isSingleInstance )
{
if ( PIOS_FREAD(file,&instId,sizeof(instId),&bytesRead) )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Get the instance information
instEntry = getInstance(objEntry, instId);
// If the instance does not exist create it and any other instances before it
if ( instEntry == NULL )
{
instEntry = createInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Read the instance data
if ( PIOS_FREAD(file,instEntry->data,objEntry->numBytes,&bytesRead) )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
}
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList* objEntry = (ObjectList*)obj;
if(objEntry == NULL)
return -1;
ObjectInstList* instEntry = getInstance(objEntry, instId);
if(instEntry == NULL)
return -1;
if(instEntry->data == NULL)
return -1;
struct fileHeader header;
uint32_t addr = (objEntry->id & FLASH_MASK);
PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
if(header.id != objEntry->id)
return -1;
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header) ,instEntry->data, objEntry->numBytes) != 0)
return -1;
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList* objEntry;
UAVObjHandle loadedObj;
ObjectList* loadedObjEntry;
uint8_t filename[14];
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if ( PIOS_FOPEN_READ(filename,file) )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0)
{
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
loadedObjEntry = (ObjectList*)loadedObj;
if ( loadedObjEntry->id != objEntry->id )
{
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList* objEntry = (ObjectList*)obj;
if(objEntry == NULL)
return -1;
uint32_t addr = (objEntry->id & FLASH_MASK);
PIOS_Flash_W25X_EraseSector(addr);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
ObjectList* objEntry;
uint8_t filename[14];
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get filename
objectFilename(objEntry, filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save all settings objects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveSettings()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isSettings )
{
// Save object
if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadSettings()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isSettings )
{
// Load object
if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteSettings()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isSettings )
{
// Save object
if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save all metaobjects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveMetaobjects()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isMetaobject )
{
// Save object
if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadMetaobjects()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isMetaobject )
{
// Load object
if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteMetaobjects()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isMetaobject )
{
// Load object
if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
UAVObjMetadata* mdata;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( mdata->access == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object metadata
* \param[in] obj The object handle
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
{
ObjectList* objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList*)obj;
if (!objEntry->isMetaobject)
{
UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
}
else
{
return -1;
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the object metadata
* \param[in] obj The object handle
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
{
ObjectList* objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
objEntry = (ObjectList*)obj;
if (objEntry->isMetaobject)
{
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
}
else
{
UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Check if an object is read only
* \param[in] obj The object handle
* \return
* \arg 0 if not read only
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
{
ObjectList* objEntry;
UAVObjMetadata* mdata;
// Cast to object info
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
return mdata->access == ACCESS_READONLY;
}
return -1;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* All events matching the event mask will be pushed to the event queue.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event queue from the object.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
* The supplied callback will be invoked on all events matching the event mask.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event callback from the object.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList*)obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
* Iterate through all objects in the list.
* \param iterator This function will be called once for each object,
* the object will be passed as a parameter
*/
void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry)
{
(*iterator)((UAVObjHandle)objEntry);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send an event to all event queues registered on the object.
*/
static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
{
ObjectEventList* eventEntry;
UAVObjEvent msg;
// Setup event
msg.obj = (UAVObjHandle)obj;
msg.event = event;
msg.instId = instId;
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry)
{
if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
{
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0)
{
if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
{
++stats.eventErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (eventEntry->cb != 0)
{
if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
{
++stats.eventErrors;
}
}
}
}
// Done
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
{
ObjectInstList* instEntry;
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0)
{
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES)
{
return NULL;
}
// Check if the instance already exists
if ( getInstance(obj, instId) != NULL )
{
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = obj->numInstances; n < instId; ++n)
{
if ( createInstance(obj, n) == NULL )
{
return NULL;
}
}
if(instId == 0) /* Instance 0 ObjectInstList allocated with ObjectList element */
{
instEntry = &obj->instances;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
} else
{
// Create the actual instance
instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL) return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances.next, instEntry);
}
++obj->numInstances;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
// Done
return instEntry;
}
/**
* Get the instance information or NULL if the instance does not exist
*/
static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
{
ObjectInstList* instEntry;
// Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry)
{
if (instEntry->instId == instId)
{
return instEntry;
}
}
// If this point is reached then instance id was not found
return NULL;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
{
ObjectEventList* eventEntry;
ObjectList* objEntry;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (ObjectList*)obj;
LL_FOREACH(objEntry->events, eventEntry)
{
if ( eventEntry->queue == queue && eventEntry->cb == cb )
{
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL)
{
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Done
return 0;
}
/**
* Disconnect an event queue from the object
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
{
ObjectEventList* eventEntry;
ObjectList* objEntry;
// Find queue and remove it
objEntry = (ObjectList*)obj;
LL_FOREACH(objEntry->events, eventEntry)
{
if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
{
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Wrapper for the sprintf function
*/
static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(ObjectList* obj, uint8_t* filename)
{
customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @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 "openpilot.h"
// Constants
// Private types
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
/**
* List of object instances, holds the actual data structure and instance ID
*/
struct ObjectInstListStruct {
void *data;
uint16_t instId;
struct ObjectInstListStruct *next;
};
typedef struct ObjectInstListStruct ObjectInstList;
/**
* List of objects registered in the object manager
*/
struct ObjectListStruct {
uint32_t id;
/** The object ID */
const char *name;
/** The object name */
int8_t isMetaobject;
/** Set to 1 if this is a metaobject */
int8_t isSingleInstance;
/** Set to 1 if this object has a single instance */
int8_t isSettings;
/** Set to 1 if this object is a settings object */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances;
/** Number of instances */
struct ObjectListStruct *linkedObj;
/** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
ObjectEventList *events;
/** Event queues registered on the object */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
};
typedef struct ObjectListStruct ObjectList;
// Private functions
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
UAVObjEventType event);
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(ObjectList * obj, uint8_t * filename);
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static ObjectList *objList;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
static UAVObjStats stats;
/**
* Initialize the object manager
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
// Done
return 0;
}
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
*/
void UAVObjGetStats(UAVObjStats * statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Clear the statistics counters
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
* \param[in] initCb Default field and metadata initialization function
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
ObjectList *metaObj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Create and append entry
objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t) isMetaobject;
objEntry->isSingleInstance = (int8_t) isSingleInstance;
objEntry->isSettings = (int8_t) isSettings;
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
objEntry->instances.data = NULL;
objEntry->instances.instId = 0xFFFF;
objEntry->instances.next = NULL;
objEntry->linkedObj = NULL; // will be set later
LL_APPEND(objList, objEntry);
// Create instance zero
instEntry = createInstance(objEntry, 0);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Create metaobject and update linkedObj
if (isMetaobject) {
objEntry->linkedObj = NULL; // will be set later
} else {
// Create metaobject
metaObj =
(ObjectList *) UAVObjRegister(id + 1, metaName,
NULL, 1, 1, 0,
sizeof
(UAVObjMetadata),
NULL);
// Link two objects
objEntry->linkedObj = metaObj;
metaObj->linkedObj = objEntry;
}
// Initialize object fields and metadata to default values
if (initCb != NULL) {
initCb((UAVObjHandle) objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!objEntry->isMetaobject) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (objEntry->isSettings) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
}
/**
* Retrieve an object from the list given its id
* \param[in] The object ID
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Retrieve an object from the list given its name
* \param[in] name The name of the object
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByName(char *name)
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->name != NULL
&& strcmp(objEntry->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Get the object's ID
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
{
return ((ObjectList *) obj)->id;
}
/**
* Get the object's name
* \param[in] obj The object handle
* \return The object's name
*/
const char *UAVObjGetName(UAVObjHandle obj)
{
return ((ObjectList *) obj)->name;
}
/**
* Get the number of bytes of the object's data (for one instance)
* \param[in] obj The object handle
* \return The number of bytes
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
return ((ObjectList *) obj)->numBytes;
}
/**
* Get the object this object is linked to. For regular objects, the linked object
* is the metaobject. For metaobjects the linked object is the parent object.
* This function is normally only needed by the telemetry module.
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{
return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
}
/**
* Get the number of instances contained in the object.
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ((ObjectList *) obj)->numInstances;
xSemaphoreGiveRecursive(mutex);
return numInstances;
}
/**
* Create a new instance in the object.
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Create new instance
objEntry = (ObjectList *) obj;
instEntry = createInstance(objEntry, objEntry->numInstances);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if (initCb != NULL) {
initCb(obj, instEntry->instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instEntry->instId;
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSingleInstance;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isMetaobject;
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSettings;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
const uint8_t * dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
// Get the instance
instEntry = getInstance(objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Set the data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Pack an object to a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
// Get the instance
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Pack data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save the data of the specified object instance to the file system (SD card).
* The object will be appended and the file will not be closed.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
ObjectList *objEntry;
ObjectInstList *instEntry;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get the instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
&bytesWritten);
// Write the instance ID
if (!objEntry->isSingleInstance) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (objEntry == NULL)
return -1;
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
return -1;
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Load an object from the file system (SD card).
* @param[in] file File to read from
* @return The handle of the object loaded or NULL if a failure
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
ObjectList *objEntry;
ObjectInstList *instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if (obj == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (ObjectList *) obj;
// Get the instance ID
instId = 0;
if (!objEntry->isSingleInstance) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Get the instance information
instEntry = getInstance(objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Read the instance data
if (PIOS_FREAD
(file, instEntry->data, objEntry->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
}
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (objEntry == NULL)
return -1;
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
sendEvent(objEntry, instId, EV_UNPACKED);
else
return -1;
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
UAVObjHandle loadedObj;
ObjectList *loadedObjEntry;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
loadedObjEntry = (ObjectList *) loadedObj;
if (loadedObjEntry->id != objEntry->id) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj, instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
ObjectList *objEntry;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(objEntry, filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save all settings objects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveSettings()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadSettings()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteSettings()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save all metaobjects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveMetaobjects()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadMetaobjects()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteMetaobjects()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
const void *dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
UAVObjMetadata *mdata;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (mdata->access == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
void *dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object metadata
* \param[in] obj The object handle
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
{
ObjectList *objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!objEntry->isMetaobject) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
dataIn);
} else {
return -1;
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the object metadata
* \param[in] obj The object handle
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
{
ObjectList *objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
objEntry = (ObjectList *) obj;
if (objEntry->isMetaobject) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Check if an object is read only
* \param[in] obj The object handle
* \return
* \arg 0 if not read only
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
{
ObjectList *objEntry;
UAVObjMetadata *mdata;
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
return mdata->access == ACCESS_READONLY;
}
return -1;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* All events matching the event mask will be pushed to the event queue.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event queue from the object.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
* The supplied callback will be invoked on all events matching the event mask.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event callback from the object.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
* Iterate through all objects in the list.
* \param iterator This function will be called once for each object,
* the object will be passed as a parameter
*/
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry) {
(*iterator) ((UAVObjHandle) objEntry);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send an event to all event queues registered on the object.
*/
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
UAVObjEventType event)
{
ObjectEventList *eventEntry;
UAVObjEvent msg;
// Setup event
msg.obj = (UAVObjHandle) obj;
msg.event = event;
msg.instId = instId;
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry) {
if (eventEntry->eventMask == 0
|| (eventEntry->eventMask & event) != 0) {
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0) {
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
{
++stats.eventErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (eventEntry->cb != 0) {
if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE) // invoke callback from the event task, will not block
{
++stats.eventErrors;
}
}
}
}
// Done
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Check if the instance already exists
if (getInstance(obj, instId) != NULL) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = obj->numInstances; n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
if (instId == 0) { /* Instance 0 ObjectInstList allocated with ObjectList element */
instEntry = &obj->instances;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL)
return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
} else {
// Create the actual instance
instEntry =
(ObjectInstList *)
pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL)
return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL)
return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances.next, instEntry);
}
++obj->numInstances;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Done
return instEntry;
}
/**
* Get the instance information or NULL if the instance does not exist
*/
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
// Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry) {
if (instEntry->instId == instId) {
return instEntry;
}
}
// If this point is reached then instance id was not found
return NULL;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (ObjectList *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry =
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL) {
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Done
return 0;
}
/**
* Disconnect an event queue from the object
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
// Find queue and remove it
objEntry = (ObjectList *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Wrapper for the sprintf function
*/
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(ObjectList * obj, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
}
#endif /* PIOS_INCLUDE_SDCARD */

9
ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt
View File

@ -21,6 +21,7 @@ alert
altitude
amps
aquired
armed
autonomous flight
battery
camera
@ -32,8 +33,10 @@ complete
connected
connection
control
coptercontrol
critical
disabled
disarmed
disconnected
feet
figure eight
@ -58,11 +61,13 @@ lost
low altitude
low battery
low gps quality
magic
manual flight
maxium
meters
minimum
mode
moved
MPH
navigation
OpenPilot
@ -122,8 +127,4 @@ hundread
thousand
Upto: OpenPilot
critical
battery
point

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ground/openpilotgcs/share/openpilotgcs/sounds/default/magic.wav Normal file
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ground/openpilotgcs/share/openpilotgcs/sounds/default/moved.wav Normal file
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188
ground/openpilotgcs/src/plugins/config/ccattitude.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>343</height>
<width>415</width>
<height>349</height>
</rect>
</property>
<property name="windowTitle">
@ -142,18 +142,6 @@
</widget>
</widget>
</item>
<item>
<widget class="QCheckBox" name="zeroGyroBiasOnArming">
<property name="toolTip">
<string>If enabled, a fast recalibration of gyro zero point will be done
whenever the frame is armed. Do not move the airframe while
arming it in that case!</string>
</property>
<property name="text">
<string>Zero gyro bias upon airframe arming</string>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
@ -171,86 +159,98 @@ arming it in that case!</string>
<property name="title">
<string>Attitude Calibration</string>
</property>
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>20</y>
<width>371</width>
<height>111</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="margin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Place aircraft flat before computing</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="status">
<property name="text">
<string>Click &quot;Zero Accel Bias&quot; to start</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="zeroBias">
<property name="toolTip">
<string>Launch horizontal calibration.</string>
</property>
<property name="text">
<string>Zero Accel Bias</string>
</property>
</widget>
</item>
<item>
<widget class="QProgressBar" name="zeroBiasProgress">
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="margin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Place aircraft flat before computing</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="status">
<property name="text">
<string>Click &quot;Zero Accel Bias&quot; to start</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
<number>6</number>
</property>
<property name="margin">
<number>4</number>
</property>
<item>
<widget class="QPushButton" name="zeroBias">
<property name="toolTip">
<string>Launch horizontal calibration.</string>
</property>
<property name="text">
<string>Zero Accel Bias</string>
</property>
</widget>
</item>
<item>
<widget class="QProgressBar" name="zeroBiasProgress">
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="zeroGyroBiasOnArming">
<property name="toolTip">
<string>If enabled, a fast recalibration of gyro zero point will be done
whenever the frame is armed. Do not move the airframe while
arming it in that case!</string>
</property>
<property name="text">
<string>Zero gyro bias upon airframe arming</string>
</property>
</widget>
</item>
<item>

17
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -265,10 +265,27 @@ void ConfigOutputWidget::runChannelTests(bool state)
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryUpdatePeriod = 100;
// Prevent stupid users from touching the minimum & maximum ranges while
// moving the sliders. Thanks Ivan for the tip :)
foreach (QSpinBox* box, outMin) {
box->setEnabled(false);
}
foreach (QSpinBox* box, outMax) {
box->setEnabled(false);
}
}
else
{
mdata = accInitialData; // Restore metadata
foreach (QSpinBox* box, outMin) {
box->setEnabled(true);
}
foreach (QSpinBox* box, outMax) {
box->setEnabled(true);
}
}
obj->setMetadata(mdata);

484
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.ini
View File

@ -7,7 +7,7 @@ Workspace1=Flight data
Icon1=:/core/images/ah.png
Workspace2=Configuration
Icon2=:/core/images/config.png
Workspace3=Large Map
Workspace3=Flight Planner
Icon3=:/core/images/world.png
Workspace4=Scopes
Icon4=:/core/images/scopes.png
@ -42,17 +42,125 @@ Mode1\splitter\side0\side0\type=splitter
Mode1\splitter\side0\side0\splitterOrientation=1
Mode1\splitter\side0\side0\splitterSizes=144, 608
Mode1\splitter\side0\side0\side0\type=splitter
Mode1\splitter\side0\side0\side0\splitterOrientation=2
Mode1\splitter\side0\side0\side0\splitterSizes=215, 237
Mode1\splitter\side0\side0\side0\side0\type=splitter
Mode1\splitter\side0\side0\side0\side0\splitterOrientation=2
Mode1\splitter\side0\side0\side0\side0\splitterSizes=@Invalid()
Mode1\splitter\side0\side0\side0\side0\side0\type=uavGadget
Mode1\splitter\side0\side0\side0\side0\side0\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side0\side0\gadget\activeConfiguration=Flight Time
Mode1\splitter\side0\side0\side0\side0\side1\type=uavGadget
Mode1\splitter\side0\side0\side0\side0\side1\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side0\side1\gadget\activeConfiguration=GPS Sats
Mode1\splitter\side0\side0\side0\side1\type=splitter
Mode1\splitter\side0\side0\side0\side1\splitterOrientation=2
Mode1\splitter\side0\side0\side0\side1\splitterSizes=@Invalid()
Mode1\splitter\side0\side0\side0\side1\side0\type=uavGadget
Mode1\splitter\side0\side0\side0\side1\side0\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side1\side0\gadget\activeConfiguration=Flight mode
Mode1\splitter\side0\side0\side0\side1\side1\type=uavGadget
Mode1\splitter\side0\side0\side0\side1\side1\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side1\side1\gadget\activeConfiguration=Arm Status
Mode1\splitter\side0\side0\side1\type=uavGadget
Mode1\splitter\side0\side0\side1\classId=PFDGadget
Mode1\splitter\side0\side0\side1\gadget\activeConfiguration=raw
Mode1\splitter\side0\side1\type=splitter
Mode1\splitter\side0\side1\splitterOrientation=1
Mode1\splitter\side0\side1\splitterSizes=304, 433
Mode1\splitter\side0\side1\side0\type=uavGadget
Mode1\splitter\side0\side1\side0\classId=ModelViewGadget
Mode1\splitter\side0\side1\side0\gadget\activeConfiguration=Test Quad X
Mode1\splitter\side0\side1\side1\type=splitter
Mode1\splitter\side0\side1\side1\splitterOrientation=2
Mode1\splitter\side0\side1\side1\splitterSizes=293, 64
Mode1\splitter\side0\side1\side1\side0\type=splitter
Mode1\splitter\side0\side1\side1\side0\splitterOrientation=1
Mode1\splitter\side0\side1\side1\side0\splitterSizes=291, 141
Mode1\splitter\side0\side1\side1\side0\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\side0\side0\classId=SystemHealthGadget
Mode1\splitter\side0\side1\side1\side0\side0\gadget\activeConfiguration=default
Mode1\splitter\side0\side1\side1\side0\side1\type=splitter
Mode1\splitter\side0\side1\side1\side0\side1\splitterOrientation=1
Mode1\splitter\side0\side1\side1\side0\side1\splitterSizes=64, 64
Mode1\splitter\side0\side1\side1\side0\side1\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\side0\side1\side0\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side0\side1\side0\gadget\activeConfiguration=Mainboard CPU
Mode1\splitter\side0\side1\side1\side0\side1\side1\type=uavGadget
Mode1\splitter\side0\side1\side1\side0\side1\side1\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side0\side1\side1\gadget\activeConfiguration=AHRS CPU
Mode1\splitter\side0\side1\side1\side1\type=splitter
Mode1\splitter\side0\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side0\side1\side1\side1\splitterSizes=@Invalid()
Mode1\splitter\side0\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side1\side0\gadget\activeConfiguration=Telemetry RX Rate Horizontal
Mode1\splitter\side0\side1\side1\side1\side1\type=uavGadget
Mode1\splitter\side0\side1\side1\side1\side1\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side1\side1\gadget\activeConfiguration=Telemetry TX Rate Horizontal
Mode1\splitter\side1\type=splitter
Mode1\splitter\side1\splitterOrientation=2
Mode1\splitter\side1\splitterSizes=492, 288
Mode1\splitter\side1\side0\type=uavGadget
Mode1\splitter\side1\side0\classId=OPMapGadget
Mode1\splitter\side1\side0\gadget\activeConfiguration=Google Sat
Mode1\splitter\side1\side1\type=splitter
Mode1\splitter\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\splitterSizes=441, 259
Mode1\splitter\side1\side1\side0\type=splitter
Mode1\splitter\side1\side1\side0\splitterOrientation=1
Mode1\splitter\side1\side1\side0\splitterSizes=277, 135
Mode1\splitter\side1\side1\side0\side0\type=splitter
Mode1\splitter\side1\side1\side0\side0\splitterOrientation=1
Mode1\splitter\side1\side1\side0\side0\splitterSizes=131, 138
Mode1\splitter\side1\side1\side0\side0\side0\type=splitter
Mode1\splitter\side1\side1\side0\side0\side0\splitterOrientation=2
Mode1\splitter\side1\side1\side0\side0\side0\splitterSizes=@Invalid()
Mode1\splitter\side1\side1\side0\side0\side0\side0\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side0\side0\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side0\side0\gadget\activeConfiguration=Deluxe Groundspeed kph
Mode1\splitter\side1\side1\side0\side0\side0\side1\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side0\side1\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side0\side1\gadget\activeConfiguration=Deluxe Barometer
Mode1\splitter\side1\side1\side0\side0\side1\type=splitter
Mode1\splitter\side1\side1\side0\side0\side1\splitterOrientation=2
Mode1\splitter\side1\side1\side0\side0\side1\splitterSizes=@Invalid()
Mode1\splitter\side1\side1\side0\side0\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side1\side0\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side1\side0\gadget\activeConfiguration=Deluxe Attitude
Mode1\splitter\side1\side1\side0\side0\side1\side1\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side1\side1\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side1\side1\gadget\activeConfiguration=Deluxe Compass
Mode1\splitter\side1\side1\side0\side1\type=splitter
Mode1\splitter\side1\side1\side0\side1\splitterOrientation=2
Mode1\splitter\side1\side1\side0\side1\splitterSizes=@Invalid()
Mode1\splitter\side1\side1\side0\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side0\side1\side0\classId=DialGadget
Mode1\splitter\side1\side1\side0\side1\side0\gadget\activeConfiguration=Deluxe Baro Altimeter
Mode1\splitter\side1\side1\side0\side1\side1\type=uavGadget
Mode1\splitter\side1\side1\side0\side1\side1\classId=DialGadget
Mode1\splitter\side1\side1\side0\side1\side1\gadget\activeConfiguration=Deluxe Climbrate
Mode1\splitter\side1\side1\side1\type=splitter
Mode1\splitter\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\side1\splitterSizes=64, 441
Mode1\splitter\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side0\gadget\activeConfiguration=Throttle
Mode1\splitter\side1\side1\side1\side1\type=splitter
Mode1\splitter\side1\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\side1\side1\splitterSizes=64, 376
Mode1\splitter\side1\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side1\side0\gadget\activeConfiguration=Roll Desired
Mode1\splitter\side1\side1\side1\side1\side1\type=splitter
Mode1\splitter\side1\side1\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\side1\side1\side1\splitterSizes=64, 311
Mode1\splitter\side1\side1\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side1\side1\side0\gadget\activeConfiguration=Pitch Desired
Mode1\splitter\side1\side1\side1\side1\side1\side1\type=uavGadget
Mode1\splitter\side1\side1\side1\side1\side1\side1\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side1\side1\side1\gadget\activeConfiguration=Yaw Desired
Mode2\version=UAVGadgetManagerV1
Mode2\showToolbars=false
Mode2\splitter\type=splitter
@ -75,7 +183,7 @@ Mode2\splitter\side0\side1\side1\classId=LineardialGadget
Mode2\splitter\side0\side1\side1\gadget\activeConfiguration=Telemetry TX Rate Horizontal
Mode2\splitter\side1\type=splitter
Mode2\splitter\side1\splitterOrientation=2
Mode2\splitter\side1\splitterSizes=433, 347
Mode2\splitter\side1\splitterSizes=426, 354
Mode2\splitter\side1\side0\type=uavGadget
Mode2\splitter\side1\side0\classId=UAVObjectBrowser
Mode2\splitter\side1\side0\gadget\activeConfiguration=default
@ -111,11 +219,28 @@ Mode4\splitter\type=splitter
Mode4\splitter\splitterOrientation=1
Mode4\splitter\splitterSizes=653, 660
Mode4\splitter\side0\type=splitter
Mode4\splitter\side0\splitterOrientation=2
Mode4\splitter\side0\splitterSizes=@Invalid()
Mode4\splitter\side0\side0\type=uavGadget
Mode4\splitter\side0\side0\classId=ScopeGadget
Mode4\splitter\side0\side0\gadget\activeConfiguration=Accel
Mode4\splitter\side0\side1\type=uavGadget
Mode4\splitter\side0\side1\classId=ScopeGadget
Mode4\splitter\side0\side1\gadget\activeConfiguration=Raw Gyros
Mode4\splitter\side1\type=splitter
Mode4\splitter\side1\splitterOrientation=2
Mode4\splitter\side1\splitterSizes=661, 119
Mode4\splitter\side1\side0\type=splitter
Mode4\splitter\side1\side0\splitterOrientation=2
Mode4\splitter\side1\side0\splitterSizes=390, 270
Mode4\splitter\side1\side0\side0\type=uavGadget
Mode4\splitter\side1\side0\side0\classId=ScopeGadget
Mode4\splitter\side1\side0\side0\gadget\activeConfiguration=Attitude
Mode4\splitter\side1\side0\side1\type=uavGadget
Mode4\splitter\side1\side0\side1\classId=ScopeGadget
Mode4\splitter\side1\side0\side1\gadget\activeConfiguration=Uptimes
Mode4\splitter\side1\side1\type=uavGadget
Mode4\splitter\side1\side1\classId=LoggingGadget
Mode5\version=UAVGadgetManagerV1
Mode5\showToolbars=false
Mode5\splitter\type=splitter
@ -141,144 +266,19 @@ Mode5\splitter\side0\side1\side1\side0\splitterOrientation=1
Mode5\splitter\side0\side1\side1\side0\splitterSizes=@Invalid()
Mode5\splitter\side0\side1\side1\side0\side0\type=uavGadget
Mode5\splitter\side0\side1\side1\side0\side0\classId=LineardialGadget
Mode5\splitter\side0\side1\side1\side0\side0\gadget\activeConfiguration=PitchDesired
Mode5\splitter\side0\side1\side1\side0\side0\gadget\activeConfiguration=Pitch Desired
Mode5\splitter\side0\side1\side1\side0\side1\type=uavGadget
Mode5\splitter\side0\side1\side1\side0\side1\classId=LineardialGadget
Mode5\splitter\side0\side1\side1\side0\side1\gadget\activeConfiguration=PitchActual
Mode5\splitter\side0\side1\side1\side1\type=uavGadget
Mode5\splitter\side0\side1\side1\side1\classId=LineardialGadget
Mode5\splitter\side0\side1\side1\side1\gadget\activeConfiguration=PitchCommand
Mode5\splitter\side0\side1\side1\side1\gadget\activeConfiguration=Pitch
Mode5\splitter\side1\type=uavGadget
Mode5\splitter\side1\classId=UAVObjectBrowser
Mode5\splitter\side1\gadget\activeConfiguration=default
Mode1\splitter\side0\side0\side0\splitterOrientation=2
Mode1\splitter\side0\side0\side0\splitterSizes=215, 237
Mode1\splitter\side0\side0\side0\side0\type=splitter
Mode1\splitter\side0\side0\side0\side1\type=splitter
Mode1\splitter\side0\side0\side0\side1\splitterOrientation=2
Mode1\splitter\side0\side0\side0\side1\splitterSizes=@Invalid()
Mode1\splitter\side0\side0\side0\side1\side0\type=uavGadget
Mode1\splitter\side0\side0\side0\side1\side0\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side1\side0\gadget\activeConfiguration=Flight mode
Mode1\splitter\side0\side0\side0\side1\side1\type=uavGadget
Mode1\splitter\side0\side0\side0\side1\side1\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side1\side1\gadget\activeConfiguration=Arm Status
Mode1\splitter\side1\side0\classId=OPMapGadget
Mode1\splitter\side1\side0\gadget\activeConfiguration=Google Sat
Mode1\splitter\side1\side1\side0\splitterOrientation=1
Mode1\splitter\side1\side1\side0\splitterSizes=277, 135
Mode1\splitter\side1\side1\side0\side0\type=splitter
Mode1\splitter\side1\side1\side0\side1\type=splitter
Mode1\splitter\side0\side1\splitterOrientation=1
Mode1\splitter\side0\side1\splitterSizes=304, 433
Mode1\splitter\side0\side1\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\type=splitter
Mode1\splitter\side0\side1\side1\splitterOrientation=2
Mode1\splitter\side0\side1\side1\splitterSizes=293, 64
Mode1\splitter\side0\side1\side1\side0\type=splitter
Mode1\splitter\side0\side1\side1\side1\type=splitter
Mode1\splitter\side1\side1\side0\side0\splitterOrientation=1
Mode1\splitter\side1\side1\side0\side0\splitterSizes=131, 138
Mode1\splitter\side1\side1\side0\side0\side0\type=splitter
Mode1\splitter\side1\side1\side0\side0\side1\type=splitter
Mode1\splitter\side0\side1\side0\classId=ModelViewGadget
Mode1\splitter\side0\side1\side0\gadget\activeConfiguration=Test Quad X
Mode1\splitter\side0\side1\side1\side0\splitterOrientation=1
Mode1\splitter\side0\side1\side1\side0\splitterSizes=291, 141
Mode1\splitter\side0\side1\side1\side0\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\side0\side0\classId=SystemHealthGadget
Mode1\splitter\side0\side1\side1\side0\side0\gadget\activeConfiguration=default
Mode1\splitter\side0\side1\side1\side0\side1\type=splitter
Mode1\splitter\side0\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side0\side1\side1\side1\splitterSizes=@Invalid()
Mode1\splitter\side0\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side1\side0\gadget\activeConfiguration=Telemetry RX Rate Horizontal
Mode1\splitter\side0\side1\side1\side1\side1\type=uavGadget
Mode1\splitter\side0\side1\side1\side1\side1\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side1\side1\gadget\activeConfiguration=Telemetry TX Rate Horizontal
Mode1\splitter\side0\side1\side1\side0\side1\splitterOrientation=1
Mode1\splitter\side0\side1\side1\side0\side1\splitterSizes=64, 64
Mode1\splitter\side0\side1\side1\side0\side1\side0\type=uavGadget
Mode1\splitter\side0\side1\side1\side0\side1\side0\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side0\side1\side0\gadget\activeConfiguration=Mainboard CPU
Mode1\splitter\side0\side1\side1\side0\side1\side1\type=uavGadget
Mode1\splitter\side0\side1\side1\side0\side1\side1\classId=LineardialGadget
Mode1\splitter\side0\side1\side1\side0\side1\side1\gadget\activeConfiguration=AHRS CPU
Mode1\splitter\side1\side1\side0\side0\side0\splitterOrientation=2
Mode1\splitter\side1\side1\side0\side0\side0\splitterSizes=@Invalid()
Mode1\splitter\side1\side1\side0\side0\side0\side0\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side0\side0\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side0\side0\gadget\activeConfiguration=Deluxe Groundspeed kph
Mode1\splitter\side1\side1\side0\side0\side0\side1\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side0\side1\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side0\side1\gadget\activeConfiguration=Deluxe Barometer
Mode1\splitter\side1\side1\side0\side0\side1\splitterOrientation=2
Mode1\splitter\side1\side1\side0\side0\side1\splitterSizes=@Invalid()
Mode1\splitter\side1\side1\side0\side0\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side1\side0\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side1\side0\gadget\activeConfiguration=Deluxe Attitude
Mode1\splitter\side1\side1\side0\side0\side1\side1\type=uavGadget
Mode1\splitter\side1\side1\side0\side0\side1\side1\classId=DialGadget
Mode1\splitter\side1\side1\side0\side0\side1\side1\gadget\activeConfiguration=Deluxe Compass
Mode1\splitter\side1\side1\side0\side1\splitterOrientation=2
Mode1\splitter\side1\side1\side0\side1\splitterSizes=@Invalid()
Mode1\splitter\side1\side1\side0\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side0\side1\side0\classId=DialGadget
Mode1\splitter\side1\side1\side0\side1\side0\gadget\activeConfiguration=Deluxe Baro Altimeter
Mode1\splitter\side1\side1\side0\side1\side1\type=uavGadget
Mode1\splitter\side1\side1\side0\side1\side1\classId=DialGadget
Mode1\splitter\side1\side1\side0\side1\side1\gadget\activeConfiguration=Deluxe Climbrate
Mode1\splitter\side0\side0\side0\side0\splitterOrientation=2
Mode1\splitter\side0\side0\side0\side0\splitterSizes=@Invalid()
Mode1\splitter\side0\side0\side0\side0\side0\type=uavGadget
Mode1\splitter\side0\side0\side0\side0\side0\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side0\side0\gadget\activeConfiguration=Flight Time
Mode1\splitter\side0\side0\side0\side0\side1\type=uavGadget
Mode1\splitter\side0\side0\side0\side0\side1\classId=LineardialGadget
Mode1\splitter\side0\side0\side0\side0\side1\gadget\activeConfiguration=GPS Sats
Mode1\splitter\side0\side0\side1\classId=PFDGadget
Mode1\splitter\side0\side0\side1\gadget\activeConfiguration=raw
Mode1\splitter\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\side1\splitterSizes=64, 441
Mode1\splitter\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side0\gadget\activeConfiguration=Throttle
Mode1\splitter\side1\side1\side1\side1\type=splitter
Mode1\splitter\side1\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\side1\side1\splitterSizes=64, 376
Mode1\splitter\side1\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side1\side0\gadget\activeConfiguration=Roll
Mode1\splitter\side1\side1\side1\side1\side1\type=splitter
Mode1\splitter\side1\side1\side1\side1\side1\splitterOrientation=1
Mode1\splitter\side1\side1\side1\side1\side1\splitterSizes=64, 311
Mode1\splitter\side1\side1\side1\side1\side1\side0\type=uavGadget
Mode1\splitter\side1\side1\side1\side1\side1\side0\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side1\side1\side0\gadget\activeConfiguration=PitchActual
Mode1\splitter\side1\side1\side1\side1\side1\side1\type=uavGadget
Mode1\splitter\side1\side1\side1\side1\side1\side1\classId=LineardialGadget
Mode1\splitter\side1\side1\side1\side1\side1\side1\gadget\activeConfiguration=Yaw
Mode6\version=UAVGadgetManagerV1
Mode6\showToolbars=false
Mode6\splitter\type=splitter
Mode4\splitter\side0\splitterOrientation=2
Mode4\splitter\side0\splitterSizes=@Invalid()
Mode4\splitter\side0\side0\type=uavGadget
Mode4\splitter\side0\side0\classId=ScopeGadget
Mode4\splitter\side0\side0\gadget\activeConfiguration=Accel
Mode4\splitter\side0\side1\type=uavGadget
Mode4\splitter\side0\side1\classId=ScopeGadget
Mode4\splitter\side0\side1\gadget\activeConfiguration=Raw Gyros
Mode4\splitter\side1\side0\splitterOrientation=2
Mode4\splitter\side1\side0\splitterSizes=390, 270
Mode4\splitter\side1\side0\side0\type=uavGadget
Mode4\splitter\side1\side0\side0\classId=ScopeGadget
Mode4\splitter\side1\side0\side0\gadget\activeConfiguration=Attitude
Mode4\splitter\side1\side0\side1\type=uavGadget
Mode4\splitter\side1\side0\side1\classId=ScopeGadget
Mode4\splitter\side1\side0\side1\gadget\activeConfiguration=Uptimes
Mode4\splitter\side1\side1\classId=LoggingGadget
Mode6\splitter\splitterOrientation=1
Mode6\splitter\splitterSizes=@Invalid()
Mode6\splitter\side0\type=uavGadget
@ -288,9 +288,6 @@ Mode6\splitter\side1\type=splitter
Mode6\splitter\side1\splitterOrientation=2
Mode6\splitter\side1\splitterSizes=274, 506
Mode6\splitter\side1\side0\type=splitter
Mode6\splitter\side1\side1\type=uavGadget
Mode6\splitter\side1\side1\classId=ScopeGadget
Mode6\splitter\side1\side1\gadget\activeConfiguration=Uptimes
Mode6\splitter\side1\side0\splitterOrientation=1
Mode6\splitter\side1\side0\splitterSizes=322, 396
Mode6\splitter\side1\side0\side0\type=uavGadget
@ -299,17 +296,16 @@ Mode6\splitter\side1\side0\side0\gadget\activeConfiguration=default
Mode6\splitter\side1\side0\side1\type=uavGadget
Mode6\splitter\side1\side0\side1\classId=PFDGadget
Mode6\splitter\side1\side0\side1\gadget\activeConfiguration=raw
Mode6\splitter\side1\side1\type=uavGadget
Mode6\splitter\side1\side1\classId=ScopeGadget
Mode6\splitter\side1\side1\gadget\activeConfiguration=Uptimes
[KeyBindings]
size=0
[%General]
SaveSettingsOnExit=true
LastPreferenceCategory=OPMapGadget
LastPreferencePage=default
SettingsWindowWidth=697
SettingsWindowHeight=476
OverrideLanguage=en_AU
SaveSettingsOnExit=true
[UAVGadgetConfigurations]
configInfo\version=1.2.0
@ -340,7 +336,7 @@ DialGadget\Attitude\data\needle3Factor=-1
DialGadget\Attitude\data\needle1Move=Rotate
DialGadget\Attitude\data\needle2Move=Vertical
DialGadget\Attitude\data\needle3Move=Rotate
DialGadget\Attitude\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Attitude\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Attitude\data\useOpenGLFlag=false
DialGadget\Attitude\data\beSmooth=false
DialGadget\Attitude\configInfo\version=0.0.0
@ -369,7 +365,7 @@ DialGadget\Baro%20Altimeter\data\needle3Factor=1
DialGadget\Baro%20Altimeter\data\needle1Move=Rotate
DialGadget\Baro%20Altimeter\data\needle2Move=Rotate
DialGadget\Baro%20Altimeter\data\needle3Move=Rotate
DialGadget\Baro%20Altimeter\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Baro%20Altimeter\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Baro%20Altimeter\data\useOpenGLFlag=false
DialGadget\Baro%20Altimeter\data\beSmooth=false
DialGadget\Baro%20Altimeter\configInfo\version=0.0.0
@ -398,7 +394,7 @@ DialGadget\Barometer\data\needle3Factor=1
DialGadget\Barometer\data\needle1Move=Rotate
DialGadget\Barometer\data\needle2Move=Rotate
DialGadget\Barometer\data\needle3Move=Rotate
DialGadget\Barometer\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Barometer\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Barometer\data\useOpenGLFlag=false
DialGadget\Barometer\data\beSmooth=false
DialGadget\Barometer\configInfo\version=0.0.0
@ -427,7 +423,7 @@ DialGadget\Climbrate\data\needle3Factor=1
DialGadget\Climbrate\data\needle1Move=Rotate
DialGadget\Climbrate\data\needle2Move=Rotate
DialGadget\Climbrate\data\needle3Move=Rotate
DialGadget\Climbrate\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Climbrate\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Climbrate\data\useOpenGLFlag=false
DialGadget\Climbrate\data\beSmooth=false
DialGadget\Climbrate\configInfo\version=0.0.0
@ -456,7 +452,7 @@ DialGadget\Compass\data\needle3Factor=1
DialGadget\Compass\data\needle1Move=Rotate
DialGadget\Compass\data\needle2Move=Rotate
DialGadget\Compass\data\needle3Move=Rotate
DialGadget\Compass\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Compass\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Compass\data\useOpenGLFlag=false
DialGadget\Compass\data\beSmooth=false
DialGadget\Compass\configInfo\version=0.0.0
@ -485,7 +481,7 @@ DialGadget\Deluxe%20Attitude\data\needle3Factor=-1
DialGadget\Deluxe%20Attitude\data\needle1Move=Rotate
DialGadget\Deluxe%20Attitude\data\needle2Move=Vertical
DialGadget\Deluxe%20Attitude\data\needle3Move=Rotate
DialGadget\Deluxe%20Attitude\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Attitude\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Attitude\data\useOpenGLFlag=false
DialGadget\Deluxe%20Attitude\data\beSmooth=false
DialGadget\Deluxe%20Attitude\configInfo\version=0.0.0
@ -514,7 +510,7 @@ DialGadget\Deluxe%20Baro%20Altimeter\data\needle3Factor=1
DialGadget\Deluxe%20Baro%20Altimeter\data\needle1Move=Rotate
DialGadget\Deluxe%20Baro%20Altimeter\data\needle2Move=Rotate
DialGadget\Deluxe%20Baro%20Altimeter\data\needle3Move=Rotate
DialGadget\Deluxe%20Baro%20Altimeter\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Baro%20Altimeter\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Baro%20Altimeter\data\useOpenGLFlag=false
DialGadget\Deluxe%20Baro%20Altimeter\data\beSmooth=false
DialGadget\Deluxe%20Baro%20Altimeter\configInfo\version=0.0.0
@ -543,7 +539,7 @@ DialGadget\Deluxe%20Barometer\data\needle3Factor=1
DialGadget\Deluxe%20Barometer\data\needle1Move=Rotate
DialGadget\Deluxe%20Barometer\data\needle2Move=Rotate
DialGadget\Deluxe%20Barometer\data\needle3Move=Rotate
DialGadget\Deluxe%20Barometer\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Barometer\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Barometer\data\useOpenGLFlag=false
DialGadget\Deluxe%20Barometer\data\beSmooth=false
DialGadget\Deluxe%20Barometer\configInfo\version=0.0.0
@ -572,7 +568,7 @@ DialGadget\Deluxe%20Climbrate\data\needle3Factor=1
DialGadget\Deluxe%20Climbrate\data\needle1Move=Rotate
DialGadget\Deluxe%20Climbrate\data\needle2Move=Rotate
DialGadget\Deluxe%20Climbrate\data\needle3Move=Rotate
DialGadget\Deluxe%20Climbrate\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Climbrate\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Climbrate\data\useOpenGLFlag=false
DialGadget\Deluxe%20Climbrate\data\beSmooth=false
DialGadget\Deluxe%20Climbrate\configInfo\version=0.0.0
@ -601,7 +597,7 @@ DialGadget\Deluxe%20Compass\data\needle3Factor=1
DialGadget\Deluxe%20Compass\data\needle1Move=Rotate
DialGadget\Deluxe%20Compass\data\needle2Move=Rotate
DialGadget\Deluxe%20Compass\data\needle3Move=Rotate
DialGadget\Deluxe%20Compass\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Compass\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Compass\data\useOpenGLFlag=false
DialGadget\Deluxe%20Compass\data\beSmooth=false
DialGadget\Deluxe%20Compass\configInfo\version=0.0.0
@ -630,7 +626,7 @@ DialGadget\Deluxe%20Groundspeed%20kph\data\needle3Factor=1
DialGadget\Deluxe%20Groundspeed%20kph\data\needle1Move=Rotate
DialGadget\Deluxe%20Groundspeed%20kph\data\needle2Move=Rotate
DialGadget\Deluxe%20Groundspeed%20kph\data\needle3Move=Rotate
DialGadget\Deluxe%20Groundspeed%20kph\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Groundspeed%20kph\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Groundspeed%20kph\data\useOpenGLFlag=false
DialGadget\Deluxe%20Groundspeed%20kph\data\beSmooth=false
DialGadget\Deluxe%20Groundspeed%20kph\configInfo\version=0.0.0
@ -659,7 +655,7 @@ DialGadget\Deluxe%20Temperature\data\needle3Factor=1
DialGadget\Deluxe%20Temperature\data\needle1Move=Rotate
DialGadget\Deluxe%20Temperature\data\needle2Move=Rotate
DialGadget\Deluxe%20Temperature\data\needle3Move=Rotate
DialGadget\Deluxe%20Temperature\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Temperature\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Temperature\data\useOpenGLFlag=false
DialGadget\Deluxe%20Temperature\data\beSmooth=false
DialGadget\Deluxe%20Temperature\configInfo\version=0.0.0
@ -688,7 +684,7 @@ DialGadget\Deluxe%20Turn%20Coordinator\data\needle3Factor=-1
DialGadget\Deluxe%20Turn%20Coordinator\data\needle1Move=Rotate
DialGadget\Deluxe%20Turn%20Coordinator\data\needle2Move=Horizontal
DialGadget\Deluxe%20Turn%20Coordinator\data\needle3Move=Rotate
DialGadget\Deluxe%20Turn%20Coordinator\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Turn%20Coordinator\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Deluxe%20Turn%20Coordinator\data\useOpenGLFlag=false
DialGadget\Deluxe%20Turn%20Coordinator\data\beSmooth=false
DialGadget\Deluxe%20Turn%20Coordinator\configInfo\version=0.0.0
@ -717,7 +713,7 @@ DialGadget\Groundspeed%20kph\data\needle3Factor=1
DialGadget\Groundspeed%20kph\data\needle1Move=Rotate
DialGadget\Groundspeed%20kph\data\needle2Move=Rotate
DialGadget\Groundspeed%20kph\data\needle3Move=Rotate
DialGadget\Groundspeed%20kph\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Groundspeed%20kph\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Groundspeed%20kph\data\useOpenGLFlag=false
DialGadget\Groundspeed%20kph\data\beSmooth=false
DialGadget\Groundspeed%20kph\configInfo\version=0.0.0
@ -746,7 +742,7 @@ DialGadget\HiContrast%20Attitude\data\needle3Factor=-1
DialGadget\HiContrast%20Attitude\data\needle1Move=Rotate
DialGadget\HiContrast%20Attitude\data\needle2Move=Vertical
DialGadget\HiContrast%20Attitude\data\needle3Move=Rotate
DialGadget\HiContrast%20Attitude\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Attitude\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Attitude\data\useOpenGLFlag=false
DialGadget\HiContrast%20Attitude\data\beSmooth=false
DialGadget\HiContrast%20Attitude\configInfo\version=0.0.0
@ -775,7 +771,7 @@ DialGadget\HiContrast%20Baro%20Altimeter\data\needle3Factor=1
DialGadget\HiContrast%20Baro%20Altimeter\data\needle1Move=Rotate
DialGadget\HiContrast%20Baro%20Altimeter\data\needle2Move=Rotate
DialGadget\HiContrast%20Baro%20Altimeter\data\needle3Move=Rotate
DialGadget\HiContrast%20Baro%20Altimeter\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Baro%20Altimeter\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Baro%20Altimeter\data\useOpenGLFlag=false
DialGadget\HiContrast%20Baro%20Altimeter\data\beSmooth=false
DialGadget\HiContrast%20Baro%20Altimeter\configInfo\version=0.0.0
@ -804,7 +800,7 @@ DialGadget\HiContrast%20Barometer\data\needle3Factor=1
DialGadget\HiContrast%20Barometer\data\needle1Move=Rotate
DialGadget\HiContrast%20Barometer\data\needle2Move=Rotate
DialGadget\HiContrast%20Barometer\data\needle3Move=Rotate
DialGadget\HiContrast%20Barometer\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Barometer\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Barometer\data\useOpenGLFlag=false
DialGadget\HiContrast%20Barometer\data\beSmooth=false
DialGadget\HiContrast%20Barometer\configInfo\version=0.0.0
@ -833,7 +829,7 @@ DialGadget\HiContrast%20Climbrate\data\needle3Factor=1
DialGadget\HiContrast%20Climbrate\data\needle1Move=Rotate
DialGadget\HiContrast%20Climbrate\data\needle2Move=Rotate
DialGadget\HiContrast%20Climbrate\data\needle3Move=Rotate
DialGadget\HiContrast%20Climbrate\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Climbrate\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Climbrate\data\useOpenGLFlag=false
DialGadget\HiContrast%20Climbrate\data\beSmooth=false
DialGadget\HiContrast%20Climbrate\configInfo\version=0.0.0
@ -862,7 +858,7 @@ DialGadget\HiContrast%20Compass\data\needle3Factor=1
DialGadget\HiContrast%20Compass\data\needle1Move=Rotate
DialGadget\HiContrast%20Compass\data\needle2Move=Rotate
DialGadget\HiContrast%20Compass\data\needle3Move=Rotate
DialGadget\HiContrast%20Compass\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Compass\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Compass\data\useOpenGLFlag=false
DialGadget\HiContrast%20Compass\data\beSmooth=false
DialGadget\HiContrast%20Compass\configInfo\version=0.0.0
@ -891,7 +887,7 @@ DialGadget\HiContrast%20Groundspeed%20kph\data\needle3Factor=1
DialGadget\HiContrast%20Groundspeed%20kph\data\needle1Move=Rotate
DialGadget\HiContrast%20Groundspeed%20kph\data\needle2Move=Rotate
DialGadget\HiContrast%20Groundspeed%20kph\data\needle3Move=Rotate
DialGadget\HiContrast%20Groundspeed%20kph\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Groundspeed%20kph\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Groundspeed%20kph\data\useOpenGLFlag=false
DialGadget\HiContrast%20Groundspeed%20kph\data\beSmooth=false
DialGadget\HiContrast%20Groundspeed%20kph\configInfo\version=0.0.0
@ -920,7 +916,7 @@ DialGadget\HiContrast%20Temperature\data\needle3Factor=1
DialGadget\HiContrast%20Temperature\data\needle1Move=Rotate
DialGadget\HiContrast%20Temperature\data\needle2Move=Rotate
DialGadget\HiContrast%20Temperature\data\needle3Move=Rotate
DialGadget\HiContrast%20Temperature\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Temperature\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\HiContrast%20Temperature\data\useOpenGLFlag=false
DialGadget\HiContrast%20Temperature\data\beSmooth=false
DialGadget\HiContrast%20Temperature\configInfo\version=0.0.0
@ -949,7 +945,7 @@ DialGadget\Servo%20Channel%201\data\needle3Factor=1
DialGadget\Servo%20Channel%201\data\needle1Move=Rotate
DialGadget\Servo%20Channel%201\data\needle2Move=Rotate
DialGadget\Servo%20Channel%201\data\needle3Move=Rotate
DialGadget\Servo%20Channel%201\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Servo%20Channel%201\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Servo%20Channel%201\data\useOpenGLFlag=false
DialGadget\Servo%20Channel%201\data\beSmooth=false
DialGadget\Servo%20Channel%201\configInfo\version=0.0.0
@ -978,7 +974,7 @@ DialGadget\Temperature\data\needle3Factor=1
DialGadget\Temperature\data\needle1Move=Rotate
DialGadget\Temperature\data\needle2Move=Rotate
DialGadget\Temperature\data\needle3Move=Rotate
DialGadget\Temperature\data\font="MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0"
DialGadget\Temperature\data\font="Ubuntu,11,-1,5,50,0,0,0,0,0"
DialGadget\Temperature\data\useOpenGLFlag=false
DialGadget\Temperature\data\beSmooth=false
DialGadget\Temperature\configInfo\version=0.0.0
@ -1027,7 +1023,7 @@ GpsDisplayGadget\Flight%20GPS\data\defaultDataBits=3
GpsDisplayGadget\Flight%20GPS\data\defaultFlow=0
GpsDisplayGadget\Flight%20GPS\data\defaultParity=0
GpsDisplayGadget\Flight%20GPS\data\defaultStopBits=0
GpsDisplayGadget\Flight%20GPS\data\defaultPort=Communications Port (COM1)
GpsDisplayGadget\Flight%20GPS\data\defaultPort=Serial port 0
GpsDisplayGadget\Flight%20GPS\data\connectionMode=Telemetry
GpsDisplayGadget\Flight%20GPS\configInfo\version=0.0.0
GpsDisplayGadget\Flight%20GPS\configInfo\locked=false
@ -1036,7 +1032,7 @@ GpsDisplayGadget\GPS%20Mouse\data\defaultDataBits=3
GpsDisplayGadget\GPS%20Mouse\data\defaultFlow=0
GpsDisplayGadget\GPS%20Mouse\data\defaultParity=0
GpsDisplayGadget\GPS%20Mouse\data\defaultStopBits=0
GpsDisplayGadget\GPS%20Mouse\data\defaultPort=Communications Port (COM1)
GpsDisplayGadget\GPS%20Mouse\data\defaultPort=Serial port 0
GpsDisplayGadget\GPS%20Mouse\data\connectionMode=Serial
GpsDisplayGadget\GPS%20Mouse\configInfo\version=0.0.0
GpsDisplayGadget\GPS%20Mouse\configInfo\locked=false
@ -1239,6 +1235,40 @@ LineardialGadget\Mainboard%20CPU\data\factor=1
LineardialGadget\Mainboard%20CPU\data\useOpenGLFlag=false
LineardialGadget\Mainboard%20CPU\configInfo\version=0.0.0
LineardialGadget\Mainboard%20CPU\configInfo\locked=false
LineardialGadget\Pitch\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\Pitch\data\sourceDataObject=ManualControlCommand
LineardialGadget\Pitch\data\sourceObjectField=Pitch
LineardialGadget\Pitch\data\minValue=-1
LineardialGadget\Pitch\data\maxValue=1
LineardialGadget\Pitch\data\redMin=-1
LineardialGadget\Pitch\data\redMax=1
LineardialGadget\Pitch\data\yellowMin=-0.8
LineardialGadget\Pitch\data\yellowMax=0.8
LineardialGadget\Pitch\data\greenMin=-0.5
LineardialGadget\Pitch\data\greenMax=0.5
LineardialGadget\Pitch\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Pitch\data\decimalPlaces=2
LineardialGadget\Pitch\data\factor=1
LineardialGadget\Pitch\data\useOpenGLFlag=false
LineardialGadget\Pitch\configInfo\version=0.0.0
LineardialGadget\Pitch\configInfo\locked=false
LineardialGadget\Pitch%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\Pitch%20Desired\data\sourceDataObject=ActuatorDesired
LineardialGadget\Pitch%20Desired\data\sourceObjectField=Pitch
LineardialGadget\Pitch%20Desired\data\minValue=-1
LineardialGadget\Pitch%20Desired\data\maxValue=1
LineardialGadget\Pitch%20Desired\data\redMin=-1
LineardialGadget\Pitch%20Desired\data\redMax=1
LineardialGadget\Pitch%20Desired\data\yellowMin=-0.8
LineardialGadget\Pitch%20Desired\data\yellowMax=0.8
LineardialGadget\Pitch%20Desired\data\greenMin=-0.5
LineardialGadget\Pitch%20Desired\data\greenMax=0.5
LineardialGadget\Pitch%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Pitch%20Desired\data\decimalPlaces=2
LineardialGadget\Pitch%20Desired\data\factor=1
LineardialGadget\Pitch%20Desired\data\useOpenGLFlag=false
LineardialGadget\Pitch%20Desired\configInfo\version=0.0.0
LineardialGadget\Pitch%20Desired\configInfo\locked=false
LineardialGadget\PitchActual\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\PitchActual\data\sourceDataObject=AttitudeActual
LineardialGadget\PitchActual\data\sourceObjectField=Pitch
@ -1256,57 +1286,40 @@ LineardialGadget\PitchActual\data\factor=1
LineardialGadget\PitchActual\data\useOpenGLFlag=false
LineardialGadget\PitchActual\configInfo\version=0.0.0
LineardialGadget\PitchActual\configInfo\locked=false
LineardialGadget\PitchCommand\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\PitchCommand\data\sourceDataObject=ManualControlCommand
LineardialGadget\PitchCommand\data\sourceObjectField=Pitch
LineardialGadget\PitchCommand\data\minValue=-1
LineardialGadget\PitchCommand\data\maxValue=1
LineardialGadget\PitchCommand\data\redMin=0
LineardialGadget\PitchCommand\data\redMax=1
LineardialGadget\PitchCommand\data\yellowMin=0.1
LineardialGadget\PitchCommand\data\yellowMax=0.9
LineardialGadget\PitchCommand\data\greenMin=0.3
LineardialGadget\PitchCommand\data\greenMax=0.8
LineardialGadget\PitchCommand\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\PitchCommand\data\decimalPlaces=2
LineardialGadget\PitchCommand\data\factor=1
LineardialGadget\PitchCommand\data\useOpenGLFlag=false
LineardialGadget\PitchCommand\configInfo\version=0.0.0
LineardialGadget\PitchCommand\configInfo\locked=false
LineardialGadget\PitchDesired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\PitchDesired\data\sourceDataObject=ActuatorDesired
LineardialGadget\PitchDesired\data\sourceObjectField=Pitch
LineardialGadget\PitchDesired\data\minValue=-1
LineardialGadget\PitchDesired\data\maxValue=1
LineardialGadget\PitchDesired\data\redMin=0
LineardialGadget\PitchDesired\data\redMax=1
LineardialGadget\PitchDesired\data\yellowMin=0.1
LineardialGadget\PitchDesired\data\yellowMax=0.9
LineardialGadget\PitchDesired\data\greenMin=0.3
LineardialGadget\PitchDesired\data\greenMax=0.8
LineardialGadget\PitchDesired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\PitchDesired\data\decimalPlaces=2
LineardialGadget\PitchDesired\data\factor=1
LineardialGadget\PitchDesired\data\useOpenGLFlag=false
LineardialGadget\PitchDesired\configInfo\version=0.0.0
LineardialGadget\PitchDesired\configInfo\locked=false
LineardialGadget\Roll\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\Roll\data\sourceDataObject=ManualControlCommand
LineardialGadget\Roll\data\sourceObjectField=Roll
LineardialGadget\Roll\data\minValue=0
LineardialGadget\Roll\data\minValue=-1
LineardialGadget\Roll\data\maxValue=1
LineardialGadget\Roll\data\redMin=0
LineardialGadget\Roll\data\redMin=-1
LineardialGadget\Roll\data\redMax=1
LineardialGadget\Roll\data\yellowMin=0.1
LineardialGadget\Roll\data\yellowMax=0.9
LineardialGadget\Roll\data\greenMin=0.3
LineardialGadget\Roll\data\greenMax=0.8
LineardialGadget\Roll\data\yellowMin=-0.8
LineardialGadget\Roll\data\yellowMax=0.8
LineardialGadget\Roll\data\greenMin=-0.5
LineardialGadget\Roll\data\greenMax=0.5
LineardialGadget\Roll\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Roll\data\decimalPlaces=2
LineardialGadget\Roll\data\factor=1
LineardialGadget\Roll\data\useOpenGLFlag=false
LineardialGadget\Roll\configInfo\version=0.0.0
LineardialGadget\Roll\configInfo\locked=false
LineardialGadget\Roll%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\Roll%20Desired\data\sourceDataObject=ActuatorDesired
LineardialGadget\Roll%20Desired\data\sourceObjectField=Roll
LineardialGadget\Roll%20Desired\data\minValue=-1
LineardialGadget\Roll%20Desired\data\maxValue=1
LineardialGadget\Roll%20Desired\data\redMin=-1
LineardialGadget\Roll%20Desired\data\redMax=1
LineardialGadget\Roll%20Desired\data\yellowMin=-0.8
LineardialGadget\Roll%20Desired\data\yellowMax=0.8
LineardialGadget\Roll%20Desired\data\greenMin=-0.5
LineardialGadget\Roll%20Desired\data\greenMax=0.5
LineardialGadget\Roll%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Roll%20Desired\data\decimalPlaces=2
LineardialGadget\Roll%20Desired\data\factor=1
LineardialGadget\Roll%20Desired\data\useOpenGLFlag=false
LineardialGadget\Roll%20Desired\configInfo\version=0.0.0
LineardialGadget\Roll%20Desired\configInfo\locked=false
LineardialGadget\Telemetry%20RX%20Rate%20Horizontal\data\dFile=%%DATAPATH%%dials/default/lineardial-horizontal.svg
LineardialGadget\Telemetry%20RX%20Rate%20Horizontal\data\sourceDataObject=GCSTelemetryStats
LineardialGadget\Telemetry%20RX%20Rate%20Horizontal\data\sourceObjectField=RxDataRate
@ -1346,12 +1359,12 @@ LineardialGadget\Throttle\data\sourceDataObject=ManualControlCommand
LineardialGadget\Throttle\data\sourceObjectField=Throttle
LineardialGadget\Throttle\data\minValue=0
LineardialGadget\Throttle\data\maxValue=1
LineardialGadget\Throttle\data\redMin=0
LineardialGadget\Throttle\data\redMin=0.75
LineardialGadget\Throttle\data\redMax=1
LineardialGadget\Throttle\data\yellowMin=0.1
LineardialGadget\Throttle\data\yellowMax=0.9
LineardialGadget\Throttle\data\greenMin=0.3
LineardialGadget\Throttle\data\greenMax=0.8
LineardialGadget\Throttle\data\yellowMin=0.5
LineardialGadget\Throttle\data\yellowMax=0.75
LineardialGadget\Throttle\data\greenMin=0
LineardialGadget\Throttle\data\greenMax=0.5
LineardialGadget\Throttle\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Throttle\data\decimalPlaces=2
LineardialGadget\Throttle\data\factor=1
@ -1361,20 +1374,37 @@ LineardialGadget\Throttle\configInfo\locked=false
LineardialGadget\Yaw\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\Yaw\data\sourceDataObject=ManualControlCommand
LineardialGadget\Yaw\data\sourceObjectField=Yaw
LineardialGadget\Yaw\data\minValue=0
LineardialGadget\Yaw\data\minValue=-1
LineardialGadget\Yaw\data\maxValue=1
LineardialGadget\Yaw\data\redMin=0
LineardialGadget\Yaw\data\redMin=-1
LineardialGadget\Yaw\data\redMax=1
LineardialGadget\Yaw\data\yellowMin=0.1
LineardialGadget\Yaw\data\yellowMax=0.9
LineardialGadget\Yaw\data\greenMin=0.3
LineardialGadget\Yaw\data\greenMax=0.8
LineardialGadget\Yaw\data\yellowMin=-0.8
LineardialGadget\Yaw\data\yellowMax=0.8
LineardialGadget\Yaw\data\greenMin=-0.5
LineardialGadget\Yaw\data\greenMax=0.5
LineardialGadget\Yaw\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Yaw\data\decimalPlaces=2
LineardialGadget\Yaw\data\factor=1
LineardialGadget\Yaw\data\useOpenGLFlag=false
LineardialGadget\Yaw\configInfo\version=0.0.0
LineardialGadget\Yaw\configInfo\locked=false
LineardialGadget\Yaw%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
LineardialGadget\Yaw%20Desired\data\sourceDataObject=ActuatorDesired
LineardialGadget\Yaw%20Desired\data\sourceObjectField=Yaw
LineardialGadget\Yaw%20Desired\data\minValue=-1
LineardialGadget\Yaw%20Desired\data\maxValue=1
LineardialGadget\Yaw%20Desired\data\redMin=-1
LineardialGadget\Yaw%20Desired\data\redMax=1
LineardialGadget\Yaw%20Desired\data\yellowMin=-0.8
LineardialGadget\Yaw%20Desired\data\yellowMax=0.8
LineardialGadget\Yaw%20Desired\data\greenMin=-0.5
LineardialGadget\Yaw%20Desired\data\greenMax=0.5
LineardialGadget\Yaw%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
LineardialGadget\Yaw%20Desired\data\decimalPlaces=2
LineardialGadget\Yaw%20Desired\data\factor=1
LineardialGadget\Yaw%20Desired\data\useOpenGLFlag=false
LineardialGadget\Yaw%20Desired\configInfo\version=0.0.0
LineardialGadget\Yaw%20Desired\configInfo\locked=false
ModelViewGadget\Aeroquad%20%2B\data\acFilename=%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds
ModelViewGadget\Aeroquad%20%2B\data\bgFilename=%%DATAPATH%%models/backgrounds/default_background.png
ModelViewGadget\Aeroquad%20%2B\data\enableVbo=false
@ -1439,24 +1469,24 @@ OPMapGadget\Google%20Sat\data\mapProvider=GoogleSatellite
OPMapGadget\Google%20Sat\data\defaultZoom=2
OPMapGadget\Google%20Sat\data\defaultLatitude=0
OPMapGadget\Google%20Sat\data\defaultLongitude=0
OPMapGadget\Google%20Sat\data\useOpenGL=true
OPMapGadget\Google%20Sat\data\useOpenGL=false
OPMapGadget\Google%20Sat\data\showTileGridLines=false
OPMapGadget\Google%20Sat\data\accessMode=ServerAndCache
OPMapGadget\Google%20Sat\data\useMemoryCache=true
OPMapGadget\Google%20Sat\data\uavSymbol=mapquad.png
OPMapGadget\Google%20Sat\data\cacheLocation=
OPMapGadget\Google%20Sat\data\cacheLocation=%%STOREPATH%%mapscache/
OPMapGadget\Google%20Sat\configInfo\version=0.0.0
OPMapGadget\Google%20Sat\configInfo\locked=false
OPMapGadget\Memory%20Only\data\mapProvider=GoogleMap
OPMapGadget\Memory%20Only\data\defaultZoom=2
OPMapGadget\Memory%20Only\data\defaultLatitude=0
OPMapGadget\Memory%20Only\data\defaultLongitude=0
OPMapGadget\Memory%20Only\data\useOpenGL=true
OPMapGadget\Memory%20Only\data\useOpenGL=false
OPMapGadget\Memory%20Only\data\showTileGridLines=false
OPMapGadget\Memory%20Only\data\accessMode=CacheOnly
OPMapGadget\Memory%20Only\data\useMemoryCache=true
OPMapGadget\Memory%20Only\data\uavSymbol=airplanepip.png
OPMapGadget\Memory%20Only\data\cacheLocation=
OPMapGadget\Memory%20Only\data\cacheLocation=%%STOREPATH%%mapscache/
OPMapGadget\Memory%20Only\configInfo\version=0.0.0
OPMapGadget\Memory%20Only\configInfo\locked=false
OPMapGadget\default\data\mapProvider=GoogleMap
@ -1468,7 +1498,7 @@ OPMapGadget\default\data\showTileGridLines=false
OPMapGadget\default\data\accessMode=ServerAndCache
OPMapGadget\default\data\useMemoryCache=true
OPMapGadget\default\data\uavSymbol=mapquad.png
OPMapGadget\default\data\cacheLocation=
OPMapGadget\default\data\cacheLocation=%%STOREPATH%%mapscache/
OPMapGadget\default\configInfo\version=0.0.0
OPMapGadget\default\configInfo\locked=false
PFDGadget\raw\data\dialFile=%%DATAPATH%%pfd/default/pfd.svg
@ -1883,16 +1913,16 @@ Uploader\default\configInfo\version=0.0.0
Uploader\default\configInfo\locked=false
[Plugins]
SoundNotifyPlugin\data\Current\1\SoundCollectionPath=%%DATAPATH%%sounds
SoundNotifyPlugin\data\Current\1\CurrentLanguage=default
SoundNotifyPlugin\data\Current\1\ObjectField=Channel
SoundNotifyPlugin\data\Current\1\DataObject=ActuatorCommand
SoundNotifyPlugin\data\Current\1\Value=Equal to
SoundNotifyPlugin\data\Current\1\SoundCollectionPath=
SoundNotifyPlugin\data\Current\1\CurrentLanguage=
SoundNotifyPlugin\data\Current\1\ObjectField=
SoundNotifyPlugin\data\Current\1\DataObject=
SoundNotifyPlugin\data\Current\1\Value=
SoundNotifyPlugin\data\Current\1\ValueSpinBox=0
SoundNotifyPlugin\data\Current\1\Sound1=
SoundNotifyPlugin\data\Current\1\Sound2=
SoundNotifyPlugin\data\Current\1\Sound3=
SoundNotifyPlugin\data\Current\1\SayOrder=Never
SoundNotifyPlugin\data\Current\1\SayOrder=
SoundNotifyPlugin\data\Current\1\Repeat=
SoundNotifyPlugin\data\Current\1\ExpireTimeout=0
SoundNotifyPlugin\data\Current\size=1
@ -1900,9 +1930,3 @@ SoundNotifyPlugin\data\listNotifies\size=0
SoundNotifyPlugin\data\EnableSound=false
SoundNotifyPlugin\configInfo\version=1.0.0
SoundNotifyPlugin\configInfo\locked=false
[IPconnection]
Current\1\HostName=
Current\1\Port=1
Current\1\UseTCP=0
Current\size=1

6
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -73,8 +73,10 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
rightX = 0;
rightY = 0;
m_gcscontrol->widgetLeftStick->enableOpenGL(true);
m_gcscontrol->widgetRightStick->enableOpenGL(true);
// No point enabling OpenGL for the joysticks, and causes
// issues on some computers:
// m_gcscontrol->widgetLeftStick->enableOpenGL(true);
// m_gcscontrol->widgetRightStick->enableOpenGL(true);
}
GCSControlGadgetWidget::~GCSControlGadgetWidget()

218
ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.cpp
View File

@ -1,102 +1,116 @@
/**
******************************************************************************
*
* @file opmapgadgetconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "opmapgadgetconfiguration.h"
#include "utils/pathutils.h"
#include <QDir>
OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId, QSettings* qSettings, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_mapProvider("GoogleHybrid"),
m_defaultZoom(2),
m_defaultLatitude(0),
m_defaultLongitude(0),
m_useOpenGL(false),
m_showTileGridLines(false),
m_accessMode("ServerAndCache"),
m_useMemoryCache(true),
m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()),
m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png"))
{
//if a saved configuration exists load it
if(qSettings != 0) {
QString mapProvider = qSettings->value("mapProvider").toString();
int zoom = qSettings->value("defaultZoom").toInt();
double latitude= qSettings->value("defaultLatitude").toDouble();
double longitude= qSettings->value("defaultLongitude").toDouble();
bool useOpenGL= qSettings->value("useOpenGL").toBool();
bool showTileGridLines= qSettings->value("showTileGridLines").toBool();
QString accessMode= qSettings->value("accessMode").toString();
bool useMemoryCache= qSettings->value("useMemoryCache").toBool();
QString cacheLocation= qSettings->value("cacheLocation").toString();
QString uavSymbol=qSettings->value("uavSymbol").toString();
if (!mapProvider.isEmpty()) m_mapProvider = mapProvider;
m_defaultZoom = zoom;
m_defaultLatitude = latitude;
m_defaultLongitude = longitude;
m_useOpenGL = useOpenGL;
m_showTileGridLines = showTileGridLines;
m_uavSymbol=uavSymbol;
if (!accessMode.isEmpty()) m_accessMode = accessMode;
m_useMemoryCache = useMemoryCache;
if (!cacheLocation.isEmpty()) m_cacheLocation = Utils::PathUtils().InsertStoragePath(cacheLocation);
}
}
IUAVGadgetConfiguration * OPMapGadgetConfiguration::clone()
{
OPMapGadgetConfiguration *m = new OPMapGadgetConfiguration(this->classId());
m->m_mapProvider = m_mapProvider;
m->m_defaultZoom = m_defaultZoom;
m->m_defaultLatitude = m_defaultLatitude;
m->m_defaultLongitude = m_defaultLongitude;
m->m_useOpenGL = m_useOpenGL;
m->m_showTileGridLines = m_showTileGridLines;
m->m_accessMode = m_accessMode;
m->m_useMemoryCache = m_useMemoryCache;
m->m_cacheLocation = m_cacheLocation;
m->m_uavSymbol=m_uavSymbol;
return m;
}
void OPMapGadgetConfiguration::saveConfig(QSettings* qSettings) const {
qSettings->setValue("mapProvider", m_mapProvider);
qSettings->setValue("defaultZoom", m_defaultZoom);
qSettings->setValue("defaultLatitude", m_defaultLatitude);
qSettings->setValue("defaultLongitude", m_defaultLongitude);
qSettings->setValue("useOpenGL", m_useOpenGL);
qSettings->setValue("showTileGridLines", m_showTileGridLines);
qSettings->setValue("accessMode", m_accessMode);
qSettings->setValue("useMemoryCache", m_useMemoryCache);
qSettings->setValue("uavSymbol", m_uavSymbol);
qSettings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation));
}
void OPMapGadgetConfiguration::setCacheLocation(QString cacheLocation){
m_cacheLocation = cacheLocation;
}
/**
******************************************************************************
*
* @file opmapgadgetconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "opmapgadgetconfiguration.h"
#include "utils/pathutils.h"
#include <QDir>
OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId, QSettings* qSettings, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_mapProvider("GoogleHybrid"),
m_defaultZoom(2),
m_defaultLatitude(0),
m_defaultLongitude(0),
m_useOpenGL(false),
m_showTileGridLines(false),
m_accessMode("ServerAndCache"),
m_useMemoryCache(true),
m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()),
m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png")),
m_maxUpdateRate(2000) // ms
{
//if a saved configuration exists load it
if (qSettings != 0) {
QString mapProvider = qSettings->value("mapProvider").toString();
int zoom = qSettings->value("defaultZoom").toInt();
double latitude= qSettings->value("defaultLatitude").toDouble();
double longitude= qSettings->value("defaultLongitude").toDouble();
bool useOpenGL= qSettings->value("useOpenGL").toBool();
bool showTileGridLines= qSettings->value("showTileGridLines").toBool();
QString accessMode= qSettings->value("accessMode").toString();
bool useMemoryCache= qSettings->value("useMemoryCache").toBool();
QString cacheLocation= qSettings->value("cacheLocation").toString();
QString uavSymbol=qSettings->value("uavSymbol").toString();
int max_update_rate = qSettings->value("maxUpdateRate").toInt();
if (!mapProvider.isEmpty()) m_mapProvider = mapProvider;
m_defaultZoom = zoom;
m_defaultLatitude = latitude;
m_defaultLongitude = longitude;
m_useOpenGL = useOpenGL;
m_showTileGridLines = showTileGridLines;
m_uavSymbol = uavSymbol;
m_maxUpdateRate = max_update_rate;
if (m_maxUpdateRate < 100 || m_maxUpdateRate > 5000)
m_maxUpdateRate = 2000;
if (!accessMode.isEmpty())
m_accessMode = accessMode;
m_useMemoryCache = useMemoryCache;
if (!cacheLocation.isEmpty())
m_cacheLocation = Utils::PathUtils().InsertStoragePath(cacheLocation);
}
}
IUAVGadgetConfiguration * OPMapGadgetConfiguration::clone()
{
OPMapGadgetConfiguration *m = new OPMapGadgetConfiguration(this->classId());
m->m_mapProvider = m_mapProvider;
m->m_defaultZoom = m_defaultZoom;
m->m_defaultLatitude = m_defaultLatitude;
m->m_defaultLongitude = m_defaultLongitude;
m->m_useOpenGL = m_useOpenGL;
m->m_showTileGridLines = m_showTileGridLines;
m->m_accessMode = m_accessMode;
m->m_useMemoryCache = m_useMemoryCache;
m->m_cacheLocation = m_cacheLocation;
m->m_uavSymbol = m_uavSymbol;
m->m_maxUpdateRate = m_maxUpdateRate;
return m;
}
void OPMapGadgetConfiguration::saveConfig(QSettings* qSettings) const {
qSettings->setValue("mapProvider", m_mapProvider);
qSettings->setValue("defaultZoom", m_defaultZoom);
qSettings->setValue("defaultLatitude", m_defaultLatitude);
qSettings->setValue("defaultLongitude", m_defaultLongitude);
qSettings->setValue("useOpenGL", m_useOpenGL);
qSettings->setValue("showTileGridLines", m_showTileGridLines);
qSettings->setValue("accessMode", m_accessMode);
qSettings->setValue("useMemoryCache", m_useMemoryCache);
qSettings->setValue("uavSymbol", m_uavSymbol);
qSettings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation));
qSettings->setValue("maxUpdateRate", m_maxUpdateRate);
}
void OPMapGadgetConfiguration::setCacheLocation(QString cacheLocation){
m_cacheLocation = cacheLocation;
}

190
ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.h
View File

@ -1,93 +1,97 @@
/**
******************************************************************************
*
* @file opmapgadgetconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPMAP_GADGETCONFIGURATION_H
#define OPMAP_GADGETCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtCore/QString>
using namespace Core;
class OPMapGadgetConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(QString mapProvider READ mapProvider WRITE setMapProvider)
Q_PROPERTY(int zoommo READ zoom WRITE setZoom)
Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
Q_PROPERTY(bool useOpenGL READ useOpenGL WRITE setUseOpenGL)
Q_PROPERTY(bool showTileGridLines READ showTileGridLines WRITE setShowTileGridLines)
Q_PROPERTY(QString accessMode READ accessMode WRITE setAccessMode)
Q_PROPERTY(bool useMemoryCache READ useMemoryCache WRITE setUseMemoryCache)
Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation)
Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol)
public:
explicit OPMapGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
void saveConfig(QSettings* settings) const;
IUAVGadgetConfiguration *clone();
QString mapProvider() const { return m_mapProvider; }
int zoom() const { return m_defaultZoom; }
double latitude() const { return m_defaultLatitude; }
double longitude() const { return m_defaultLongitude; }
bool useOpenGL() const { return m_useOpenGL; }
bool showTileGridLines() const { return m_showTileGridLines; }
QString accessMode() const { return m_accessMode; }
bool useMemoryCache() const { return m_useMemoryCache; }
QString cacheLocation() const { return m_cacheLocation; }
QString uavSymbol() const { return m_uavSymbol; }
public slots:
void setMapProvider(QString provider) { m_mapProvider = provider; }
void setZoom(int zoom) { m_defaultZoom = zoom; }
void setLatitude(double latitude) { m_defaultLatitude = latitude; }
void setLongitude(double longitude) { m_defaultLongitude = longitude; }
void setUseOpenGL(bool useOpenGL) { m_useOpenGL = useOpenGL; }
void setShowTileGridLines(bool showTileGridLines) { m_showTileGridLines = showTileGridLines; }
void setAccessMode(QString accessMode) { m_accessMode = accessMode; }
void setUseMemoryCache(bool useMemoryCache) { m_useMemoryCache = useMemoryCache; }
void setCacheLocation(QString cacheLocation);
void setUavSymbol(QString symbol){m_uavSymbol=symbol;}
private:
QString m_mapProvider;
int m_defaultZoom;
double m_defaultLatitude;
double m_defaultLongitude;
bool m_useOpenGL;
bool m_showTileGridLines;
QString m_accessMode;
bool m_useMemoryCache;
QString m_cacheLocation;
QString m_uavSymbol;
};
#endif // OPMAP_GADGETCONFIGURATION_H
/**
******************************************************************************
*
* @file opmapgadgetconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPMAP_GADGETCONFIGURATION_H
#define OPMAP_GADGETCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtCore/QString>
using namespace Core;
class OPMapGadgetConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(QString mapProvider READ mapProvider WRITE setMapProvider)
Q_PROPERTY(int zoommo READ zoom WRITE setZoom)
Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
Q_PROPERTY(bool useOpenGL READ useOpenGL WRITE setUseOpenGL)
Q_PROPERTY(bool showTileGridLines READ showTileGridLines WRITE setShowTileGridLines)
Q_PROPERTY(QString accessMode READ accessMode WRITE setAccessMode)
Q_PROPERTY(bool useMemoryCache READ useMemoryCache WRITE setUseMemoryCache)
Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation)
Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol)
Q_PROPERTY(int maxUpdateRate READ maxUpdateRate WRITE setMaxUpdateRate)
public:
explicit OPMapGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
void saveConfig(QSettings* settings) const;
IUAVGadgetConfiguration *clone();
QString mapProvider() const { return m_mapProvider; }
int zoom() const { return m_defaultZoom; }
double latitude() const { return m_defaultLatitude; }
double longitude() const { return m_defaultLongitude; }
bool useOpenGL() const { return m_useOpenGL; }
bool showTileGridLines() const { return m_showTileGridLines; }
QString accessMode() const { return m_accessMode; }
bool useMemoryCache() const { return m_useMemoryCache; }
QString cacheLocation() const { return m_cacheLocation; }
QString uavSymbol() const { return m_uavSymbol; }
int maxUpdateRate() const { return m_maxUpdateRate; }
public slots:
void setMapProvider(QString provider) { m_mapProvider = provider; }
void setZoom(int zoom) { m_defaultZoom = zoom; }
void setLatitude(double latitude) { m_defaultLatitude = latitude; }
void setLongitude(double longitude) { m_defaultLongitude = longitude; }
void setUseOpenGL(bool useOpenGL) { m_useOpenGL = useOpenGL; }
void setShowTileGridLines(bool showTileGridLines) { m_showTileGridLines = showTileGridLines; }
void setAccessMode(QString accessMode) { m_accessMode = accessMode; }
void setUseMemoryCache(bool useMemoryCache) { m_useMemoryCache = useMemoryCache; }
void setCacheLocation(QString cacheLocation);
void setUavSymbol(QString symbol){m_uavSymbol=symbol;}
void setMaxUpdateRate(int update_rate){m_maxUpdateRate = update_rate;}
private:
QString m_mapProvider;
int m_defaultZoom;
double m_defaultLatitude;
double m_defaultLongitude;
bool m_useOpenGL;
bool m_showTileGridLines;
QString m_accessMode;
bool m_useMemoryCache;
QString m_cacheLocation;
QString m_uavSymbol;
int m_maxUpdateRate;
};
#endif // OPMAP_GADGETCONFIGURATION_H

282
ground/openpilotgcs/src/plugins/opmap/opmapgadgetoptionspage.cpp
View File

@ -1,133 +1,149 @@
/**
******************************************************************************
*
* @file opmapgadgetoptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "opmapgadgetoptionspage.h"
#include "opmapgadgetconfiguration.h"
#include <QtGui/QLabel>
#include <QtGui/QComboBox>
#include <QtGui/QSpinBox>
#include <QtGui/QDoubleSpinBox>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QFileDialog>
#include "opmapcontrol/opmapcontrol.h"
#include "utils/pathutils.h"
#include "ui_opmapgadgetoptionspage.h"
// *********************************************
OPMapGadgetOptionsPage::OPMapGadgetOptionsPage(OPMapGadgetConfiguration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
{
m_page = new Ui::OPMapGadgetOptionsPage();
QWidget *w = new QWidget(parent);
m_page->setupUi(w);
// populate the map provider combobox
m_page->providerComboBox->clear();
m_page->providerComboBox->addItems(mapcontrol::Helper::MapTypes());
// populate the access mode combobox
m_page->accessModeComboBox->clear();
m_page->accessModeComboBox->addItems(mapcontrol::Helper::AccessModeTypes());
int index = m_page->providerComboBox->findText(m_config->mapProvider());
index = (index >= 0) ? index : 0;
m_page->providerComboBox->setCurrentIndex(index);
m_page->zoomSpinBox->setValue(m_config->zoom());
m_page->latitudeSpinBox->setValue(m_config->latitude());
m_page->longitudeSpinBox->setValue(m_config->longitude());
m_page->checkBoxUseOpenGL->setChecked(m_config->useOpenGL());
m_page->checkBoxShowTileGridLines->setChecked(m_config->showTileGridLines());
index = m_page->accessModeComboBox->findText(m_config->accessMode());
index = (index >= 0) ? index : 0;
m_page->accessModeComboBox->setCurrentIndex(index);
m_page->checkBoxUseMemoryCache->setChecked(m_config->useMemoryCache());
m_page->lineEditCacheLocation->setExpectedKind(Utils::PathChooser::Directory);
m_page->lineEditCacheLocation->setPromptDialogTitle(tr("Choose Cache Directory"));
m_page->lineEditCacheLocation->setPath(m_config->cacheLocation());
QDir dir(":/uavs/images/");
QStringList list=dir.entryList();
foreach(QString i,list)
{
QIcon icon(QPixmap(":/uavs/images/"+i));
m_page->uavSymbolComboBox->addItem(icon,QString(),i);
}
for(int x=0;x<m_page->uavSymbolComboBox->count();++x)
{
if(m_page->uavSymbolComboBox->itemData(x).toString()==m_config->uavSymbol())
{
m_page->uavSymbolComboBox->setCurrentIndex(x);
}
}
connect(m_page->pushButtonCacheDefaults, SIGNAL(clicked()), this, SLOT(on_pushButtonCacheDefaults_clicked()));
return w;
}
void OPMapGadgetOptionsPage::on_pushButtonCacheDefaults_clicked()
{
int index = m_page->accessModeComboBox->findText("ServerAndCache");
index = (index >= 0) ? index : 0;
m_page->accessModeComboBox->setCurrentIndex(index);
m_page->checkBoxUseMemoryCache->setChecked(true);
m_page->lineEditCacheLocation->setPath(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator());
}
void OPMapGadgetOptionsPage::apply()
{
m_config->setMapProvider(m_page->providerComboBox->currentText());
m_config->setZoom(m_page->zoomSpinBox->value());
m_config->setLatitude(m_page->latitudeSpinBox->value());
m_config->setLongitude(m_page->longitudeSpinBox->value());
m_config->setUseOpenGL(m_page->checkBoxUseOpenGL->isChecked());
m_config->setShowTileGridLines(m_page->checkBoxShowTileGridLines->isChecked());
m_config->setAccessMode(m_page->accessModeComboBox->currentText());
m_config->setUseMemoryCache(m_page->checkBoxUseMemoryCache->isChecked());
m_config->setCacheLocation(m_page->lineEditCacheLocation->path());
m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString());
}
void OPMapGadgetOptionsPage::finish()
{
delete m_page;
}
/**
******************************************************************************
*
* @file opmapgadgetoptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "opmapgadgetoptionspage.h"
#include "opmapgadgetconfiguration.h"
#include <QtGui/QLabel>
#include <QtGui/QComboBox>
#include <QtGui/QSpinBox>
#include <QtGui/QDoubleSpinBox>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QFileDialog>
#include "opmapcontrol/opmapcontrol.h"
#include "utils/pathutils.h"
#include "ui_opmapgadgetoptionspage.h"
// *********************************************
OPMapGadgetOptionsPage::OPMapGadgetOptionsPage(OPMapGadgetConfiguration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
{
int index;
m_page = new Ui::OPMapGadgetOptionsPage();
QWidget *w = new QWidget(parent);
m_page->setupUi(w);
// populate the map provider combobox
m_page->providerComboBox->clear();
m_page->providerComboBox->addItems(mapcontrol::Helper::MapTypes());
// populate the access mode combobox
m_page->accessModeComboBox->clear();
m_page->accessModeComboBox->addItems(mapcontrol::Helper::AccessModeTypes());
index = m_page->providerComboBox->findText(m_config->mapProvider());
index = (index >= 0) ? index : 0;
m_page->providerComboBox->setCurrentIndex(index);
// populate the map max update rate combobox
m_page->maxUpdateRateComboBox->clear();
m_page->maxUpdateRateComboBox->addItem("100ms", 100);
m_page->maxUpdateRateComboBox->addItem("200ms", 200);
m_page->maxUpdateRateComboBox->addItem("500ms", 500);
m_page->maxUpdateRateComboBox->addItem("1 sec", 1000);
m_page->maxUpdateRateComboBox->addItem("2 sec", 2000);
m_page->maxUpdateRateComboBox->addItem("5 sec", 5000);
index = m_page->maxUpdateRateComboBox->findData(m_config->maxUpdateRate());
index = (index >= 0) ? index : 4;
m_page->maxUpdateRateComboBox->setCurrentIndex(index);
m_page->zoomSpinBox->setValue(m_config->zoom());
m_page->latitudeSpinBox->setValue(m_config->latitude());
m_page->longitudeSpinBox->setValue(m_config->longitude());
m_page->checkBoxUseOpenGL->setChecked(m_config->useOpenGL());
m_page->checkBoxShowTileGridLines->setChecked(m_config->showTileGridLines());
index = m_page->accessModeComboBox->findText(m_config->accessMode());
index = (index >= 0) ? index : 0;
m_page->accessModeComboBox->setCurrentIndex(index);
m_page->checkBoxUseMemoryCache->setChecked(m_config->useMemoryCache());
m_page->lineEditCacheLocation->setExpectedKind(Utils::PathChooser::Directory);
m_page->lineEditCacheLocation->setPromptDialogTitle(tr("Choose Cache Directory"));
m_page->lineEditCacheLocation->setPath(m_config->cacheLocation());
QDir dir(":/uavs/images/");
QStringList list=dir.entryList();
foreach(QString i,list)
{
QIcon icon(QPixmap(":/uavs/images/"+i));
m_page->uavSymbolComboBox->addItem(icon,QString(),i);
}
for(int x=0;x<m_page->uavSymbolComboBox->count();++x)
{
if(m_page->uavSymbolComboBox->itemData(x).toString()==m_config->uavSymbol())
{
m_page->uavSymbolComboBox->setCurrentIndex(x);
}
}
connect(m_page->pushButtonCacheDefaults, SIGNAL(clicked()), this, SLOT(on_pushButtonCacheDefaults_clicked()));
return w;
}
void OPMapGadgetOptionsPage::on_pushButtonCacheDefaults_clicked()
{
int index = m_page->accessModeComboBox->findText("ServerAndCache");
index = (index >= 0) ? index : 0;
m_page->accessModeComboBox->setCurrentIndex(index);
m_page->checkBoxUseMemoryCache->setChecked(true);
m_page->lineEditCacheLocation->setPath(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator());
}
void OPMapGadgetOptionsPage::apply()
{
m_config->setMapProvider(m_page->providerComboBox->currentText());
m_config->setZoom(m_page->zoomSpinBox->value());
m_config->setLatitude(m_page->latitudeSpinBox->value());
m_config->setLongitude(m_page->longitudeSpinBox->value());
m_config->setUseOpenGL(m_page->checkBoxUseOpenGL->isChecked());
m_config->setShowTileGridLines(m_page->checkBoxShowTileGridLines->isChecked());
m_config->setAccessMode(m_page->accessModeComboBox->currentText());
m_config->setUseMemoryCache(m_page->checkBoxUseMemoryCache->isChecked());
m_config->setCacheLocation(m_page->lineEditCacheLocation->path());
m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString());
m_config->setMaxUpdateRate(m_page->maxUpdateRateComboBox->itemData(m_page->maxUpdateRateComboBox->currentIndex()).toInt());
}
void OPMapGadgetOptionsPage::finish()
{
delete m_page;
}

15
ground/openpilotgcs/src/plugins/opmap/opmapgadgetoptionspage.ui
View File

@ -30,7 +30,7 @@
<number>5</number>
</property>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0" rowminimumheight="22,22,22,0,22">
<layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0" rowminimumheight="22,22,22,0,22,0">
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
@ -249,6 +249,19 @@
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QComboBox" name="maxUpdateRateComboBox"/>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Default Max Update Rate </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="8" column="0">

4822
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -1,2371 +1,2451 @@
/**
******************************************************************************
*
* @file opmapgadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "opmapgadgetwidget.h"
#include "ui_opmap_widget.h"
#include <QtGui/QApplication>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QClipboard>
#include <QtGui/QMenu>
#include <QStringList>
#include <QDir>
#include <QFile>
#include <QDateTime>
#include <math.h>
#include "utils/stylehelper.h"
#include "utils/homelocationutil.h"
#include "utils/worldmagmodel.h"
#include "uavtalk/telemetrymanager.h"
#include "positionactual.h"
#include "homelocation.h"
#define allow_manual_home_location_move
// *************************************************************************************
#define deg_to_rad ((double)M_PI / 180.0)
#define rad_to_deg (180.0 / (double)M_PI)
#define earth_mean_radius 6371 // kilometers
#define max_digital_zoom 3 // maximum allowed digital zoom level
const int safe_area_radius_list[] = {5, 10, 20, 50, 100, 200, 500, 1000, 2000, 5000}; // meters
const int uav_trail_time_list[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; // seconds
const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500}; // meters
// *************************************************************************************
// *************************************************************************************
// NOTE: go back to SVN REV 2137 and earlier to get back to experimental waypoint support.
// *************************************************************************************
// constructor
OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
{
// **************
m_widget = NULL;
m_map = NULL;
findPlaceCompleter = NULL;
m_mouse_waypoint = NULL;
pm = NULL;
obm = NULL;
obum = NULL;
prev_tile_number = 0;
min_zoom = max_zoom = 0;
m_map_mode = Normal_MapMode;
telemetry_connected = false;
context_menu_lat_lon = mouse_lat_lon = internals::PointLatLng(0, 0);
setMouseTracking(true);
pm = ExtensionSystem::PluginManager::instance();
if (pm)
{
obm = pm->getObject<UAVObjectManager>();
obum = pm->getObject<UAVObjectUtilManager>();
}
// **************
// get current location
double latitude = 0;
double longitude = 0;
double altitude = 0;
// current position
getUAVPosition(latitude, longitude, altitude);
internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
// **************
// default home position
home_position.coord = pos_lat_lon;
home_position.altitude = altitude;
home_position.locked = false;
// **************
// default magic waypoint params
magic_waypoint.map_wp_item = NULL;
magic_waypoint.coord = home_position.coord;
magic_waypoint.altitude = altitude;
magic_waypoint.description = "Magic waypoint";
magic_waypoint.locked = false;
magic_waypoint.time_seconds = 0;
magic_waypoint.hold_time_seconds = 0;
// **************
// create the widget that holds the user controls and the map
m_widget = new Ui::OPMap_Widget();
m_widget->setupUi(this);
// **************
// create the central map widget
m_map = new mapcontrol::OPMapWidget(); // create the map object
m_map->setFrameStyle(QFrame::NoFrame); // no border frame
m_map->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); // tile background
m_map->configuration->DragButton = Qt::LeftButton; // use the left mouse button for map dragging
m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); //
m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); //
min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept
max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions
m_map->SetFollowMouse(true); // we want a contiuous mouse position reading
m_map->SetShowHome(true); // display the HOME position on the map
m_map->SetShowUAV(true); // display the UAV position on the map
m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters)
m_map->Home->SetShowSafeArea(true); // show the safe area
m_map->UAV->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->UAV->SetTrailType(UAVTrailType::ByDistance);
m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
// **************
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
QVBoxLayout *layout = new QVBoxLayout;
layout->setSpacing(0);
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(m_map);
m_widget->mapWidget->setLayout(layout);
// **************
// set the user control options
// TODO: this switch does not make sense, does it??
switch (m_map_mode)
{
case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
break;
case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls();
break;
default:
m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
break;
}
m_widget->labelUAVPos->setText("---");
m_widget->labelMapPos->setText("---");
m_widget->labelMousePos->setText("---");
m_widget->labelMapZoom->setText("---");
// Splitter is not used at the moment:
// m_widget->splitter->setCollapsible(1, false);
// set the size of the collapsable widgets
//QList<int> m_SizeList;
//m_SizeList << 0 << 0 << 0;
//m_widget->splitter->setSizes(m_SizeList);
m_widget->progressBarMap->setMaximum(1);
/*
#if defined(Q_OS_MAC)
#elif defined(Q_OS_WIN)
m_widget->comboBoxFindPlace->clear();
loadComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
m_widget->comboBoxFindPlace->setCurrentIndex(-1);
#else
#endif
*/
// **************
// map stuff
connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double))); // map zoom change signals
connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals
connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals
connect(m_map, SIGNAL(OnMapDrag()), this, SLOT(OnMapDrag())); // map drag signals
connect(m_map, SIGNAL(OnMapZoomChanged()), this, SLOT(OnMapZoomChanged())); // map zoom changed
connect(m_map, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SLOT(OnMapTypeChanged(MapType::Types))); // map type changed
connect(m_map, SIGNAL(OnEmptyTileError(int, core::Point)), this, SLOT(OnEmptyTileError(int, core::Point))); // tile error
connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals
connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
connect(m_map, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(WPValuesChanged(WayPointItem*)));
connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
m_map->SetCurrentPosition(home_position.coord); // set the map position
m_map->Home->SetCoord(home_position.coord); // set the HOME position
m_map->UAV->SetUAVPos(home_position.coord, 0.0); // set the UAV position
m_map->GPS->SetUAVPos(home_position.coord, 0.0); // set the UAV position
// **************
// create various context menu (mouse right click menu) actions
createActions();
// **************
// connect to the UAVObject updates we require to become a bit aware of our environment:
if (pm)
{
// Register for Home Location state changes
if (obm)
{
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
if (obj)
{
connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
}
}
// Listen to telemetry connection events
TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
if (telMngr)
{
connect(telMngr, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
}
}
// **************
// create the desired timers
m_updateTimer = new QTimer();
m_updateTimer->setInterval(200);
connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
m_updateTimer->start();
m_statusUpdateTimer = new QTimer();
m_statusUpdateTimer->setInterval(100);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
m_statusUpdateTimer->start();
// **************
m_map->setFocus();
}
// destructor
OPMapGadgetWidget::~OPMapGadgetWidget()
{
if (m_map)
{
disconnect(m_map, 0, 0, 0);
m_map->SetShowHome(false); // doing this appears to stop the map lib crashing on exit
m_map->SetShowUAV(false); // " "
}
// this destructor doesn't appear to be called at shutdown???
// #if defined(Q_OS_MAC)
// #elif defined(Q_OS_WIN)
// saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
// #else
// #endif
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
// todo:
delete wp->map_wp_item;
}
m_waypoint_list_mutex.unlock();
m_waypoint_list.clear();
if (m_map)
{
delete m_map;
m_map = NULL;
}
}
// *************************************************************************************
// widget signals .. the mouseMoveEvent does not get called - don't yet know why
void OPMapGadgetWidget::resizeEvent(QResizeEvent *event)
{
qDebug("opmap: resizeEvent");
QWidget::resizeEvent(event);
}
void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
{
qDebug("opmap: mouseMoveEvent");
if (m_widget && m_map)
{
}
if (event->buttons() & Qt::LeftButton)
{
// QPoint pos = event->pos();
}
QWidget::mouseMoveEvent(event);
}
void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
{ // the user has right clicked on the map - create the pop-up context menu and display it
QString s;
if (!m_widget || !m_map)
return;
if (event->reason() != QContextMenuEvent::Mouse)
return; // not a mouse click event
// current mouse position
QPoint p = m_map->mapFromGlobal(event->globalPos());
context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
// context_menu_lat_lon = m_map->currentMousePosition();
if (!m_map->contentsRect().contains(p))
return; // the mouse click was not on the map
// show the mouse position
s = QString::number(context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(context_menu_lat_lon.Lng(), 'f', 7);
m_widget->labelMousePos->setText(s);
// find out if we have a waypoint under the mouse cursor
QGraphicsItem *item = m_map->itemAt(p);
m_mouse_waypoint = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
// find out if the waypoint is locked (or not)
bool waypoint_locked = false;
if (m_mouse_waypoint)
waypoint_locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
// ****************
// Dynamically create the popup menu
QMenu menu(this);
menu.addAction(closeAct1);
menu.addSeparator();
menu.addAction(reloadAct);
menu.addSeparator();
switch (m_map_mode)
{
case Normal_MapMode: s = tr(" (Normal)"); break;
case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
default: s = tr(" (Unknown)"); break;
}
for (int i = 0; i < mapModeAct.count(); i++)
{ // set the menu to checked (or not)
QAction *act = mapModeAct.at(i);
if (!act) continue;
if (act->data().toInt() == (int)m_map_mode)
act->setChecked(true);
}
QMenu mapModeSubMenu(tr("Map mode") + s, this);
for (int i = 0; i < mapModeAct.count(); i++)
mapModeSubMenu.addAction(mapModeAct.at(i));
menu.addMenu(&mapModeSubMenu);
menu.addSeparator();
QMenu copySubMenu(tr("Copy"), this);
copySubMenu.addAction(copyMouseLatLonToClipAct);
copySubMenu.addAction(copyMouseLatToClipAct);
copySubMenu.addAction(copyMouseLonToClipAct);
menu.addMenu(&copySubMenu);
menu.addSeparator();
/*
menu.addAction(findPlaceAct);
menu.addSeparator();
*/
menu.addAction(showSafeAreaAct);
QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this);
for (int i = 0; i < safeAreaAct.count(); i++)
safeAreaSubMenu.addAction(safeAreaAct.at(i));
menu.addMenu(&safeAreaSubMenu);
menu.addSeparator();
menu.addAction(showCompassAct);
menu.addAction(showDiagnostics);
menu.addSeparator()->setText(tr("Zoom"));
menu.addAction(zoomInAct);
menu.addAction(zoomOutAct);
QMenu zoomSubMenu(tr("&Zoom ") + "(" + QString::number(m_map->ZoomTotal()) + ")", this);
for (int i = 0; i < zoomAct.count(); i++)
zoomSubMenu.addAction(zoomAct.at(i));
menu.addMenu(&zoomSubMenu);
menu.addSeparator();
menu.addAction(goMouseClickAct);
menu.addSeparator()->setText(tr("HOME"));
menu.addAction(setHomeAct);
menu.addAction(showHomeAct);
menu.addAction(goHomeAct);
// ****
// uav trails
menu.addSeparator()->setText(tr("UAV Trail"));
QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
for (int i = 0; i < uavTrailTypeAct.count(); i++)
uavTrailTypeSubMenu.addAction(uavTrailTypeAct.at(i));
menu.addMenu(&uavTrailTypeSubMenu);
QMenu uavTrailTimeSubMenu(tr("UAV trail time") + " (" + QString::number(m_map->UAV->TrailTime()) + " sec)", this);
for (int i = 0; i < uavTrailTimeAct.count(); i++)
uavTrailTimeSubMenu.addAction(uavTrailTimeAct.at(i));
menu.addMenu(&uavTrailTimeSubMenu);
QMenu uavTrailDistanceSubMenu(tr("UAV trail distance") + " (" + QString::number(m_map->UAV->TrailDistance()) + " meters)", this);
for (int i = 0; i < uavTrailDistanceAct.count(); i++)
uavTrailDistanceSubMenu.addAction(uavTrailDistanceAct.at(i));
menu.addMenu(&uavTrailDistanceSubMenu);
menu.addAction(showTrailAct);
menu.addAction(showTrailLineAct);
menu.addAction(clearUAVtrailAct);
// ****
menu.addSeparator()->setText(tr("UAV"));
menu.addAction(showUAVAct);
menu.addAction(followUAVpositionAct);
menu.addAction(followUAVheadingAct);
menu.addAction(goUAVAct);
// *********
switch (m_map_mode)
{
case Normal_MapMode:
// only show the waypoint stuff if not in 'magic waypoint' mode
/*
menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(wayPointEditorAct);
menu.addAction(addWayPointAct);
if (m_mouse_waypoint)
{ // we have a waypoint under the mouse
menu.addAction(editWayPointAct);
lockWayPointAct->setChecked(waypoint_locked);
menu.addAction(lockWayPointAct);
if (!waypoint_locked)
menu.addAction(deleteWayPointAct);
}
m_waypoint_list_mutex.lock();
if (m_waypoint_list.count() > 0)
menu.addAction(clearWayPointsAct); // we have waypoints
m_waypoint_list_mutex.unlock();
*/
break;
case MagicWaypoint_MapMode:
menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(homeMagicWaypointAct);
break;
}
// *********
menu.addSeparator();
menu.addAction(closeAct2);
menu.exec(event->globalPos()); // popup the menu
// ****************
}
void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
{
qDebug() << "opmap: keyPressEvent, key =" << event->key() << endl;
switch (event->key())
{
case Qt::Key_Escape:
break;
case Qt::Key_F1:
break;
case Qt::Key_F2:
break;
case Qt::Key_Up:
break;
case Qt::Key_Down:
break;
case Qt::Key_Left:
break;
case Qt::Key_Right:
break;
case Qt::Key_PageUp:
break;
case Qt::Key_PageDown:
break;
}
}
// *************************************************************************************
// timer signals
/**
Updates the UAV position on the map. It is called every 200ms
by a timer.
TODO: consider updating upon object update, not timer.
*/
void OPMapGadgetWidget::updatePosition()
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
//Pip I'm sorry, I know this was here with a purpose vvv
//if (!telemetry_connected)
// return;
double latitude;
double longitude;
double altitude;
// get current UAV position
if (!getUAVPosition(latitude, longitude, altitude))
return;
// get current UAV heading
float yaw = getUAV_Yaw();
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
float uav_heading_degrees = yaw; // current UAV heading
float uav_altitude_meters = altitude; // current UAV height
float uav_ground_speed_meters_per_second = 0; //data.Groundspeed; // current UAV ground speed
// display the UAV lat/lon position
QString str =
"lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
" lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
" " + QString::number(uav_heading_degrees, 'f', 1) + "deg" +
" " + QString::number(uav_altitude_meters, 'f', 1) + "m" +
" " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
m_widget->labelUAVPos->setText(str);
m_map->UAV->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position
// qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
m_map->UAV->SetUAVHeading(uav_heading_degrees); // set the maps UAV heading
if (!getGPSPosition(latitude, longitude, altitude))
return;
uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
m_map->GPS->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position
m_map->GPS->SetUAVHeading(uav_heading_degrees); // set the maps UAV heading
}
/**
Update plugin behaviour based on mouse position; Called every few ms by a
timer.
*/
void OPMapGadgetWidget::updateMousePos()
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
QPoint p = m_map->mapFromGlobal(QCursor::pos());
internals::PointLatLng lat_lon = m_map->GetFromLocalToLatLng(p); // fetch the current lat/lon mouse position
if (!m_map->contentsRect().contains(p))
return; // the mouse is not on the map
// internals::PointLatLng lat_lon = m_map->currentMousePosition(); // fetch the current lat/lon mouse position
QGraphicsItem *item = m_map->itemAt(p);
// find out if we are over the home position
mapcontrol::HomeItem *home = qgraphicsitem_cast<mapcontrol::HomeItem *>(item);
// find out if we are over the UAV
mapcontrol::UAVItem *uav = qgraphicsitem_cast<mapcontrol::UAVItem *>(item);
// find out if we have a waypoint under the mouse cursor
mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
if (mouse_lat_lon == lat_lon)
return; // the mouse has not moved
mouse_lat_lon = lat_lon; // yes it has!
internals::PointLatLng home_lat_lon = m_map->Home->Coord();
QString s = QString::number(mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(mouse_lat_lon.Lng(), 'f', 7);
if (wp)
{
s += " wp[" + QString::number(wp->Number()) + "]";
double dist = distance(home_lat_lon, wp->Coord());
double bear = bearing(home_lat_lon, wp->Coord());
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
s += " " + QString::number(bear, 'f', 1) + "deg";
}
else
if (home)
{
s += " home";
double dist = distance(home_lat_lon, mouse_lat_lon);
double bear = bearing(home_lat_lon, mouse_lat_lon);
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
s += " " + QString::number(bear, 'f', 1) + "deg";
}
else
if (uav)
{
s += " uav";
double latitude;
double longitude;
double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
// double dist = distance(home_lat_lon, uav_pos);
// double bear = bearing(home_lat_lon, uav_pos);
// s += " " + QString::number(dist * 1000, 'f', 1) + "m";
// s += " " + QString::number(bear, 'f', 1) + "deg";
}
}
m_widget->labelMousePos->setText(s);
}
// *************************************************************************************
// map signals
/**
Update the Plugin UI to reflect a change in zoom level
*/
void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
{
if (!m_widget || !m_map)
return;
QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1);
m_widget->labelMapZoom->setText(s);
int i_zoom = (int)(zoomt + 0.5);
if (i_zoom < min_zoom) i_zoom = min_zoom;
else
if (i_zoom > max_zoom) i_zoom = max_zoom;
if (m_widget->horizontalSliderZoom->value() != i_zoom)
m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position
int index0_zoom = i_zoom - min_zoom; // zoom level starting at index level '0'
if (index0_zoom < zoomAct.count())
zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level
}
void OPMapGadgetWidget::OnMapDrag()
{
}
void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
{
if (!m_widget || !m_map)
return;
QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " ";
m_widget->labelMapPos->setText(coord_str);
}
/**
Update the progress bar while there are still tiles to load
*/
void OPMapGadgetWidget::OnTilesStillToLoad(int number)
{
if (!m_widget || !m_map)
return;
// if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
// m_widget->progressBarMap->setMaximum(number);
if (m_widget->progressBarMap->maximum() < number)
m_widget->progressBarMap->setMaximum(number);
m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number); // update the progress bar
// m_widget->labelNumTilesToLoad->setText(QString::number(number));
prev_tile_number = number;
}
/**
Show the progress bar as soon as the map lib starts downloading
*/
void OPMapGadgetWidget::OnTileLoadStart()
{
if (!m_widget || !m_map)
return;
m_widget->progressBarMap->setVisible(true);
}
/**
Hide the progress bar once the map lib has finished downloading
TODO: somehow this gets called before tile load is actually complete?
*/
void OPMapGadgetWidget::OnTileLoadComplete()
{
if (!m_widget || !m_map)
return;
m_widget->progressBarMap->setVisible(false);
}
void OPMapGadgetWidget::OnMapZoomChanged()
{
}
void OPMapGadgetWidget::OnMapTypeChanged(MapType::Types type)
{
Q_UNUSED(type);
}
void OPMapGadgetWidget::OnEmptyTileError(int zoom, core::Point pos)
{
Q_UNUSED(zoom);
Q_UNUSED(pos);
}
void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumber, WayPointItem *waypoint)
{
Q_UNUSED(oldnumber);
Q_UNUSED(newnumber);
Q_UNUSED(waypoint);
}
void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
{
// qDebug("opmap: WPValuesChanged");
switch (m_map_mode)
{
case Normal_MapMode:
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{ // search for the waypoint in our own waypoint list and update it
if (!wp) continue;
if (!wp->map_wp_item) continue;
if (wp->map_wp_item != waypoint) continue;
// found the waypoint in our list
wp->coord = waypoint->Coord();
wp->altitude = waypoint->Altitude();
wp->description = waypoint->Description();
break;
}
m_waypoint_list_mutex.unlock();
break;
case MagicWaypoint_MapMode:
// update our copy of the magic waypoint
if (magic_waypoint.map_wp_item && magic_waypoint.map_wp_item == waypoint)
{
magic_waypoint.coord = waypoint->Coord();
magic_waypoint.altitude = waypoint->Altitude();
magic_waypoint.description = waypoint->Description();
// move the UAV to the magic waypoint position
// moveToMagicWaypointPosition();
}
break;
}
}
/**
TODO: slot to do something upon Waypoint insertion
*/
void OPMapGadgetWidget::WPInserted(int const &number, WayPointItem *waypoint)
{
Q_UNUSED(number);
Q_UNUSED(waypoint);
}
/**
TODO: slot to do something upon Waypoint deletion
*/
void OPMapGadgetWidget::WPDeleted(int const &number)
{
Q_UNUSED(number);
}
void OPMapGadgetWidget::on_toolButtonZoomP_clicked()
{
QMutexLocker locker(&m_map_mutex);
zoomIn();
}
void OPMapGadgetWidget::on_toolButtonZoomM_clicked()
{
QMutexLocker locker(&m_map_mutex);
zoomOut();
}
void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
{
QMutexLocker locker(&m_map_mutex);
goHome();
}
void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
followUAVpositionAct->toggle();
}
void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
{
if (!m_widget || !m_map)
return;
followUAVheadingAct->toggle();
}
void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
setZoom(position);
}
void OPMapGadgetWidget::on_toolButtonNormalMapMode_clicked()
{
setMapMode(Normal_MapMode);
}
void OPMapGadgetWidget::on_toolButtonMagicWaypointMapMode_clicked()
{
setMapMode(MagicWaypoint_MapMode);
}
void OPMapGadgetWidget::on_toolButtonHomeWaypoint_clicked()
{
homeMagicWaypoint();
}
void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
{
moveToMagicWaypointPosition();
}
// *************************************************************************************
// public slots
void OPMapGadgetWidget::onTelemetryConnect()
{
telemetry_connected = true;
if (!obum) return;
bool set;
double LLA[3];
// ***********************
// fetch the home location
if (obum->getHomeLocation(set, LLA) < 0)
return; // error
setHome(internals::PointLatLng(LLA[0], LLA[1]));
if (m_map)
m_map->SetCurrentPosition(home_position.coord); // set the map position
// ***********************
}
void OPMapGadgetWidget::onTelemetryDisconnect()
{
telemetry_connected = false;
}
// Updates the Home position icon whenever the HomePosition object is updated
void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
{
if (!hp)
return;
double lat = hp->getField("Latitude")->getDouble() * 1e-7;
double lon = hp->getField("Longitude")->getDouble() * 1e-7;
setHome(internals::PointLatLng(lat, lon));
}
// *************************************************************************************
// public functions
/**
Sets the home position on the map widget
*/
void OPMapGadgetWidget::setHome(QPointF pos)
{
if (!m_widget || !m_map)
return;
double latitude = pos.x();
double longitude = pos.y();
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection
else
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
setHome(internals::PointLatLng(latitude, longitude));
}
/**
Sets the home position on the map widget
*/
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
{
if (!m_widget || !m_map)
return;
if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
return;; // nan prevention
double latitude = pos_lat_lon.Lat();
double longitude = pos_lat_lon.Lng();
if (latitude != latitude) latitude = 0; // nan detection
else
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection
else
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
// *********
home_position.coord = internals::PointLatLng(latitude, longitude);
m_map->Home->SetCoord(home_position.coord);
m_map->Home->RefreshPos();
// move the magic waypoint to keep it within the safe area boundry
keepMagicWaypointWithInSafeArea();
}
/**
Centers the map over the home position
*/
void OPMapGadgetWidget::goHome()
{
if (!m_widget || !m_map)
return;
followUAVpositionAct->setChecked(false);
internals::PointLatLng home_pos = home_position.coord; // get the home location
m_map->SetCurrentPosition(home_pos); // center the map onto the home location
}
void OPMapGadgetWidget::zoomIn()
{
if (!m_widget || !m_map)
return;
int zoom = m_map->ZoomTotal() + 1;
if (zoom < min_zoom) zoom = min_zoom;
else
if (zoom > max_zoom) zoom = max_zoom;
m_map->SetZoom(zoom);
}
void OPMapGadgetWidget::zoomOut()
{
if (!m_widget || !m_map)
return;
int zoom = m_map->ZoomTotal() - 1;
if (zoom < min_zoom) zoom = min_zoom;
else
if (zoom > max_zoom) zoom = max_zoom;
m_map->SetZoom(zoom);
}
void OPMapGadgetWidget::setZoom(int zoom)
{
if (!m_widget || !m_map)
return;
if (zoom < min_zoom) zoom = min_zoom;
else
if (zoom > max_zoom) zoom = max_zoom;
internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
m_map->SetZoom(zoom);
m_map->SetMouseWheelZoomType(zoom_type);
}
void OPMapGadgetWidget::setPosition(QPointF pos)
{
if (!m_widget || !m_map)
return;
double latitude = pos.y();
double longitude = pos.x();
if (latitude != latitude || longitude != longitude)
return; // nan prevention
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude));
}
void OPMapGadgetWidget::setMapProvider(QString provider)
{
if (!m_widget || !m_map)
return;
m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
}
void OPMapGadgetWidget::setAccessMode(QString accessMode)
{
if (!m_widget || !m_map)
return;
m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
}
void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
{
if (!m_widget || !m_map)
return;
m_map->SetUseOpenGL(useOpenGL);
}
void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
{
if (!m_widget || !m_map)
return;
m_map->SetShowTileGridLines(showTileGridLines);
}
void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
{
if (!m_widget || !m_map)
return;
m_map->configuration->SetUseMemoryCache(useMemoryCache);
}
void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
{
if (!m_widget || !m_map)
return;
cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces
if (cacheLocation.isEmpty()) return;
// #if defined(Q_WS_WIN)
// if (!cacheLocation.endsWith('\\')) cacheLocation += '\\';
// #elif defined(Q_WS_X11)
if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #elif defined(Q_WS_MAC)
// if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #endif
QDir dir;
if (!dir.exists(cacheLocation))
if (!dir.mkpath(cacheLocation))
return;
// qDebug() << "opmap: map cache dir: " << cacheLocation;
m_map->configuration->SetCacheLocation(cacheLocation);
}
void OPMapGadgetWidget::setMapMode(opMapModeType mode)
{
if (!m_widget || !m_map)
return;
if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
mode = Normal_MapMode; // fix error
if (m_map_mode == mode)
{ // no change in map mode
switch (mode)
{ // make sure the UI buttons are set correctly
case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
break;
case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
break;
}
return;
}
switch (mode)
{
case Normal_MapMode:
m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
// delete the magic waypoint from the map
if (magic_waypoint.map_wp_item)
{
magic_waypoint.coord = magic_waypoint.map_wp_item->Coord();
magic_waypoint.altitude = magic_waypoint.map_wp_item->Altitude();
magic_waypoint.description = magic_waypoint.map_wp_item->Description();
magic_waypoint.map_wp_item = NULL;
}
m_map->WPDeleteAll();
// restore the normal waypoints on the map
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
if (!wp->map_wp_item) continue;
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update();
}
m_waypoint_list_mutex.unlock();
break;
case MagicWaypoint_MapMode:
m_map_mode = MagicWaypoint_MapMode;
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls();
// delete the normal waypoints from the map
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
if (!wp->map_wp_item) continue;
wp->coord = wp->map_wp_item->Coord();
wp->altitude = wp->map_wp_item->Altitude();
wp->description = wp->map_wp_item->Description();
wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
wp->map_wp_item = NULL;
}
m_map->WPDeleteAll();
m_waypoint_list_mutex.unlock();
// restore the magic waypoint on the map
magic_waypoint.map_wp_item = m_map->WPCreate(magic_waypoint.coord, magic_waypoint.altitude, magic_waypoint.description);
magic_waypoint.map_wp_item->setZValue(10 + magic_waypoint.map_wp_item->Number());
magic_waypoint.map_wp_item->SetShowNumber(false);
magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
break;
}
}
// *************************************************************************************
// Context menu stuff
void OPMapGadgetWidget::createActions()
{
if (!m_widget)
return;
// ***********************
// create menu actions
closeAct1 = new QAction(tr("Close menu"), this);
closeAct1->setStatusTip(tr("Close the context menu"));
closeAct2 = new QAction(tr("Close menu"), this);
closeAct2->setStatusTip(tr("Close the context menu"));
reloadAct = new QAction(tr("&Reload map"), this);
reloadAct->setShortcut(tr("F5"));
reloadAct->setStatusTip(tr("Reload the map tiles"));
connect(reloadAct, SIGNAL(triggered()), this, SLOT(onReloadAct_triggered()));
copyMouseLatLonToClipAct = new QAction(tr("Mouse latitude and longitude"), this);
copyMouseLatLonToClipAct->setStatusTip(tr("Copy the mouse latitude and longitude to the clipboard"));
connect(copyMouseLatLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatLonToClipAct_triggered()));
copyMouseLatToClipAct = new QAction(tr("Mouse latitude"), this);
copyMouseLatToClipAct->setStatusTip(tr("Copy the mouse latitude to the clipboard"));
connect(copyMouseLatToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatToClipAct_triggered()));
copyMouseLonToClipAct = new QAction(tr("Mouse longitude"), this);
copyMouseLonToClipAct->setStatusTip(tr("Copy the mouse longitude to the clipboard"));
connect(copyMouseLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLonToClipAct_triggered()));
/*
findPlaceAct = new QAction(tr("&Find place"), this);
findPlaceAct->setShortcut(tr("Ctrl+F"));
findPlaceAct->setStatusTip(tr("Find a location"));
connect(findPlaceAct, SIGNAL(triggered()), this, SLOT(onFindPlaceAct_triggered()));
*/
showCompassAct = new QAction(tr("Show compass"), this);
showCompassAct->setStatusTip(tr("Show/Hide the compass"));
showCompassAct->setCheckable(true);
showCompassAct->setChecked(true);
connect(showCompassAct, SIGNAL(toggled(bool)), this, SLOT(onShowCompassAct_toggled(bool)));
showDiagnostics = new QAction(tr("Show Diagnostics"), this);
showDiagnostics->setStatusTip(tr("Show/Hide the diagnostics"));
showDiagnostics->setCheckable(true);
showDiagnostics->setChecked(false);
connect(showDiagnostics, SIGNAL(toggled(bool)), this, SLOT(onShowDiagnostics_toggled(bool)));
showHomeAct = new QAction(tr("Show Home"), this);
showHomeAct->setStatusTip(tr("Show/Hide the Home location"));
showHomeAct->setCheckable(true);
showHomeAct->setChecked(true);
connect(showHomeAct, SIGNAL(toggled(bool)), this, SLOT(onShowHomeAct_toggled(bool)));
showUAVAct = new QAction(tr("Show UAV"), this);
showUAVAct->setStatusTip(tr("Show/Hide the UAV"));
showUAVAct->setCheckable(true);
showUAVAct->setChecked(true);
connect(showUAVAct, SIGNAL(toggled(bool)), this, SLOT(onShowUAVAct_toggled(bool)));
zoomInAct = new QAction(tr("Zoom &In"), this);
zoomInAct->setShortcut(Qt::Key_PageUp);
zoomInAct->setStatusTip(tr("Zoom the map in"));
connect(zoomInAct, SIGNAL(triggered()), this, SLOT(onGoZoomInAct_triggered()));
zoomOutAct = new QAction(tr("Zoom &Out"), this);
zoomOutAct->setShortcut(Qt::Key_PageDown);
zoomOutAct->setStatusTip(tr("Zoom the map out"));
connect(zoomOutAct, SIGNAL(triggered()), this, SLOT(onGoZoomOutAct_triggered()));
goMouseClickAct = new QAction(tr("Go to where you right clicked the mouse"), this);
goMouseClickAct->setStatusTip(tr("Center the map onto where you right clicked the mouse"));
connect(goMouseClickAct, SIGNAL(triggered()), this, SLOT(onGoMouseClickAct_triggered()));
setHomeAct = new QAction(tr("Set the home location"), this);
setHomeAct->setStatusTip(tr("Set the home location to where you clicked"));
#if !defined(allow_manual_home_location_move)
setHomeAct->setEnabled(false);
#endif
connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered()));
goHomeAct = new QAction(tr("Go to &Home location"), this);
goHomeAct->setShortcut(tr("Ctrl+H"));
goHomeAct->setStatusTip(tr("Center the map onto the home location"));
connect(goHomeAct, SIGNAL(triggered()), this, SLOT(onGoHomeAct_triggered()));
goUAVAct = new QAction(tr("Go to &UAV location"), this);
goUAVAct->setShortcut(tr("Ctrl+U"));
goUAVAct->setStatusTip(tr("Center the map onto the UAV location"));
connect(goUAVAct, SIGNAL(triggered()), this, SLOT(onGoUAVAct_triggered()));
followUAVpositionAct = new QAction(tr("Follow UAV position"), this);
followUAVpositionAct->setShortcut(tr("Ctrl+F"));
followUAVpositionAct->setStatusTip(tr("Keep the map centered onto the UAV"));
followUAVpositionAct->setCheckable(true);
followUAVpositionAct->setChecked(false);
connect(followUAVpositionAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVpositionAct_toggled(bool)));
followUAVheadingAct = new QAction(tr("Follow UAV heading"), this);
followUAVheadingAct->setShortcut(tr("Ctrl+F"));
followUAVheadingAct->setStatusTip(tr("Keep the map rotation to the UAV heading"));
followUAVheadingAct->setCheckable(true);
followUAVheadingAct->setChecked(false);
connect(followUAVheadingAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVheadingAct_toggled(bool)));
/*
TODO: Waypoint support is disabled for v1.0
*/
/*
wayPointEditorAct = new QAction(tr("&Waypoint editor"), this);
wayPointEditorAct->setShortcut(tr("Ctrl+W"));
wayPointEditorAct->setStatusTip(tr("Open the waypoint editor"));
wayPointEditorAct->setEnabled(false); // temporary
connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered()));
addWayPointAct = new QAction(tr("&Add waypoint"), this);
addWayPointAct->setShortcut(tr("Ctrl+A"));
addWayPointAct->setStatusTip(tr("Add waypoint"));
connect(addWayPointAct, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggered()));
editWayPointAct = new QAction(tr("&Edit waypoint"), this);
editWayPointAct->setShortcut(tr("Ctrl+E"));
editWayPointAct->setStatusTip(tr("Edit waypoint"));
connect(editWayPointAct, SIGNAL(triggered()), this, SLOT(onEditWayPointAct_triggered()));
lockWayPointAct = new QAction(tr("&Lock waypoint"), this);
lockWayPointAct->setStatusTip(tr("Lock/Unlock a waypoint"));
lockWayPointAct->setCheckable(true);
lockWayPointAct->setChecked(false);
connect(lockWayPointAct, SIGNAL(triggered()), this, SLOT(onLockWayPointAct_triggered()));
deleteWayPointAct = new QAction(tr("&Delete waypoint"), this);
deleteWayPointAct->setShortcut(tr("Ctrl+D"));
deleteWayPointAct->setStatusTip(tr("Delete waypoint"));
connect(deleteWayPointAct, SIGNAL(triggered()), this, SLOT(onDeleteWayPointAct_triggered()));
clearWayPointsAct = new QAction(tr("&Clear waypoints"), this);
clearWayPointsAct->setShortcut(tr("Ctrl+C"));
clearWayPointsAct->setStatusTip(tr("Clear waypoints"));
connect(clearWayPointsAct, SIGNAL(triggered()), this, SLOT(onClearWayPointsAct_triggered()));
*/
homeMagicWaypointAct = new QAction(tr("Home magic waypoint"), this);
homeMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the home position"));
connect(homeMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onHomeMagicWaypointAct_triggered()));
mapModeActGroup = new QActionGroup(this);
connect(mapModeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMapModeActGroup_triggered(QAction *)));
mapModeAct.clear();
{
QAction *map_mode_act;
map_mode_act = new QAction(tr("Normal"), mapModeActGroup);
map_mode_act->setCheckable(true);
map_mode_act->setChecked(m_map_mode == Normal_MapMode);
map_mode_act->setData((int)Normal_MapMode);
mapModeAct.append(map_mode_act);
map_mode_act = new QAction(tr("Magic Waypoint"), mapModeActGroup);
map_mode_act->setCheckable(true);
map_mode_act->setChecked(m_map_mode == MagicWaypoint_MapMode);
map_mode_act->setData((int)MagicWaypoint_MapMode);
mapModeAct.append(map_mode_act);
}
zoomActGroup = new QActionGroup(this);
connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
zoomAct.clear();
for (int i = min_zoom; i <= max_zoom; i++)
{
QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
zoom_act->setCheckable(true);
zoom_act->setData(i);
zoomAct.append(zoom_act);
}
// *****
// safe area
showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
showSafeAreaAct->setStatusTip(tr("Show/Hide the Safe Area around the home location"));
showSafeAreaAct->setCheckable(true);
showSafeAreaAct->setChecked(m_map->Home->ShowSafeArea());
connect(showSafeAreaAct, SIGNAL(toggled(bool)), this, SLOT(onShowSafeAreaAct_toggled(bool)));
safeAreaActGroup = new QActionGroup(this);
connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
safeAreaAct.clear();
for (int i = 0; i < (int)(sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0])); i++)
{
int safeArea = safe_area_radius_list[i];
QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
safeArea_act->setCheckable(true);
safeArea_act->setChecked(safeArea == m_map->Home->SafeArea());
safeArea_act->setData(safeArea);
safeAreaAct.append(safeArea_act);
}
// *****
// UAV trail
uavTrailTypeActGroup = new QActionGroup(this);
connect(uavTrailTypeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTypeActGroup_triggered(QAction *)));
uavTrailTypeAct.clear();
QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
for (int i = 0; i < uav_trail_type_list.count(); i++)
{
mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[i]);
QAction *uavTrailType_act = new QAction(mapcontrol::Helper::StrFromUAVTrailType(uav_trail_type), uavTrailTypeActGroup);
uavTrailType_act->setCheckable(true);
uavTrailType_act->setChecked(uav_trail_type == m_map->UAV->GetTrailType());
uavTrailType_act->setData(i);
uavTrailTypeAct.append(uavTrailType_act);
}
showTrailAct = new QAction(tr("Show Trail dots"), this);
showTrailAct->setStatusTip(tr("Show/Hide the Trail dots"));
showTrailAct->setCheckable(true);
showTrailAct->setChecked(true);
connect(showTrailAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailAct_toggled(bool)));
showTrailLineAct = new QAction(tr("Show Trail lines"), this);
showTrailLineAct->setStatusTip(tr("Show/Hide the Trail lines"));
showTrailLineAct->setCheckable(true);
showTrailLineAct->setChecked(true);
connect(showTrailLineAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailLineAct_toggled(bool)));
clearUAVtrailAct = new QAction(tr("Clear UAV trail"), this);
clearUAVtrailAct->setStatusTip(tr("Clear the UAV trail"));
connect(clearUAVtrailAct, SIGNAL(triggered()), this, SLOT(onClearUAVtrailAct_triggered()));
uavTrailTimeActGroup = new QActionGroup(this);
connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
uavTrailTimeAct.clear();
for (int i = 0; i < (int)(sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0])); i++)
{
int uav_trail_time = uav_trail_time_list[i];
QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
uavTrailTime_act->setCheckable(true);
uavTrailTime_act->setChecked(uav_trail_time == m_map->UAV->TrailTime());
uavTrailTime_act->setData(uav_trail_time);
uavTrailTimeAct.append(uavTrailTime_act);
}
uavTrailDistanceActGroup = new QActionGroup(this);
connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
uavTrailDistanceAct.clear();
for (int i = 0; i < (int)(sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0])); i++)
{
int uav_trail_distance = uav_trail_distance_list[i];
QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
uavTrailDistance_act->setCheckable(true);
uavTrailDistance_act->setChecked(uav_trail_distance == m_map->UAV->TrailDistance());
uavTrailDistance_act->setData(uav_trail_distance);
uavTrailDistanceAct.append(uavTrailDistance_act);
}
// *****
// ***********************
}
void OPMapGadgetWidget::onReloadAct_triggered()
{
if (!m_widget || !m_map)
return;
m_map->ReloadMap();
}
void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
{
// QClipboard *clipboard = qApp->clipboard();
QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
}
void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
{
// QClipboard *clipboard = qApp->clipboard();
QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
}
void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
{
// QClipboard *clipboard = qApp->clipboard();
QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
}
void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->SetShowCompass(show);
}
void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->SetShowDiagnostics(show);
}
void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->Home->setVisible(show);
}
void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->UAV->setVisible(show);
m_map->GPS->setVisible(show);
}
void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->UAV->SetShowTrail(show);
m_map->GPS->SetShowTrail(show);
}
void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->UAV->SetShowTrailLine(show);
m_map->GPS->SetShowTrailLine(show);
}
void OPMapGadgetWidget::onMapModeActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
opMapModeType mode = (opMapModeType)action->data().toInt();
setMapMode(mode);
}
void OPMapGadgetWidget::onGoZoomInAct_triggered()
{
zoomIn();
}
void OPMapGadgetWidget::onGoZoomOutAct_triggered()
{
zoomOut();
}
void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
{
if (!m_widget || !action)
return;
setZoom(action->data().toInt());
}
void OPMapGadgetWidget::onGoMouseClickAct_triggered()
{
if (!m_widget || !m_map)
return;
m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position
}
void OPMapGadgetWidget::onSetHomeAct_triggered()
{
if (!m_widget || !m_map)
return;
setHome(context_menu_lat_lon);
setHomeLocationObject(); // update the HomeLocation UAVObject
}
void OPMapGadgetWidget::onGoHomeAct_triggered()
{
if (!m_widget || !m_map)
return;
goHome();
}
void OPMapGadgetWidget::onGoUAVAct_triggered()
{
if (!m_widget || !m_map)
return;
double latitude;
double longitude;
double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position
if (map_pos != uav_pos) m_map->SetCurrentPosition(uav_pos); // center the map onto the UAV
}
}
void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
{
if (!m_widget || !m_map)
return;
if (m_widget->toolButtonMapUAV->isChecked() != checked)
m_widget->toolButtonMapUAV->setChecked(checked);
setMapFollowingMode();
}
void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
{
if (!m_widget || !m_map)
return;
if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
m_widget->toolButtonMapUAVheading->setChecked(checked);
setMapFollowingMode();
}
void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map)
return;
int trail_type_idx = action->data().toInt();
QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[trail_type_idx]);
m_map->UAV->SetTrailType(uav_trail_type);
}
void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
{
if (!m_widget || !m_map)
return;
m_map->UAV->DeleteTrail();
m_map->GPS->DeleteTrail();
}
void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map)
return;
int trail_time = (double)action->data().toInt();
m_map->UAV->SetTrailTime(trail_time);
}
void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map)
return;
int trail_distance = action->data().toInt();
m_map->UAV->SetTrailDistance(trail_distance);
}
/**
* TODO: unused for v1.0
**/
/*
void OPMapGadgetWidget::onAddWayPointAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
m_waypoint_list_mutex.lock();
// create a waypoint on the map at the last known mouse position
t_waypoint *wp = new t_waypoint;
wp->map_wp_item = NULL;
wp->coord = context_menu_lat_lon;
wp->altitude = 0;
wp->description = "";
wp->locked = false;
wp->time_seconds = 0;
wp->hold_time_seconds = 0;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
if (wp->map_wp_item)
{
if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update();
}
// and remember it in our own local waypoint list
m_waypoint_list.append(wp);
m_waypoint_list_mutex.unlock();
}
*/
/**
* Called when the user asks to edit a waypoint from the map
*
* TODO: should open an interface to edit waypoint properties, or
* propagate the signal to a specific WP plugin (tbd).
**/
/*
void OPMapGadgetWidget::onEditWayPointAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
if (!m_mouse_waypoint)
return;
//waypoint_edit_dialog.editWaypoint(m_mouse_waypoint);
m_mouse_waypoint = NULL;
}
*/
/**
* TODO: unused for v1.0
*/
/*
void OPMapGadgetWidget::onLockWayPointAct_triggered()
{
if (!m_widget || !m_map || !m_mouse_waypoint)
return;
if (m_map_mode != Normal_MapMode)
return;
bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
m_mouse_waypoint->setFlag(QGraphicsItem::ItemIsMovable, locked);
if (!locked)
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
else
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
m_mouse_waypoint->update();
m_mouse_waypoint = NULL;
}
*/
/**
* TODO: unused for v1.0
*/
/*
void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
if (!m_mouse_waypoint)
return;
bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
if (locked) return; // waypoint is locked
QMutexLocker locker(&m_waypoint_list_mutex);
for (int i = 0; i < m_waypoint_list.count(); i++)
{
t_waypoint *wp = m_waypoint_list.at(i);
if (!wp) continue;
if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
// delete the waypoint from the map
m_map->WPDelete(wp->map_wp_item);
// delete the waypoint from our local waypoint list
m_waypoint_list.removeAt(i);
delete wp;
break;
}
//
// foreach (t_waypoint *wp, m_waypoint_list)
// {
// if (!wp) continue;
// if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
//
// // delete the waypoint from the map
// m_map->WPDelete(wp->map_wp_item);
//
// // delete the waypoint from our local waypoint list
// m_waypoint_list.removeOne(wp);
//
// delete wp;
//
// break;
// }
m_mouse_waypoint = NULL;
}
*/
/**
* TODO: No Waypoint support in v1.0
*/
/*
void OPMapGadgetWidget::onClearWayPointsAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
QMutexLocker locker(&m_waypoint_list_mutex);
m_map->WPDeleteAll();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (wp)
{
delete wp;
wp = NULL;
}
}
m_waypoint_list.clear();
}
*/
void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
{
// center the magic waypoint on the home position
homeMagicWaypoint();
}
void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->Home->SetShowSafeArea(show); // show the safe area
m_map->Home->RefreshPos();
}
void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map)
return;
int radius = action->data().toInt();
m_map->Home->SetSafeArea(radius); // set the radius (meters)
m_map->Home->RefreshPos();
// move the magic waypoint if need be to keep it within the safe area around the home position
keepMagicWaypointWithInSafeArea();
}
/**
* move the magic waypoint to the home position
**/
void OPMapGadgetWidget::homeMagicWaypoint()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != MagicWaypoint_MapMode)
return;
magic_waypoint.coord = home_position.coord;
if (magic_waypoint.map_wp_item)
magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
}
// *************************************************************************************
// move the UAV to the magic waypoint position
void OPMapGadgetWidget::moveToMagicWaypointPosition()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != MagicWaypoint_MapMode)
return;
// internals::PointLatLng coord = magic_waypoint.coord;
// double altitude = magic_waypoint.altitude;
// ToDo:
}
// *************************************************************************************
// temporary until an object is created for managing the save/restore
// load the contents of a simple text file into a combobox
void OPMapGadgetWidget::loadComboBoxLines(QComboBox *comboBox, QString filename)
{
if (!comboBox) return;
if (filename.isNull() || filename.isEmpty()) return;
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return;
QTextStream in(&file);
while (!in.atEnd())
{
QString line = in.readLine().simplified();
if (line.isNull() || line.isEmpty()) continue;
comboBox->addItem(line);
}
file.close();
}
// save a combobox text contents to a simple text file
void OPMapGadgetWidget::saveComboBoxLines(QComboBox *comboBox, QString filename)
{
if (!comboBox) return;
if (filename.isNull() || filename.isEmpty()) return;
QFile file(filename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
return;
QTextStream out(&file);
for (int i = 0; i < comboBox->count(); i++)
{
QString line = comboBox->itemText(i).simplified();
if (line.isNull() || line.isEmpty()) continue;
out << line << "\n";
}
file.close();
}
// *************************************************************************************
// show/hide the magic waypoint controls
void OPMapGadgetWidget::hideMagicWaypointControls()
{
m_widget->lineWaypoint->setVisible(false);
m_widget->toolButtonHomeWaypoint->setVisible(false);
m_widget->toolButtonMoveToWP->setVisible(false);
}
void OPMapGadgetWidget::showMagicWaypointControls()
{
m_widget->lineWaypoint->setVisible(true);
m_widget->toolButtonHomeWaypoint->setVisible(true);
#if defined(allow_manual_home_location_move)
m_widget->toolButtonMoveToWP->setVisible(true);
#else
m_widget->toolButtonMoveToWP->setVisible(false);
#endif
}
// *************************************************************************************
// move the magic waypoint to keep it within the safe area boundry
void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
{
// calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(home_position.coord, magic_waypoint.coord);
double bear = bearing(home_position.coord, magic_waypoint.coord);
// get the maximum safe distance - in kilometers
double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
// if (dist <= boundry_dist)
// return; // the magic waypoint is still within the safe area, don't move it
if (dist > boundry_dist) dist = boundry_dist;
// move the magic waypoint
magic_waypoint.coord = destPoint(home_position.coord, bear, dist);
if (m_map_mode == MagicWaypoint_MapMode)
{ // move the on-screen waypoint
if (magic_waypoint.map_wp_item)
magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
}
}
// *************************************************************************************
// return the distance between two points .. in kilometers
double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::PointLatLng to)
{
double lat1 = from.Lat() * deg_to_rad;
double lon1 = from.Lng() * deg_to_rad;
double lat2 = to.Lat() * deg_to_rad;
double lon2 = to.Lng() * deg_to_rad;
// ***********************
// Haversine formula
/*
double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1;
double t1 = sin(delta_lat / 2);
double t2 = sin(delta_lon / 2);
double a = (t1 * t1) + cos(lat1) * cos(lat2) * (t2 * t2);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
return (earth_mean_radius * c);
*/
// ***********************
// Spherical Law of Cosines
return (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)) * earth_mean_radius);
// ***********************
}
// *************************************************************************************
// return the bearing from one point to another .. in degrees
double OPMapGadgetWidget::bearing(internals::PointLatLng from, internals::PointLatLng to)
{
double lat1 = from.Lat() * deg_to_rad;
double lon1 = from.Lng() * deg_to_rad;
double lat2 = to.Lat() * deg_to_rad;
double lon2 = to.Lng() * deg_to_rad;
// double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1;
double y = sin(delta_lon) * cos(lat2);
double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(delta_lon);
double bear = atan2(y, x) * rad_to_deg;
bear += 360;
while (bear < 0) bear += 360;
while (bear >= 360) bear -= 360;
return bear;
}
// *************************************************************************************
// return a destination lat/lon point given a source lat/lon point and the bearing and distance from the source point
internals::PointLatLng OPMapGadgetWidget::destPoint(internals::PointLatLng source, double bear, double dist)
{
double lat1 = source.Lat() * deg_to_rad;
double lon1 = source.Lng() * deg_to_rad;
bear *= deg_to_rad;
double ad = dist / earth_mean_radius;
double lat2 = asin(sin(lat1) * cos(ad) + cos(lat1) * sin(ad) * cos(bear));
double lon2 = lon1 + atan2(sin(bear) * sin(ad) * cos(lat1), cos(ad) - sin(lat1) * sin(lat2));
return internals::PointLatLng(lat2 * rad_to_deg, lon2 * rad_to_deg);
}
// *************************************************************************************
bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, double &altitude)
{
double BaseECEF[3];
double NED[3];
double LLA[3];
UAVObject *obj;
if (!obm)
return false;
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
if (!obj) return false;
BaseECEF[0] = obj->getField(QString("ECEF"))->getDouble(0) / 100;
BaseECEF[1] = obj->getField(QString("ECEF"))->getDouble(1) / 100;
BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2) / 100;
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("PositionActual")));
if (!obj) return false;
NED[0] = obj->getField(QString("North"))->getDouble() / 100;
NED[1] = obj->getField(QString("East"))->getDouble() / 100;
NED[2] = obj->getField(QString("Down"))->getDouble() / 100;
// obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("PositionDesired")));
// obj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual")); // air speed
Utils::CoordinateConversions().GetLLA(BaseECEF, NED, LLA);
latitude = LLA[0];
longitude = LLA[1];
altitude = LLA[2];
if (latitude != latitude) latitude = 0; // nan detection
// if (isNan(latitude)) latitude = 0; // nan detection
else
// if (!isFinite(latitude)) latitude = 0;
// else
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection
else
// if (longitude > std::numeric_limits<double>::max()) longitude = 0; // +infinite
// else
// if (longitude < -std::numeric_limits<double>::max()) longitude = 0; // -infinite
// else
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
if (altitude != altitude) altitude = 0; // nan detection
return true;
}
// *************************************************************************************
bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
{
double LLA[3];
if (!obum)
return false;
if (obum->getGPSPosition(LLA) < 0)
return false; // error
latitude = LLA[0];
longitude = LLA[1];
altitude = LLA[2];
return true;
}
double OPMapGadgetWidget::getUAV_Yaw()
{
if (!obm)
return 0;
UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
double yaw = obj->getField(QString("Yaw"))->getDouble();
if (yaw != yaw) yaw = 0; // nan detection
while (yaw < 0) yaw += 360;
while (yaw >= 360) yaw -= 360;
return yaw;
}
// *************************************************************************************
void OPMapGadgetWidget::setMapFollowingMode()
{
if (!m_widget || !m_map)
return;
if (!followUAVpositionAct->isChecked())
{
m_map->UAV->SetMapFollowType(UAVMapFollowType::None);
m_map->SetRotate(0); // reset map rotation to 0deg
}
else
if (!followUAVheadingAct->isChecked())
{
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);
m_map->SetRotate(0); // reset map rotation to 0deg
}
else
{
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap); // the map library won't let you reset the uav rotation if it's already in rotate mode
m_map->UAV->SetUAVHeading(0); // reset the UAV heading to 0deg
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap);
}
}
// *************************************************************************************
// update the HomeLocation UAV Object
bool OPMapGadgetWidget::setHomeLocationObject()
{
if (!obum)
return false;
double LLA[3] = {home_position.coord.Lat(), home_position.coord.Lng(), home_position.altitude};
return (obum->setHomeLocation(LLA, true) >= 0);
}
// *************************************************************************************
void OPMapGadgetWidget::SetUavPic(QString UAVPic)
{
m_map->SetUavPic(UAVPic);
}
/**
******************************************************************************
*
* @file opmapgadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "opmapgadgetwidget.h"
#include "ui_opmap_widget.h"
#include <QtGui/QApplication>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QClipboard>
#include <QtGui/QMenu>
#include <QStringList>
#include <QDir>
#include <QFile>
#include <QDateTime>
#include <math.h>
#include "utils/stylehelper.h"
#include "utils/homelocationutil.h"
#include "utils/worldmagmodel.h"
#include "uavtalk/telemetrymanager.h"
#include "positionactual.h"
#include "homelocation.h"
#define allow_manual_home_location_move
// *************************************************************************************
#define deg_to_rad ((double)M_PI / 180.0)
#define rad_to_deg (180.0 / (double)M_PI)
#define earth_mean_radius 6371 // kilometers
#define max_digital_zoom 3 // maximum allowed digital zoom level
const int safe_area_radius_list[] = {5, 10, 20, 50, 100, 200, 500, 1000, 2000, 5000}; // meters
const int uav_trail_time_list[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; // seconds
const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500}; // meters
const int max_update_rate_list[] = {100, 200, 500, 1000, 2000, 5000}; // milliseconds
// *************************************************************************************
// *************************************************************************************
// NOTE: go back to SVN REV 2137 and earlier to get back to experimental waypoint support.
// *************************************************************************************
// constructor
OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
{
// **************
m_widget = NULL;
m_map = NULL;
findPlaceCompleter = NULL;
m_mouse_waypoint = NULL;
pm = NULL;
obm = NULL;
obum = NULL;
m_prev_tile_number = 0;
m_min_zoom = m_max_zoom = 0;
m_map_mode = Normal_MapMode;
m_maxUpdateRate = max_update_rate_list[4]; // 2 seconds
m_telemetry_connected = false;
m_context_menu_lat_lon = m_mouse_lat_lon = internals::PointLatLng(0, 0);
setMouseTracking(true);
pm = ExtensionSystem::PluginManager::instance();
if (pm)
{
obm = pm->getObject<UAVObjectManager>();
obum = pm->getObject<UAVObjectUtilManager>();
}
// **************
// get current location
double latitude = 0;
double longitude = 0;
double altitude = 0;
// current position
getUAVPosition(latitude, longitude, altitude);
internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
// **************
// default home position
m_home_position.coord = pos_lat_lon;
m_home_position.altitude = altitude;
m_home_position.locked = false;
// **************
// default magic waypoint params
m_magic_waypoint.map_wp_item = NULL;
m_magic_waypoint.coord = m_home_position.coord;
m_magic_waypoint.altitude = altitude;
m_magic_waypoint.description = "Magic waypoint";
m_magic_waypoint.locked = false;
m_magic_waypoint.time_seconds = 0;
m_magic_waypoint.hold_time_seconds = 0;
// **************
// create the widget that holds the user controls and the map
m_widget = new Ui::OPMap_Widget();
m_widget->setupUi(this);
// **************
// create the central map widget
m_map = new mapcontrol::OPMapWidget(); // create the map object
m_map->setFrameStyle(QFrame::NoFrame); // no border frame
m_map->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); // tile background
m_map->configuration->DragButton = Qt::LeftButton; // use the left mouse button for map dragging
m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); //
m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); //
m_min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept
m_max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions
m_map->SetFollowMouse(true); // we want a contiuous mouse position reading
m_map->SetShowHome(true); // display the HOME position on the map
m_map->SetShowUAV(true); // display the UAV position on the map
m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters)
m_map->Home->SetShowSafeArea(true); // show the safe area
m_map->UAV->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->UAV->SetTrailType(UAVTrailType::ByDistance);
m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
// **************
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
QVBoxLayout *layout = new QVBoxLayout;
layout->setSpacing(0);
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(m_map);
m_widget->mapWidget->setLayout(layout);
// **************
// set the user control options
// TODO: this switch does not make sense, does it??
switch (m_map_mode)
{
case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
break;
case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls();
break;
default:
m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
break;
}
m_widget->labelUAVPos->setText("---");
m_widget->labelMapPos->setText("---");
m_widget->labelMousePos->setText("---");
m_widget->labelMapZoom->setText("---");
// Splitter is not used at the moment:
// m_widget->splitter->setCollapsible(1, false);
// set the size of the collapsable widgets
//QList<int> m_SizeList;
//m_SizeList << 0 << 0 << 0;
//m_widget->splitter->setSizes(m_SizeList);
m_widget->progressBarMap->setMaximum(1);
/*
#if defined(Q_OS_MAC)
#elif defined(Q_OS_WIN)
m_widget->comboBoxFindPlace->clear();
loadComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
m_widget->comboBoxFindPlace->setCurrentIndex(-1);
#else
#endif
*/
// **************
// map stuff
connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double))); // map zoom change signals
connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals
connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals
connect(m_map, SIGNAL(OnMapDrag()), this, SLOT(OnMapDrag())); // map drag signals
connect(m_map, SIGNAL(OnMapZoomChanged()), this, SLOT(OnMapZoomChanged())); // map zoom changed
connect(m_map, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SLOT(OnMapTypeChanged(MapType::Types))); // map type changed
connect(m_map, SIGNAL(OnEmptyTileError(int, core::Point)), this, SLOT(OnEmptyTileError(int, core::Point))); // tile error
connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals
connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
connect(m_map, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(WPValuesChanged(WayPointItem*)));
connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
// **************
// create various context menu (mouse right click menu) actions
createActions();
// **************
// connect to the UAVObject updates we require to become a bit aware of our environment:
if (pm)
{
// Register for Home Location state changes
if (obm)
{
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
if (obj)
{
connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
}
}
// Listen to telemetry connection events
TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
if (telMngr)
{
connect(telMngr, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
}
}
// **************
// create the desired timers
m_updateTimer = new QTimer();
m_updateTimer->setInterval(m_maxUpdateRate);
connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
m_updateTimer->start();
m_statusUpdateTimer = new QTimer();
m_statusUpdateTimer->setInterval(200);
// m_statusUpdateTimer->setInterval(m_maxUpdateRate);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
m_statusUpdateTimer->start();
// **************
m_map->setFocus();
}
// destructor
OPMapGadgetWidget::~OPMapGadgetWidget()
{
if (m_map)
{
disconnect(m_map, 0, 0, 0);
m_map->SetShowHome(false); // doing this appears to stop the map lib crashing on exit
m_map->SetShowUAV(false); // " "
}
// this destructor doesn't appear to be called at shutdown???
// #if defined(Q_OS_MAC)
// #elif defined(Q_OS_WIN)
// saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
// #else
// #endif
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
// todo:
delete wp->map_wp_item;
}
m_waypoint_list_mutex.unlock();
m_waypoint_list.clear();
if (m_map)
{
delete m_map;
m_map = NULL;
}
}
// *************************************************************************************
// widget signals .. the mouseMoveEvent does not get called - don't yet know why
void OPMapGadgetWidget::resizeEvent(QResizeEvent *event)
{
qDebug("opmap: resizeEvent");
QWidget::resizeEvent(event);
}
void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
{
qDebug("opmap: mouseMoveEvent");
if (m_widget && m_map)
{
}
if (event->buttons() & Qt::LeftButton)
{
// QPoint pos = event->pos();
}
QWidget::mouseMoveEvent(event);
}
void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
{ // the user has right clicked on the map - create the pop-up context menu and display it
QString s;
if (!m_widget || !m_map)
return;
if (event->reason() != QContextMenuEvent::Mouse)
return; // not a mouse click event
// current mouse position
QPoint p = m_map->mapFromGlobal(event->globalPos());
m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
// m_context_menu_lat_lon = m_map->currentMousePosition();
if (!m_map->contentsRect().contains(p))
return; // the mouse click was not on the map
// show the mouse position
s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
m_widget->labelMousePos->setText(s);
// find out if we have a waypoint under the mouse cursor
QGraphicsItem *item = m_map->itemAt(p);
m_mouse_waypoint = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
// find out if the waypoint is locked (or not)
bool waypoint_locked = false;
if (m_mouse_waypoint)
waypoint_locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
// ****************
// Dynamically create the popup menu
QMenu menu(this);
menu.addAction(closeAct1);
menu.addSeparator();
menu.addAction(reloadAct);
menu.addSeparator();
QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
for (int i = 0; i < maxUpdateRateAct.count(); i++)
maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
menu.addMenu(&maxUpdateRateSubMenu);
menu.addSeparator();
switch (m_map_mode)
{
case Normal_MapMode: s = tr(" (Normal)"); break;
case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
default: s = tr(" (Unknown)"); break;
}
for (int i = 0; i < mapModeAct.count(); i++)
{ // set the menu to checked (or not)
QAction *act = mapModeAct.at(i);
if (!act) continue;
if (act->data().toInt() == (int)m_map_mode)
act->setChecked(true);
}
QMenu mapModeSubMenu(tr("Map mode") + s, this);
for (int i = 0; i < mapModeAct.count(); i++)
mapModeSubMenu.addAction(mapModeAct.at(i));
menu.addMenu(&mapModeSubMenu);
menu.addSeparator();
QMenu copySubMenu(tr("Copy"), this);
copySubMenu.addAction(copyMouseLatLonToClipAct);
copySubMenu.addAction(copyMouseLatToClipAct);
copySubMenu.addAction(copyMouseLonToClipAct);
menu.addMenu(&copySubMenu);
menu.addSeparator();
/*
menu.addAction(findPlaceAct);
menu.addSeparator();
*/
menu.addAction(showSafeAreaAct);
QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this);
for (int i = 0; i < safeAreaAct.count(); i++)
safeAreaSubMenu.addAction(safeAreaAct.at(i));
menu.addMenu(&safeAreaSubMenu);
menu.addSeparator();
menu.addAction(showCompassAct);
menu.addAction(showDiagnostics);
menu.addSeparator()->setText(tr("Zoom"));
menu.addAction(zoomInAct);
menu.addAction(zoomOutAct);
QMenu zoomSubMenu(tr("&Zoom ") + "(" + QString::number(m_map->ZoomTotal()) + ")", this);
for (int i = 0; i < zoomAct.count(); i++)
zoomSubMenu.addAction(zoomAct.at(i));
menu.addMenu(&zoomSubMenu);
menu.addSeparator();
menu.addAction(goMouseClickAct);
menu.addSeparator()->setText(tr("HOME"));
menu.addAction(setHomeAct);
menu.addAction(showHomeAct);
menu.addAction(goHomeAct);
// ****
// uav trails
menu.addSeparator()->setText(tr("UAV Trail"));
QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
for (int i = 0; i < uavTrailTypeAct.count(); i++)
uavTrailTypeSubMenu.addAction(uavTrailTypeAct.at(i));
menu.addMenu(&uavTrailTypeSubMenu);
QMenu uavTrailTimeSubMenu(tr("UAV trail time") + " (" + QString::number(m_map->UAV->TrailTime()) + " sec)", this);
for (int i = 0; i < uavTrailTimeAct.count(); i++)
uavTrailTimeSubMenu.addAction(uavTrailTimeAct.at(i));
menu.addMenu(&uavTrailTimeSubMenu);
QMenu uavTrailDistanceSubMenu(tr("UAV trail distance") + " (" + QString::number(m_map->UAV->TrailDistance()) + " meters)", this);
for (int i = 0; i < uavTrailDistanceAct.count(); i++)
uavTrailDistanceSubMenu.addAction(uavTrailDistanceAct.at(i));
menu.addMenu(&uavTrailDistanceSubMenu);
menu.addAction(showTrailAct);
menu.addAction(showTrailLineAct);
menu.addAction(clearUAVtrailAct);
// ****
menu.addSeparator()->setText(tr("UAV"));
menu.addAction(showUAVAct);
menu.addAction(followUAVpositionAct);
menu.addAction(followUAVheadingAct);
menu.addAction(goUAVAct);
// *********
switch (m_map_mode)
{
case Normal_MapMode:
// only show the waypoint stuff if not in 'magic waypoint' mode
/*
menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(wayPointEditorAct);
menu.addAction(addWayPointAct);
if (m_mouse_waypoint)
{ // we have a waypoint under the mouse
menu.addAction(editWayPointAct);
lockWayPointAct->setChecked(waypoint_locked);
menu.addAction(lockWayPointAct);
if (!waypoint_locked)
menu.addAction(deleteWayPointAct);
}
m_waypoint_list_mutex.lock();
if (m_waypoint_list.count() > 0)
menu.addAction(clearWayPointsAct); // we have waypoints
m_waypoint_list_mutex.unlock();
*/
break;
case MagicWaypoint_MapMode:
menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(homeMagicWaypointAct);
break;
}
// *********
menu.addSeparator();
menu.addAction(closeAct2);
menu.exec(event->globalPos()); // popup the menu
// ****************
}
void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
{
qDebug() << "opmap: keyPressEvent, key =" << event->key() << endl;
switch (event->key())
{
case Qt::Key_Escape:
break;
case Qt::Key_F1:
break;
case Qt::Key_F2:
break;
case Qt::Key_Up:
break;
case Qt::Key_Down:
break;
case Qt::Key_Left:
break;
case Qt::Key_Right:
break;
case Qt::Key_PageUp:
break;
case Qt::Key_PageDown:
break;
}
}
// *************************************************************************************
// timer signals
/**
Updates the UAV position on the map. It is called every 200ms
by a timer.
TODO: consider updating upon object update, not timer.
from Pip: No don't update on object update - had reports that peoples PC's can't cope with high update rates - have had to allow user to set map update from 100ms to 5 seconds (depending on their PC's graphics processing ability), so this needs to be kept on a timer.
*/
void OPMapGadgetWidget::updatePosition()
{
double uav_latitude, uav_longitude, uav_altitude, uav_yaw;
double gps_latitude, gps_longitude, gps_altitude, gps_heading;
internals::PointLatLng uav_pos;
internals::PointLatLng gps_pos;
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
// Pip I'm sorry, I know this was here with a purpose vvv
// from Pip: let you off :)
//if (!telemetry_connected)
// return;
// *************
// get the current UAV details
// get current UAV position
if (!getUAVPosition(uav_latitude, uav_longitude, uav_altitude))
return;
// get current UAV heading
uav_yaw = getUAV_Yaw();
uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
// *************
// get the current GPS details
// get current GPS position
if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude))
return;
// get current GPS heading
// gps_heading = getGPS_Heading();
gps_heading = 0;
gps_pos = internals::PointLatLng(gps_latitude, gps_longitude);
// *************
// display the UAV position
QString str =
"lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
" lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
" " + QString::number(uav_yaw, 'f', 1) + "deg" +
" " + QString::number(uav_altitude, 'f', 1) + "m";
// " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
m_widget->labelUAVPos->setText(str);
// *************
// set the UAV icon position on the map
m_map->UAV->SetUAVPos(uav_pos, uav_altitude); // set the maps UAV position
// qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
m_map->UAV->SetUAVHeading(uav_yaw); // set the maps UAV heading
// *************
// set the GPS icon position on the map
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
// *************
}
/**
Update plugin behaviour based on mouse position; Called every few ms by a
timer.
*/
void OPMapGadgetWidget::updateMousePos()
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
QPoint p = m_map->mapFromGlobal(QCursor::pos());
internals::PointLatLng lat_lon = m_map->GetFromLocalToLatLng(p); // fetch the current lat/lon mouse position
if (!m_map->contentsRect().contains(p))
return; // the mouse is not on the map
// internals::PointLatLng lat_lon = m_map->currentMousePosition(); // fetch the current lat/lon mouse position
QGraphicsItem *item = m_map->itemAt(p);
// find out if we are over the home position
mapcontrol::HomeItem *home = qgraphicsitem_cast<mapcontrol::HomeItem *>(item);
// find out if we are over the UAV
mapcontrol::UAVItem *uav = qgraphicsitem_cast<mapcontrol::UAVItem *>(item);
// find out if we have a waypoint under the mouse cursor
mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
if (m_mouse_lat_lon == lat_lon)
return; // the mouse has not moved
m_mouse_lat_lon = lat_lon; // yes it has!
internals::PointLatLng home_lat_lon = m_map->Home->Coord();
QString s = QString::number(m_mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_mouse_lat_lon.Lng(), 'f', 7);
if (wp)
{
s += " wp[" + QString::number(wp->Number()) + "]";
double dist = distance(home_lat_lon, wp->Coord());
double bear = bearing(home_lat_lon, wp->Coord());
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
s += " " + QString::number(bear, 'f', 1) + "deg";
}
else
if (home)
{
s += " home";
double dist = distance(home_lat_lon, m_mouse_lat_lon);
double bear = bearing(home_lat_lon, m_mouse_lat_lon);
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
s += " " + QString::number(bear, 'f', 1) + "deg";
}
else
if (uav)
{
s += " uav";
double latitude;
double longitude;
double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
// double dist = distance(home_lat_lon, uav_pos);
// double bear = bearing(home_lat_lon, uav_pos);
// s += " " + QString::number(dist * 1000, 'f', 1) + "m";
// s += " " + QString::number(bear, 'f', 1) + "deg";
}
}
m_widget->labelMousePos->setText(s);
}
// *************************************************************************************
// map signals
/**
Update the Plugin UI to reflect a change in zoom level
*/
void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
{
if (!m_widget || !m_map)
return;
QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1);
m_widget->labelMapZoom->setText(s);
int i_zoom = (int)(zoomt + 0.5);
if (i_zoom < m_min_zoom) i_zoom = m_min_zoom;
else
if (i_zoom > m_max_zoom) i_zoom = m_max_zoom;
if (m_widget->horizontalSliderZoom->value() != i_zoom)
m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position
int index0_zoom = i_zoom - m_min_zoom; // zoom level starting at index level '0'
if (index0_zoom < zoomAct.count())
zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level
}
void OPMapGadgetWidget::OnMapDrag()
{
}
void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
{
if (!m_widget || !m_map)
return;
QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " ";
m_widget->labelMapPos->setText(coord_str);
}
/**
Update the progress bar while there are still tiles to load
*/
void OPMapGadgetWidget::OnTilesStillToLoad(int number)
{
if (!m_widget || !m_map)
return;
// if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
// m_widget->progressBarMap->setMaximum(number);
if (m_widget->progressBarMap->maximum() < number)
m_widget->progressBarMap->setMaximum(number);
m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number); // update the progress bar
// m_widget->labelNumTilesToLoad->setText(QString::number(number));
m_prev_tile_number = number;
}
/**
Show the progress bar as soon as the map lib starts downloading
*/
void OPMapGadgetWidget::OnTileLoadStart()
{
if (!m_widget || !m_map)
return;
m_widget->progressBarMap->setVisible(true);
}
/**
Hide the progress bar once the map lib has finished downloading
TODO: somehow this gets called before tile load is actually complete?
*/
void OPMapGadgetWidget::OnTileLoadComplete()
{
if (!m_widget || !m_map)
return;
m_widget->progressBarMap->setVisible(false);
}
void OPMapGadgetWidget::OnMapZoomChanged()
{
}
void OPMapGadgetWidget::OnMapTypeChanged(MapType::Types type)
{
Q_UNUSED(type);
}
void OPMapGadgetWidget::OnEmptyTileError(int zoom, core::Point pos)
{
Q_UNUSED(zoom);
Q_UNUSED(pos);
}
void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumber, WayPointItem *waypoint)
{
Q_UNUSED(oldnumber);
Q_UNUSED(newnumber);
Q_UNUSED(waypoint);
}
void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
{
// qDebug("opmap: WPValuesChanged");
switch (m_map_mode)
{
case Normal_MapMode:
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{ // search for the waypoint in our own waypoint list and update it
if (!wp) continue;
if (!wp->map_wp_item) continue;
if (wp->map_wp_item != waypoint) continue;
// found the waypoint in our list
wp->coord = waypoint->Coord();
wp->altitude = waypoint->Altitude();
wp->description = waypoint->Description();
break;
}
m_waypoint_list_mutex.unlock();
break;
case MagicWaypoint_MapMode:
// update our copy of the magic waypoint
if (m_magic_waypoint.map_wp_item && m_magic_waypoint.map_wp_item == waypoint)
{
m_magic_waypoint.coord = waypoint->Coord();
m_magic_waypoint.altitude = waypoint->Altitude();
m_magic_waypoint.description = waypoint->Description();
// move the UAV to the magic waypoint position
// moveToMagicWaypointPosition();
}
break;
}
}
/**
TODO: slot to do something upon Waypoint insertion
*/
void OPMapGadgetWidget::WPInserted(int const &number, WayPointItem *waypoint)
{
Q_UNUSED(number);
Q_UNUSED(waypoint);
}
/**
TODO: slot to do something upon Waypoint deletion
*/
void OPMapGadgetWidget::WPDeleted(int const &number)
{
Q_UNUSED(number);
}
void OPMapGadgetWidget::on_toolButtonZoomP_clicked()
{
QMutexLocker locker(&m_map_mutex);
zoomIn();
}
void OPMapGadgetWidget::on_toolButtonZoomM_clicked()
{
QMutexLocker locker(&m_map_mutex);
zoomOut();
}
void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
{
QMutexLocker locker(&m_map_mutex);
goHome();
}
void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
followUAVpositionAct->toggle();
}
void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
{
if (!m_widget || !m_map)
return;
followUAVheadingAct->toggle();
}
void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
{
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex);
setZoom(position);
}
void OPMapGadgetWidget::on_toolButtonNormalMapMode_clicked()
{
setMapMode(Normal_MapMode);
}
void OPMapGadgetWidget::on_toolButtonMagicWaypointMapMode_clicked()
{
setMapMode(MagicWaypoint_MapMode);
}
void OPMapGadgetWidget::on_toolButtonHomeWaypoint_clicked()
{
homeMagicWaypoint();
}
void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
{
moveToMagicWaypointPosition();
}
// *************************************************************************************
// public slots
void OPMapGadgetWidget::onTelemetryConnect()
{
m_telemetry_connected = true;
if (!obum) return;
bool set;
double LLA[3];
// ***********************
// fetch the home location
if (obum->getHomeLocation(set, LLA) < 0)
return; // error
setHome(internals::PointLatLng(LLA[0], LLA[1]));
if (m_map)
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
// ***********************
}
void OPMapGadgetWidget::onTelemetryDisconnect()
{
m_telemetry_connected = false;
}
// Updates the Home position icon whenever the HomePosition object is updated
void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
{
if (!hp)
return;
double lat = hp->getField("Latitude")->getDouble() * 1e-7;
double lon = hp->getField("Longitude")->getDouble() * 1e-7;
setHome(internals::PointLatLng(lat, lon));
}
// *************************************************************************************
// public functions
/**
Sets the home position on the map widget
*/
void OPMapGadgetWidget::setHome(QPointF pos)
{
if (!m_widget || !m_map)
return;
double latitude = pos.x();
double longitude = pos.y();
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection
else
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
setHome(internals::PointLatLng(latitude, longitude));
}
/**
Sets the home position on the map widget
*/
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
{
if (!m_widget || !m_map)
return;
if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
return;; // nan prevention
double latitude = pos_lat_lon.Lat();
double longitude = pos_lat_lon.Lng();
if (latitude != latitude) latitude = 0; // nan detection
else
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection
else
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
// *********
m_home_position.coord = internals::PointLatLng(latitude, longitude);
m_map->Home->SetCoord(m_home_position.coord);
m_map->Home->RefreshPos();
// move the magic waypoint to keep it within the safe area boundry
keepMagicWaypointWithInSafeArea();
}
/**
Centers the map over the home position
*/
void OPMapGadgetWidget::goHome()
{
if (!m_widget || !m_map)
return;
followUAVpositionAct->setChecked(false);
internals::PointLatLng home_pos = m_home_position.coord; // get the home location
m_map->SetCurrentPosition(home_pos); // center the map onto the home location
}
void OPMapGadgetWidget::zoomIn()
{
if (!m_widget || !m_map)
return;
int zoom = m_map->ZoomTotal() + 1;
if (zoom < m_min_zoom) zoom = m_min_zoom;
else
if (zoom > m_max_zoom) zoom = m_max_zoom;
m_map->SetZoom(zoom);
}
void OPMapGadgetWidget::zoomOut()
{
if (!m_widget || !m_map)
return;
int zoom = m_map->ZoomTotal() - 1;
if (zoom < m_min_zoom) zoom = m_min_zoom;
else
if (zoom > m_max_zoom) zoom = m_max_zoom;
m_map->SetZoom(zoom);
}
void OPMapGadgetWidget::setMaxUpdateRate(int update_rate)
{
if (!m_widget || !m_map)
return;
int list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
int min_rate = max_update_rate_list[0];
int max_rate = max_update_rate_list[list_size - 1];
if (update_rate < min_rate) update_rate = min_rate;
else
if (update_rate > max_rate) update_rate = max_rate;
m_maxUpdateRate = update_rate;
if (m_updateTimer)
m_updateTimer->setInterval(m_maxUpdateRate);
// if (m_statusUpdateTimer)
// m_statusUpdateTimer->setInterval(m_maxUpdateRate);
}
void OPMapGadgetWidget::setZoom(int zoom)
{
if (!m_widget || !m_map)
return;
if (zoom < m_min_zoom) zoom = m_min_zoom;
else
if (zoom > m_max_zoom) zoom = m_max_zoom;
internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
m_map->SetZoom(zoom);
m_map->SetMouseWheelZoomType(zoom_type);
}
void OPMapGadgetWidget::setPosition(QPointF pos)
{
if (!m_widget || !m_map)
return;
double latitude = pos.y();
double longitude = pos.x();
if (latitude != latitude || longitude != longitude)
return; // nan prevention
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude));
}
void OPMapGadgetWidget::setMapProvider(QString provider)
{
if (!m_widget || !m_map)
return;
m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
}
void OPMapGadgetWidget::setAccessMode(QString accessMode)
{
if (!m_widget || !m_map)
return;
m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
}
void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
{
if (!m_widget || !m_map)
return;
m_map->SetUseOpenGL(useOpenGL);
}
void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
{
if (!m_widget || !m_map)
return;
m_map->SetShowTileGridLines(showTileGridLines);
}
void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
{
if (!m_widget || !m_map)
return;
m_map->configuration->SetUseMemoryCache(useMemoryCache);
}
void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
{
if (!m_widget || !m_map)
return;
cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces
if (cacheLocation.isEmpty()) return;
// #if defined(Q_WS_WIN)
// if (!cacheLocation.endsWith('\\')) cacheLocation += '\\';
// #elif defined(Q_WS_X11)
if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #elif defined(Q_WS_MAC)
// if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #endif
QDir dir;
if (!dir.exists(cacheLocation))
if (!dir.mkpath(cacheLocation))
return;
// qDebug() << "opmap: map cache dir: " << cacheLocation;
m_map->configuration->SetCacheLocation(cacheLocation);
}
void OPMapGadgetWidget::setMapMode(opMapModeType mode)
{
if (!m_widget || !m_map)
return;
if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
mode = Normal_MapMode; // fix error
if (m_map_mode == mode)
{ // no change in map mode
switch (mode)
{ // make sure the UI buttons are set correctly
case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
break;
case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
break;
}
return;
}
switch (mode)
{
case Normal_MapMode:
m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
// delete the magic waypoint from the map
if (m_magic_waypoint.map_wp_item)
{
m_magic_waypoint.coord = m_magic_waypoint.map_wp_item->Coord();
m_magic_waypoint.altitude = m_magic_waypoint.map_wp_item->Altitude();
m_magic_waypoint.description = m_magic_waypoint.map_wp_item->Description();
m_magic_waypoint.map_wp_item = NULL;
}
m_map->WPDeleteAll();
// restore the normal waypoints on the map
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
if (!wp->map_wp_item) continue;
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update();
}
m_waypoint_list_mutex.unlock();
break;
case MagicWaypoint_MapMode:
m_map_mode = MagicWaypoint_MapMode;
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls();
// delete the normal waypoints from the map
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
if (!wp->map_wp_item) continue;
wp->coord = wp->map_wp_item->Coord();
wp->altitude = wp->map_wp_item->Altitude();
wp->description = wp->map_wp_item->Description();
wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
wp->map_wp_item = NULL;
}
m_map->WPDeleteAll();
m_waypoint_list_mutex.unlock();
// restore the magic waypoint on the map
m_magic_waypoint.map_wp_item = m_map->WPCreate(m_magic_waypoint.coord, m_magic_waypoint.altitude, m_magic_waypoint.description);
m_magic_waypoint.map_wp_item->setZValue(10 + m_magic_waypoint.map_wp_item->Number());
m_magic_waypoint.map_wp_item->SetShowNumber(false);
m_magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
break;
}
}
// *************************************************************************************
// Context menu stuff
void OPMapGadgetWidget::createActions()
{
int list_size;
if (!m_widget || !m_map)
return;
// ***********************
// create menu actions
closeAct1 = new QAction(tr("Close menu"), this);
closeAct1->setStatusTip(tr("Close the context menu"));
closeAct2 = new QAction(tr("Close menu"), this);
closeAct2->setStatusTip(tr("Close the context menu"));
reloadAct = new QAction(tr("&Reload map"), this);
reloadAct->setShortcut(tr("F5"));
reloadAct->setStatusTip(tr("Reload the map tiles"));
connect(reloadAct, SIGNAL(triggered()), this, SLOT(onReloadAct_triggered()));
copyMouseLatLonToClipAct = new QAction(tr("Mouse latitude and longitude"), this);
copyMouseLatLonToClipAct->setStatusTip(tr("Copy the mouse latitude and longitude to the clipboard"));
connect(copyMouseLatLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatLonToClipAct_triggered()));
copyMouseLatToClipAct = new QAction(tr("Mouse latitude"), this);
copyMouseLatToClipAct->setStatusTip(tr("Copy the mouse latitude to the clipboard"));
connect(copyMouseLatToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatToClipAct_triggered()));
copyMouseLonToClipAct = new QAction(tr("Mouse longitude"), this);
copyMouseLonToClipAct->setStatusTip(tr("Copy the mouse longitude to the clipboard"));
connect(copyMouseLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLonToClipAct_triggered()));
/*
findPlaceAct = new QAction(tr("&Find place"), this);
findPlaceAct->setShortcut(tr("Ctrl+F"));
findPlaceAct->setStatusTip(tr("Find a location"));
connect(findPlaceAct, SIGNAL(triggered()), this, SLOT(onFindPlaceAct_triggered()));
*/
showCompassAct = new QAction(tr("Show compass"), this);
showCompassAct->setStatusTip(tr("Show/Hide the compass"));
showCompassAct->setCheckable(true);
showCompassAct->setChecked(true);
connect(showCompassAct, SIGNAL(toggled(bool)), this, SLOT(onShowCompassAct_toggled(bool)));
showDiagnostics = new QAction(tr("Show Diagnostics"), this);
showDiagnostics->setStatusTip(tr("Show/Hide the diagnostics"));
showDiagnostics->setCheckable(true);
showDiagnostics->setChecked(false);
connect(showDiagnostics, SIGNAL(toggled(bool)), this, SLOT(onShowDiagnostics_toggled(bool)));
showHomeAct = new QAction(tr("Show Home"), this);
showHomeAct->setStatusTip(tr("Show/Hide the Home location"));
showHomeAct->setCheckable(true);
showHomeAct->setChecked(true);
connect(showHomeAct, SIGNAL(toggled(bool)), this, SLOT(onShowHomeAct_toggled(bool)));
showUAVAct = new QAction(tr("Show UAV"), this);
showUAVAct->setStatusTip(tr("Show/Hide the UAV"));
showUAVAct->setCheckable(true);
showUAVAct->setChecked(true);
connect(showUAVAct, SIGNAL(toggled(bool)), this, SLOT(onShowUAVAct_toggled(bool)));
zoomInAct = new QAction(tr("Zoom &In"), this);
zoomInAct->setShortcut(Qt::Key_PageUp);
zoomInAct->setStatusTip(tr("Zoom the map in"));
connect(zoomInAct, SIGNAL(triggered()), this, SLOT(onGoZoomInAct_triggered()));
zoomOutAct = new QAction(tr("Zoom &Out"), this);
zoomOutAct->setShortcut(Qt::Key_PageDown);
zoomOutAct->setStatusTip(tr("Zoom the map out"));
connect(zoomOutAct, SIGNAL(triggered()), this, SLOT(onGoZoomOutAct_triggered()));
goMouseClickAct = new QAction(tr("Go to where you right clicked the mouse"), this);
goMouseClickAct->setStatusTip(tr("Center the map onto where you right clicked the mouse"));
connect(goMouseClickAct, SIGNAL(triggered()), this, SLOT(onGoMouseClickAct_triggered()));
setHomeAct = new QAction(tr("Set the home location"), this);
setHomeAct->setStatusTip(tr("Set the home location to where you clicked"));
#if !defined(allow_manual_home_location_move)
setHomeAct->setEnabled(false);
#endif
connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered()));
goHomeAct = new QAction(tr("Go to &Home location"), this);
goHomeAct->setShortcut(tr("Ctrl+H"));
goHomeAct->setStatusTip(tr("Center the map onto the home location"));
connect(goHomeAct, SIGNAL(triggered()), this, SLOT(onGoHomeAct_triggered()));
goUAVAct = new QAction(tr("Go to &UAV location"), this);
goUAVAct->setShortcut(tr("Ctrl+U"));
goUAVAct->setStatusTip(tr("Center the map onto the UAV location"));
connect(goUAVAct, SIGNAL(triggered()), this, SLOT(onGoUAVAct_triggered()));
followUAVpositionAct = new QAction(tr("Follow UAV position"), this);
followUAVpositionAct->setShortcut(tr("Ctrl+F"));
followUAVpositionAct->setStatusTip(tr("Keep the map centered onto the UAV"));
followUAVpositionAct->setCheckable(true);
followUAVpositionAct->setChecked(false);
connect(followUAVpositionAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVpositionAct_toggled(bool)));
followUAVheadingAct = new QAction(tr("Follow UAV heading"), this);
followUAVheadingAct->setShortcut(tr("Ctrl+F"));
followUAVheadingAct->setStatusTip(tr("Keep the map rotation to the UAV heading"));
followUAVheadingAct->setCheckable(true);
followUAVheadingAct->setChecked(false);
connect(followUAVheadingAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVheadingAct_toggled(bool)));
/*
TODO: Waypoint support is disabled for v1.0
*/
/*
wayPointEditorAct = new QAction(tr("&Waypoint editor"), this);
wayPointEditorAct->setShortcut(tr("Ctrl+W"));
wayPointEditorAct->setStatusTip(tr("Open the waypoint editor"));
wayPointEditorAct->setEnabled(false); // temporary
connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered()));
addWayPointAct = new QAction(tr("&Add waypoint"), this);
addWayPointAct->setShortcut(tr("Ctrl+A"));
addWayPointAct->setStatusTip(tr("Add waypoint"));
connect(addWayPointAct, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggered()));
editWayPointAct = new QAction(tr("&Edit waypoint"), this);
editWayPointAct->setShortcut(tr("Ctrl+E"));
editWayPointAct->setStatusTip(tr("Edit waypoint"));
connect(editWayPointAct, SIGNAL(triggered()), this, SLOT(onEditWayPointAct_triggered()));
lockWayPointAct = new QAction(tr("&Lock waypoint"), this);
lockWayPointAct->setStatusTip(tr("Lock/Unlock a waypoint"));
lockWayPointAct->setCheckable(true);
lockWayPointAct->setChecked(false);
connect(lockWayPointAct, SIGNAL(triggered()), this, SLOT(onLockWayPointAct_triggered()));
deleteWayPointAct = new QAction(tr("&Delete waypoint"), this);
deleteWayPointAct->setShortcut(tr("Ctrl+D"));
deleteWayPointAct->setStatusTip(tr("Delete waypoint"));
connect(deleteWayPointAct, SIGNAL(triggered()), this, SLOT(onDeleteWayPointAct_triggered()));
clearWayPointsAct = new QAction(tr("&Clear waypoints"), this);
clearWayPointsAct->setShortcut(tr("Ctrl+C"));
clearWayPointsAct->setStatusTip(tr("Clear waypoints"));
connect(clearWayPointsAct, SIGNAL(triggered()), this, SLOT(onClearWayPointsAct_triggered()));
*/
homeMagicWaypointAct = new QAction(tr("Home magic waypoint"), this);
homeMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the home position"));
connect(homeMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onHomeMagicWaypointAct_triggered()));
mapModeActGroup = new QActionGroup(this);
connect(mapModeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMapModeActGroup_triggered(QAction *)));
mapModeAct.clear();
{
QAction *map_mode_act;
map_mode_act = new QAction(tr("Normal"), mapModeActGroup);
map_mode_act->setCheckable(true);
map_mode_act->setChecked(m_map_mode == Normal_MapMode);
map_mode_act->setData((int)Normal_MapMode);
mapModeAct.append(map_mode_act);
map_mode_act = new QAction(tr("Magic Waypoint"), mapModeActGroup);
map_mode_act->setCheckable(true);
map_mode_act->setChecked(m_map_mode == MagicWaypoint_MapMode);
map_mode_act->setData((int)MagicWaypoint_MapMode);
mapModeAct.append(map_mode_act);
}
zoomActGroup = new QActionGroup(this);
connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
zoomAct.clear();
for (int i = m_min_zoom; i <= m_max_zoom; i++)
{
QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
zoom_act->setCheckable(true);
zoom_act->setData(i);
zoomAct.append(zoom_act);
}
maxUpdateRateActGroup = new QActionGroup(this);
connect(maxUpdateRateActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMaxUpdateRateActGroup_triggered(QAction *)));
maxUpdateRateAct.clear();
list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
for (int i = 0; i < list_size; i++)
{
QAction *maxUpdateRate_act;
int j = max_update_rate_list[i];
maxUpdateRate_act = new QAction(QString::number(j), maxUpdateRateActGroup);
maxUpdateRate_act->setCheckable(true);
maxUpdateRate_act->setData(j);
maxUpdateRate_act->setChecked(j == m_maxUpdateRate);
maxUpdateRateAct.append(maxUpdateRate_act);
}
// *****
// safe area
showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
showSafeAreaAct->setStatusTip(tr("Show/Hide the Safe Area around the home location"));
showSafeAreaAct->setCheckable(true);
showSafeAreaAct->setChecked(m_map->Home->ShowSafeArea());
connect(showSafeAreaAct, SIGNAL(toggled(bool)), this, SLOT(onShowSafeAreaAct_toggled(bool)));
safeAreaActGroup = new QActionGroup(this);
connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
safeAreaAct.clear();
list_size = sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0]);
for (int i = 0; i < list_size; i++)
{
int safeArea = safe_area_radius_list[i];
QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
safeArea_act->setCheckable(true);
safeArea_act->setChecked(safeArea == m_map->Home->SafeArea());
safeArea_act->setData(safeArea);
safeAreaAct.append(safeArea_act);
}
// *****
// UAV trail
uavTrailTypeActGroup = new QActionGroup(this);
connect(uavTrailTypeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTypeActGroup_triggered(QAction *)));
uavTrailTypeAct.clear();
QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
for (int i = 0; i < uav_trail_type_list.count(); i++)
{
mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[i]);
QAction *uavTrailType_act = new QAction(mapcontrol::Helper::StrFromUAVTrailType(uav_trail_type), uavTrailTypeActGroup);
uavTrailType_act->setCheckable(true);
uavTrailType_act->setChecked(uav_trail_type == m_map->UAV->GetTrailType());
uavTrailType_act->setData(i);
uavTrailTypeAct.append(uavTrailType_act);
}
showTrailAct = new QAction(tr("Show Trail dots"), this);
showTrailAct->setStatusTip(tr("Show/Hide the Trail dots"));
showTrailAct->setCheckable(true);
showTrailAct->setChecked(true);
connect(showTrailAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailAct_toggled(bool)));
showTrailLineAct = new QAction(tr("Show Trail lines"), this);
showTrailLineAct->setStatusTip(tr("Show/Hide the Trail lines"));
showTrailLineAct->setCheckable(true);
showTrailLineAct->setChecked(true);
connect(showTrailLineAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailLineAct_toggled(bool)));
clearUAVtrailAct = new QAction(tr("Clear UAV trail"), this);
clearUAVtrailAct->setStatusTip(tr("Clear the UAV trail"));
connect(clearUAVtrailAct, SIGNAL(triggered()), this, SLOT(onClearUAVtrailAct_triggered()));
uavTrailTimeActGroup = new QActionGroup(this);
connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
uavTrailTimeAct.clear();
list_size = sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0]);
for (int i = 0; i < list_size; i++)
{
int uav_trail_time = uav_trail_time_list[i];
QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
uavTrailTime_act->setCheckable(true);
uavTrailTime_act->setChecked(uav_trail_time == m_map->UAV->TrailTime());
uavTrailTime_act->setData(uav_trail_time);
uavTrailTimeAct.append(uavTrailTime_act);
}
uavTrailDistanceActGroup = new QActionGroup(this);
connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
uavTrailDistanceAct.clear();
list_size = sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0]);
for (int i = 0; i < list_size; i++)
{
int uav_trail_distance = uav_trail_distance_list[i];
QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
uavTrailDistance_act->setCheckable(true);
uavTrailDistance_act->setChecked(uav_trail_distance == m_map->UAV->TrailDistance());
uavTrailDistance_act->setData(uav_trail_distance);
uavTrailDistanceAct.append(uavTrailDistance_act);
}
// *****
// ***********************
}
void OPMapGadgetWidget::onReloadAct_triggered()
{
if (!m_widget || !m_map)
return;
m_map->ReloadMap();
}
void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
{
QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
}
void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
{
QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
}
void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
{
QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
}
void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->SetShowCompass(show);
}
void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->SetShowDiagnostics(show);
}
void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->Home->setVisible(show);
}
void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->UAV->setVisible(show);
m_map->GPS->setVisible(show);
}
void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->UAV->SetShowTrail(show);
m_map->GPS->SetShowTrail(show);
}
void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->UAV->SetShowTrailLine(show);
m_map->GPS->SetShowTrailLine(show);
}
void OPMapGadgetWidget::onMapModeActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
opMapModeType mode = (opMapModeType)action->data().toInt();
setMapMode(mode);
}
void OPMapGadgetWidget::onGoZoomInAct_triggered()
{
zoomIn();
}
void OPMapGadgetWidget::onGoZoomOutAct_triggered()
{
zoomOut();
}
void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
setZoom(action->data().toInt());
}
void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
setMaxUpdateRate(action->data().toInt());
}
void OPMapGadgetWidget::onGoMouseClickAct_triggered()
{
if (!m_widget || !m_map)
return;
m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position
}
void OPMapGadgetWidget::onSetHomeAct_triggered()
{
if (!m_widget || !m_map)
return;
setHome(m_context_menu_lat_lon);
setHomeLocationObject(); // update the HomeLocation UAVObject
}
void OPMapGadgetWidget::onGoHomeAct_triggered()
{
if (!m_widget || !m_map)
return;
goHome();
}
void OPMapGadgetWidget::onGoUAVAct_triggered()
{
if (!m_widget || !m_map)
return;
double latitude;
double longitude;
double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position
if (map_pos != uav_pos) m_map->SetCurrentPosition(uav_pos); // center the map onto the UAV
}
}
void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
{
if (!m_widget || !m_map)
return;
if (m_widget->toolButtonMapUAV->isChecked() != checked)
m_widget->toolButtonMapUAV->setChecked(checked);
setMapFollowingMode();
}
void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
{
if (!m_widget || !m_map)
return;
if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
m_widget->toolButtonMapUAVheading->setChecked(checked);
setMapFollowingMode();
}
void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
int trail_type_idx = action->data().toInt();
QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[trail_type_idx]);
m_map->UAV->SetTrailType(uav_trail_type);
}
void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
{
if (!m_widget || !m_map)
return;
m_map->UAV->DeleteTrail();
m_map->GPS->DeleteTrail();
}
void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
int trail_time = (double)action->data().toInt();
m_map->UAV->SetTrailTime(trail_time);
}
void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
int trail_distance = action->data().toInt();
m_map->UAV->SetTrailDistance(trail_distance);
}
/**
* TODO: unused for v1.0
**/
/*
void OPMapGadgetWidget::onAddWayPointAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
m_waypoint_list_mutex.lock();
// create a waypoint on the map at the last known mouse position
t_waypoint *wp = new t_waypoint;
wp->map_wp_item = NULL;
wp->coord = context_menu_lat_lon;
wp->altitude = 0;
wp->description = "";
wp->locked = false;
wp->time_seconds = 0;
wp->hold_time_seconds = 0;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
if (wp->map_wp_item)
{
if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update();
}
// and remember it in our own local waypoint list
m_waypoint_list.append(wp);
m_waypoint_list_mutex.unlock();
}
*/
/**
* Called when the user asks to edit a waypoint from the map
*
* TODO: should open an interface to edit waypoint properties, or
* propagate the signal to a specific WP plugin (tbd).
**/
/*
void OPMapGadgetWidget::onEditWayPointAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
if (!m_mouse_waypoint)
return;
//waypoint_edit_dialog.editWaypoint(m_mouse_waypoint);
m_mouse_waypoint = NULL;
}
*/
/**
* TODO: unused for v1.0
*/
/*
void OPMapGadgetWidget::onLockWayPointAct_triggered()
{
if (!m_widget || !m_map || !m_mouse_waypoint)
return;
if (m_map_mode != Normal_MapMode)
return;
bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
m_mouse_waypoint->setFlag(QGraphicsItem::ItemIsMovable, locked);
if (!locked)
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
else
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
m_mouse_waypoint->update();
m_mouse_waypoint = NULL;
}
*/
/**
* TODO: unused for v1.0
*/
/*
void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
if (!m_mouse_waypoint)
return;
bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
if (locked) return; // waypoint is locked
QMutexLocker locker(&m_waypoint_list_mutex);
for (int i = 0; i < m_waypoint_list.count(); i++)
{
t_waypoint *wp = m_waypoint_list.at(i);
if (!wp) continue;
if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
// delete the waypoint from the map
m_map->WPDelete(wp->map_wp_item);
// delete the waypoint from our local waypoint list
m_waypoint_list.removeAt(i);
delete wp;
break;
}
//
// foreach (t_waypoint *wp, m_waypoint_list)
// {
// if (!wp) continue;
// if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
//
// // delete the waypoint from the map
// m_map->WPDelete(wp->map_wp_item);
//
// // delete the waypoint from our local waypoint list
// m_waypoint_list.removeOne(wp);
//
// delete wp;
//
// break;
// }
m_mouse_waypoint = NULL;
}
*/
/**
* TODO: No Waypoint support in v1.0
*/
/*
void OPMapGadgetWidget::onClearWayPointsAct_triggered()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != Normal_MapMode)
return;
QMutexLocker locker(&m_waypoint_list_mutex);
m_map->WPDeleteAll();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (wp)
{
delete wp;
wp = NULL;
}
}
m_waypoint_list.clear();
}
*/
void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
{
// center the magic waypoint on the home position
homeMagicWaypoint();
}
void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
{
if (!m_widget || !m_map)
return;
m_map->Home->SetShowSafeArea(show); // show the safe area
m_map->Home->RefreshPos();
}
void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
int radius = action->data().toInt();
m_map->Home->SetSafeArea(radius); // set the radius (meters)
m_map->Home->RefreshPos();
// move the magic waypoint if need be to keep it within the safe area around the home position
keepMagicWaypointWithInSafeArea();
}
/**
* move the magic waypoint to the home position
**/
void OPMapGadgetWidget::homeMagicWaypoint()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != MagicWaypoint_MapMode)
return;
m_magic_waypoint.coord = m_home_position.coord;
if (m_magic_waypoint.map_wp_item)
m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
}
// *************************************************************************************
// move the UAV to the magic waypoint position
void OPMapGadgetWidget::moveToMagicWaypointPosition()
{
if (!m_widget || !m_map)
return;
if (m_map_mode != MagicWaypoint_MapMode)
return;
// internals::PointLatLng coord = magic_waypoint.coord;
// double altitude = magic_waypoint.altitude;
// ToDo:
}
// *************************************************************************************
// temporary until an object is created for managing the save/restore
// load the contents of a simple text file into a combobox
void OPMapGadgetWidget::loadComboBoxLines(QComboBox *comboBox, QString filename)
{
if (!comboBox) return;
if (filename.isNull() || filename.isEmpty()) return;
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return;
QTextStream in(&file);
while (!in.atEnd())
{
QString line = in.readLine().simplified();
if (line.isNull() || line.isEmpty()) continue;
comboBox->addItem(line);
}
file.close();
}
// save a combobox text contents to a simple text file
void OPMapGadgetWidget::saveComboBoxLines(QComboBox *comboBox, QString filename)
{
if (!comboBox) return;
if (filename.isNull() || filename.isEmpty()) return;
QFile file(filename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
return;
QTextStream out(&file);
for (int i = 0; i < comboBox->count(); i++)
{
QString line = comboBox->itemText(i).simplified();
if (line.isNull() || line.isEmpty()) continue;
out << line << "\n";
}
file.close();
}
// *************************************************************************************
// show/hide the magic waypoint controls
void OPMapGadgetWidget::hideMagicWaypointControls()
{
m_widget->lineWaypoint->setVisible(false);
m_widget->toolButtonHomeWaypoint->setVisible(false);
m_widget->toolButtonMoveToWP->setVisible(false);
}
void OPMapGadgetWidget::showMagicWaypointControls()
{
m_widget->lineWaypoint->setVisible(true);
m_widget->toolButtonHomeWaypoint->setVisible(true);
#if defined(allow_manual_home_location_move)
m_widget->toolButtonMoveToWP->setVisible(true);
#else
m_widget->toolButtonMoveToWP->setVisible(false);
#endif
}
// *************************************************************************************
// move the magic waypoint to keep it within the safe area boundry
void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
{
// calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(m_home_position.coord, m_magic_waypoint.coord);
double bear = bearing(m_home_position.coord, m_magic_waypoint.coord);
// get the maximum safe distance - in kilometers
double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
// if (dist <= boundry_dist)
// return; // the magic waypoint is still within the safe area, don't move it
if (dist > boundry_dist) dist = boundry_dist;
// move the magic waypoint
m_magic_waypoint.coord = destPoint(m_home_position.coord, bear, dist);
if (m_map_mode == MagicWaypoint_MapMode)
{ // move the on-screen waypoint
if (m_magic_waypoint.map_wp_item)
m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
}
}
// *************************************************************************************
// return the distance between two points .. in kilometers
double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::PointLatLng to)
{
double lat1 = from.Lat() * deg_to_rad;
double lon1 = from.Lng() * deg_to_rad;
double lat2 = to.Lat() * deg_to_rad;
double lon2 = to.Lng() * deg_to_rad;
// ***********************
// Haversine formula
/*
double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1;
double t1 = sin(delta_lat / 2);
double t2 = sin(delta_lon / 2);
double a = (t1 * t1) + cos(lat1) * cos(lat2) * (t2 * t2);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
return (earth_mean_radius * c);
*/
// ***********************
// Spherical Law of Cosines
return (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)) * earth_mean_radius);
// ***********************
}
// *************************************************************************************
// return the bearing from one point to another .. in degrees
double OPMapGadgetWidget::bearing(internals::PointLatLng from, internals::PointLatLng to)
{
double lat1 = from.Lat() * deg_to_rad;
double lon1 = from.Lng() * deg_to_rad;
double lat2 = to.Lat() * deg_to_rad;
double lon2 = to.Lng() * deg_to_rad;
// double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1;
double y = sin(delta_lon) * cos(lat2);
double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(delta_lon);
double bear = atan2(y, x) * rad_to_deg;
bear += 360;
while (bear < 0) bear += 360;
while (bear >= 360) bear -= 360;
return bear;
}
// *************************************************************************************
// return a destination lat/lon point given a source lat/lon point and the bearing and distance from the source point
internals::PointLatLng OPMapGadgetWidget::destPoint(internals::PointLatLng source, double bear, double dist)
{
double lat1 = source.Lat() * deg_to_rad;
double lon1 = source.Lng() * deg_to_rad;
bear *= deg_to_rad;
double ad = dist / earth_mean_radius;
double lat2 = asin(sin(lat1) * cos(ad) + cos(lat1) * sin(ad) * cos(bear));
double lon2 = lon1 + atan2(sin(bear) * sin(ad) * cos(lat1), cos(ad) - sin(lat1) * sin(lat2));
return internals::PointLatLng(lat2 * rad_to_deg, lon2 * rad_to_deg);
}
// *************************************************************************************
bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, double &altitude)
{
double BaseECEF[3];
double NED[3];
double LLA[3];
UAVObject *obj;
if (!obm)
return false;
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
if (!obj) return false;
BaseECEF[0] = obj->getField(QString("ECEF"))->getDouble(0) / 100;
BaseECEF[1] = obj->getField(QString("ECEF"))->getDouble(1) / 100;
BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2) / 100;
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("PositionActual")));
if (!obj) return false;
NED[0] = obj->getField(QString("North"))->getDouble() / 100;
NED[1] = obj->getField(QString("East"))->getDouble() / 100;
NED[2] = obj->getField(QString("Down"))->getDouble() / 100;
// obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("PositionDesired")));
// obj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual")); // air speed
Utils::CoordinateConversions().GetLLA(BaseECEF, NED, LLA);
latitude = LLA[0];
longitude = LLA[1];
altitude = LLA[2];
if (latitude != latitude) latitude = 0; // nan detection
// if (isNan(latitude)) latitude = 0; // nan detection
else
// if (!isFinite(latitude)) latitude = 0;
// else
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection
else
// if (longitude > std::numeric_limits<double>::max()) longitude = 0; // +infinite
// else
// if (longitude < -std::numeric_limits<double>::max()) longitude = 0; // -infinite
// else
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
if (altitude != altitude) altitude = 0; // nan detection
return true;
}
double OPMapGadgetWidget::getUAV_Yaw()
{
if (!obm)
return 0;
UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
double yaw = obj->getField(QString("Yaw"))->getDouble();
if (yaw != yaw) yaw = 0; // nan detection
while (yaw < 0) yaw += 360;
while (yaw >= 360) yaw -= 360;
return yaw;
}
bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
{
double LLA[3];
if (!obum)
return false;
if (obum->getGPSPosition(LLA) < 0)
return false; // error
latitude = LLA[0];
longitude = LLA[1];
altitude = LLA[2];
return true;
}
// *************************************************************************************
void OPMapGadgetWidget::setMapFollowingMode()
{
if (!m_widget || !m_map)
return;
if (!followUAVpositionAct->isChecked())
{
m_map->UAV->SetMapFollowType(UAVMapFollowType::None);
m_map->SetRotate(0); // reset map rotation to 0deg
}
else
if (!followUAVheadingAct->isChecked())
{
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);
m_map->SetRotate(0); // reset map rotation to 0deg
}
else
{
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap); // the map library won't let you reset the uav rotation if it's already in rotate mode
m_map->UAV->SetUAVHeading(0); // reset the UAV heading to 0deg
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap);
}
}
// *************************************************************************************
// update the HomeLocation UAV Object
bool OPMapGadgetWidget::setHomeLocationObject()
{
if (!obum)
return false;
double LLA[3] = {m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude};
return (obum->setHomeLocation(LLA, true) >= 0);
}
// *************************************************************************************
void OPMapGadgetWidget::SetUavPic(QString UAVPic)
{
m_map->SetUavPic(UAVPic);
}

708
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -1,347 +1,361 @@
/**
******************************************************************************
*
* @file opmapgadgetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPMAP_GADGETWIDGET_H_
#define OPMAP_GADGETWIDGET_H_
// ******************************************************
#include <QtGui/QWidget>
#include <QtGui/QMenu>
#include <QStringList>
#include <QStandardItemModel>
#include <QList>
#include <QMutex>
#include <QMutexLocker>
#include <QPointF>
#include "opmapcontrol/opmapcontrol.h"
#include "opmap_overlay_widget.h"
#include "opmap_zoom_slider_widget.h"
#include "opmap_statusbar_widget.h"
#include "utils/coordinateconversions.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectutilmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "objectpersistence.h"
// ******************************************************
namespace Ui
{
class OPMap_Widget;
}
using namespace mapcontrol;
// ******************************************************
typedef struct t_home
{
internals::PointLatLng coord;
double altitude;
bool locked;
} t_home;
// local waypoint list item structure
typedef struct t_waypoint
{
mapcontrol::WayPointItem *map_wp_item;
internals::PointLatLng coord;
double altitude;
QString description;
bool locked;
int time_seconds;
int hold_time_seconds;
} t_waypoint;
// ******************************************************
enum opMapModeType { Normal_MapMode = 0,
MagicWaypoint_MapMode = 1};
// ******************************************************
class OPMapGadgetWidget : public QWidget
{
Q_OBJECT
public:
OPMapGadgetWidget(QWidget *parent = 0);
~OPMapGadgetWidget();
/**
* @brief public functions
*
* @param
*/
void setHome(QPointF pos);
void setHome(internals::PointLatLng pos_lat_lon);
void goHome();
void setZoom(int zoom);
void setPosition(QPointF pos);
void setMapProvider(QString provider);
void setUseOpenGL(bool useOpenGL);
void setShowTileGridLines(bool showTileGridLines);
void setAccessMode(QString accessMode);
void setUseMemoryCache(bool useMemoryCache);
void setCacheLocation(QString cacheLocation);
void setMapMode(opMapModeType mode);
void SetUavPic(QString UAVPic);
public slots:
void homePositionUpdated(UAVObject *);
void onTelemetryConnect();
void onTelemetryDisconnect();
protected:
void resizeEvent(QResizeEvent *event);
void mouseMoveEvent(QMouseEvent *event);
void contextMenuEvent(QContextMenuEvent *event);
void keyPressEvent(QKeyEvent* event);
private slots:
void updatePosition();
void updateMousePos();
void zoomIn();
void zoomOut();
/**
* @brief signals received from the various map plug-in widget user controls
*
* Some are currently disabled for the v1.0 plugin version.
*/
// void comboBoxFindPlace_returnPressed();
// void on_toolButtonFindPlace_clicked();
void on_toolButtonZoomM_clicked();
void on_toolButtonZoomP_clicked();
void on_toolButtonMapHome_clicked();
void on_toolButtonMapUAV_clicked();
void on_toolButtonMapUAVheading_clicked();
void on_horizontalSliderZoom_sliderMoved(int position);
// void on_toolButtonAddWaypoint_clicked();
// void on_treeViewWaypoints_clicked(QModelIndex index);
// void on_toolButtonHome_clicked();
// void on_toolButtonNextWaypoint_clicked();
// void on_toolButtonPrevWaypoint_clicked();
// void on_toolButtonHoldPosition_clicked();
// void on_toolButtonGo_clicked();
void on_toolButtonMagicWaypointMapMode_clicked();
void on_toolButtonNormalMapMode_clicked();
void on_toolButtonHomeWaypoint_clicked();
void on_toolButtonMoveToWP_clicked();
/**
* @brief signals received from the map object
*/
void zoomChanged(double zoomt,double zoom, double zoomd);
void OnCurrentPositionChanged(internals::PointLatLng point);
void OnTileLoadComplete();
void OnTileLoadStart();
void OnMapDrag();
void OnMapZoomChanged();
void OnMapTypeChanged(MapType::Types type);
void OnEmptyTileError(int zoom, core::Point pos);
void OnTilesStillToLoad(int number);
/**
* Unused for now, hooks for future waypoint support
*/
void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
void WPValuesChanged(WayPointItem* waypoint);
void WPInserted(int const& number, WayPointItem* waypoint);
void WPDeleted(int const& number);
/**
* @brief mouse right click context menu signals
*/
void onReloadAct_triggered();
void onCopyMouseLatLonToClipAct_triggered();
void onCopyMouseLatToClipAct_triggered();
void onCopyMouseLonToClipAct_triggered();
// void onFindPlaceAct_triggered();
void onShowCompassAct_toggled(bool show);
void onShowDiagnostics_toggled(bool show);
void onShowUAVAct_toggled(bool show);
void onShowHomeAct_toggled(bool show);
void onShowTrailLineAct_toggled(bool show);
void onShowTrailAct_toggled(bool show);
void onGoZoomInAct_triggered();
void onGoZoomOutAct_triggered();
void onGoMouseClickAct_triggered();
void onSetHomeAct_triggered();
void onGoHomeAct_triggered();
void onGoUAVAct_triggered();
void onFollowUAVpositionAct_toggled(bool checked);
void onFollowUAVheadingAct_toggled(bool checked);
/*
void onOpenWayPointEditorAct_triggered();
void onAddWayPointAct_triggered();
void onEditWayPointAct_triggered();
void onLockWayPointAct_triggered();
void onDeleteWayPointAct_triggered();
void onClearWayPointsAct_triggered();
*/
void onMapModeActGroup_triggered(QAction *action);
void onZoomActGroup_triggered(QAction *action);
void onHomeMagicWaypointAct_triggered();
void onShowSafeAreaAct_toggled(bool show);
void onSafeAreaActGroup_triggered(QAction *action);
void onUAVTrailTypeActGroup_triggered(QAction *action);
void onClearUAVtrailAct_triggered();
void onUAVTrailTimeActGroup_triggered(QAction *action);
void onUAVTrailDistanceActGroup_triggered(QAction *action);
private:
int min_zoom;
int max_zoom;
double m_heading; // uav heading
internals::PointLatLng mouse_lat_lon;
internals::PointLatLng context_menu_lat_lon;
int prev_tile_number;
opMapModeType m_map_mode;
t_home home_position;
t_waypoint magic_waypoint;
QStringList findPlaceWordList;
QCompleter *findPlaceCompleter;
QTimer *m_updateTimer;
QTimer *m_statusUpdateTimer;
Ui::OPMap_Widget *m_widget;
mapcontrol::OPMapWidget *m_map;
ExtensionSystem::PluginManager *pm;
UAVObjectManager *obm;
UAVObjectUtilManager *obum;
//opmap_waypointeditor_dialog waypoint_editor_dialog;
//opmap_edit_waypoint_dialog waypoint_edit_dialog;
QStandardItemModel wayPoint_treeView_model;
mapcontrol::WayPointItem *m_mouse_waypoint;
QList<t_waypoint *> m_waypoint_list;
QMutex m_waypoint_list_mutex;
QMutex m_map_mutex;
bool telemetry_connected;
void createActions();
QAction *closeAct1;
QAction *closeAct2;
QAction *reloadAct;
QAction *copyMouseLatLonToClipAct;
QAction *copyMouseLatToClipAct;
QAction *copyMouseLonToClipAct;
QAction *findPlaceAct;
QAction *showCompassAct;
QAction *showDiagnostics;
QAction *showHomeAct;
QAction *showUAVAct;
QAction *zoomInAct;
QAction *zoomOutAct;
QAction *goMouseClickAct;
QAction *setHomeAct;
QAction *goHomeAct;
QAction *goUAVAct;
QAction *followUAVpositionAct;
QAction *followUAVheadingAct;
/*
QAction *wayPointEditorAct;
QAction *addWayPointAct;
QAction *editWayPointAct;
QAction *lockWayPointAct;
QAction *deleteWayPointAct;
QAction *clearWayPointsAct;
*/
QAction *homeMagicWaypointAct;
QAction *showSafeAreaAct;
QActionGroup *safeAreaActGroup;
QList<QAction *> safeAreaAct;
QActionGroup *uavTrailTypeActGroup;
QList<QAction *> uavTrailTypeAct;
QAction *clearUAVtrailAct;
QActionGroup *uavTrailTimeActGroup;
QAction *showTrailLineAct;
QAction *showTrailAct;
QList<QAction *> uavTrailTimeAct;
QActionGroup *uavTrailDistanceActGroup;
QList<QAction *> uavTrailDistanceAct;
QActionGroup *mapModeActGroup;
QList<QAction *> mapModeAct;
QActionGroup *zoomActGroup;
QList<QAction *> zoomAct;
void homeMagicWaypoint();
void moveToMagicWaypointPosition();
void loadComboBoxLines(QComboBox *comboBox, QString filename);
void saveComboBoxLines(QComboBox *comboBox, QString filename);
void hideMagicWaypointControls();
void showMagicWaypointControls();
void keepMagicWaypointWithInSafeArea();
double distance(internals::PointLatLng from, internals::PointLatLng to);
double bearing(internals::PointLatLng from, internals::PointLatLng to);
internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
bool getUAVPosition(double &latitude, double &longitude, double &altitude);
bool getGPSPosition(double &latitude, double &longitude, double &altitude);
double getUAV_Yaw();
void setMapFollowingMode();
bool setHomeLocationObject();
};
#endif /* OPMAP_GADGETWIDGET_H_ */
/**
******************************************************************************
*
* @file opmapgadgetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{
* @brief The OpenPilot Map plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPMAP_GADGETWIDGET_H_
#define OPMAP_GADGETWIDGET_H_
// ******************************************************
#include <QtGui/QWidget>
#include <QtGui/QMenu>
#include <QStringList>
#include <QStandardItemModel>
#include <QList>
#include <QMutex>
#include <QMutexLocker>
#include <QPointF>
#include "opmapcontrol/opmapcontrol.h"
#include "opmap_overlay_widget.h"
#include "opmap_zoom_slider_widget.h"
#include "opmap_statusbar_widget.h"
#include "utils/coordinateconversions.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectutilmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "objectpersistence.h"
// ******************************************************
namespace Ui
{
class OPMap_Widget;
}
using namespace mapcontrol;
// ******************************************************
typedef struct t_home
{
internals::PointLatLng coord;
double altitude;
bool locked;
} t_home;
// local waypoint list item structure
typedef struct t_waypoint
{
mapcontrol::WayPointItem *map_wp_item;
internals::PointLatLng coord;
double altitude;
QString description;
bool locked;
int time_seconds;
int hold_time_seconds;
} t_waypoint;
// ******************************************************
enum opMapModeType { Normal_MapMode = 0,
MagicWaypoint_MapMode = 1};
// ******************************************************
class OPMapGadgetWidget : public QWidget
{
Q_OBJECT
public:
OPMapGadgetWidget(QWidget *parent = 0);
~OPMapGadgetWidget();
/**
* @brief public functions
*
* @param
*/
void setHome(QPointF pos);
void setHome(internals::PointLatLng pos_lat_lon);
void goHome();
void setZoom(int zoom);
void setPosition(QPointF pos);
void setMapProvider(QString provider);
void setUseOpenGL(bool useOpenGL);
void setShowTileGridLines(bool showTileGridLines);
void setAccessMode(QString accessMode);
void setUseMemoryCache(bool useMemoryCache);
void setCacheLocation(QString cacheLocation);
void setMapMode(opMapModeType mode);
void SetUavPic(QString UAVPic);
void setMaxUpdateRate(int update_rate);
public slots:
void homePositionUpdated(UAVObject *);
void onTelemetryConnect();
void onTelemetryDisconnect();
protected:
void resizeEvent(QResizeEvent *event);
void mouseMoveEvent(QMouseEvent *event);
void contextMenuEvent(QContextMenuEvent *event);
void keyPressEvent(QKeyEvent* event);
private slots:
void updatePosition();
void updateMousePos();
void zoomIn();
void zoomOut();
/**
* @brief signals received from the various map plug-in widget user controls
*
* Some are currently disabled for the v1.0 plugin version.
*/
// void comboBoxFindPlace_returnPressed();
// void on_toolButtonFindPlace_clicked();
void on_toolButtonZoomM_clicked();
void on_toolButtonZoomP_clicked();
void on_toolButtonMapHome_clicked();
void on_toolButtonMapUAV_clicked();
void on_toolButtonMapUAVheading_clicked();
void on_horizontalSliderZoom_sliderMoved(int position);
// void on_toolButtonAddWaypoint_clicked();
// void on_treeViewWaypoints_clicked(QModelIndex index);
// void on_toolButtonHome_clicked();
// void on_toolButtonNextWaypoint_clicked();
// void on_toolButtonPrevWaypoint_clicked();
// void on_toolButtonHoldPosition_clicked();
// void on_toolButtonGo_clicked();
void on_toolButtonMagicWaypointMapMode_clicked();
void on_toolButtonNormalMapMode_clicked();
void on_toolButtonHomeWaypoint_clicked();
void on_toolButtonMoveToWP_clicked();
/**
* @brief signals received from the map object
*/
void zoomChanged(double zoomt,double zoom, double zoomd);
void OnCurrentPositionChanged(internals::PointLatLng point);
void OnTileLoadComplete();
void OnTileLoadStart();
void OnMapDrag();
void OnMapZoomChanged();
void OnMapTypeChanged(MapType::Types type);
void OnEmptyTileError(int zoom, core::Point pos);
void OnTilesStillToLoad(int number);
/**
* Unused for now, hooks for future waypoint support
*/
void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
void WPValuesChanged(WayPointItem* waypoint);
void WPInserted(int const& number, WayPointItem* waypoint);
void WPDeleted(int const& number);
/**
* @brief mouse right click context menu signals
*/
void onReloadAct_triggered();
void onCopyMouseLatLonToClipAct_triggered();
void onCopyMouseLatToClipAct_triggered();
void onCopyMouseLonToClipAct_triggered();
// void onFindPlaceAct_triggered();
void onShowCompassAct_toggled(bool show);
void onShowDiagnostics_toggled(bool show);
void onShowUAVAct_toggled(bool show);
void onShowHomeAct_toggled(bool show);
void onShowTrailLineAct_toggled(bool show);
void onShowTrailAct_toggled(bool show);
void onGoZoomInAct_triggered();
void onGoZoomOutAct_triggered();
void onGoMouseClickAct_triggered();
void onSetHomeAct_triggered();
void onGoHomeAct_triggered();
void onGoUAVAct_triggered();
void onFollowUAVpositionAct_toggled(bool checked);
void onFollowUAVheadingAct_toggled(bool checked);
/*
void onOpenWayPointEditorAct_triggered();
void onAddWayPointAct_triggered();
void onEditWayPointAct_triggered();
void onLockWayPointAct_triggered();
void onDeleteWayPointAct_triggered();
void onClearWayPointsAct_triggered();
*/
void onMapModeActGroup_triggered(QAction *action);
void onZoomActGroup_triggered(QAction *action);
void onHomeMagicWaypointAct_triggered();
void onShowSafeAreaAct_toggled(bool show);
void onSafeAreaActGroup_triggered(QAction *action);
void onUAVTrailTypeActGroup_triggered(QAction *action);
void onClearUAVtrailAct_triggered();
void onUAVTrailTimeActGroup_triggered(QAction *action);
void onUAVTrailDistanceActGroup_triggered(QAction *action);
void onMaxUpdateRateActGroup_triggered(QAction *action);
private:
// *****
int m_min_zoom;
int m_max_zoom;
double m_heading; // uav heading
internals::PointLatLng m_mouse_lat_lon;
internals::PointLatLng m_context_menu_lat_lon;
int m_prev_tile_number;
opMapModeType m_map_mode;
int m_maxUpdateRate;
t_home m_home_position;
t_waypoint m_magic_waypoint;
QStringList findPlaceWordList;
QCompleter *findPlaceCompleter;
QTimer *m_updateTimer;
QTimer *m_statusUpdateTimer;
Ui::OPMap_Widget *m_widget;
mapcontrol::OPMapWidget *m_map;
ExtensionSystem::PluginManager *pm;
UAVObjectManager *obm;
UAVObjectUtilManager *obum;
//opmap_waypointeditor_dialog waypoint_editor_dialog;
//opmap_edit_waypoint_dialog waypoint_edit_dialog;
QStandardItemModel wayPoint_treeView_model;
mapcontrol::WayPointItem *m_mouse_waypoint;
QList<t_waypoint *> m_waypoint_list;
QMutex m_waypoint_list_mutex;
QMutex m_map_mutex;
bool m_telemetry_connected;
// *****
void createActions();
QAction *closeAct1;
QAction *closeAct2;
QAction *reloadAct;
QAction *copyMouseLatLonToClipAct;
QAction *copyMouseLatToClipAct;
QAction *copyMouseLonToClipAct;
QAction *findPlaceAct;
QAction *showCompassAct;
QAction *showDiagnostics;
QAction *showHomeAct;
QAction *showUAVAct;
QAction *zoomInAct;
QAction *zoomOutAct;
QAction *goMouseClickAct;
QAction *setHomeAct;
QAction *goHomeAct;
QAction *goUAVAct;
QAction *followUAVpositionAct;
QAction *followUAVheadingAct;
/*
QAction *wayPointEditorAct;
QAction *addWayPointAct;
QAction *editWayPointAct;
QAction *lockWayPointAct;
QAction *deleteWayPointAct;
QAction *clearWayPointsAct;
*/
QAction *homeMagicWaypointAct;
QAction *showSafeAreaAct;
QActionGroup *safeAreaActGroup;
QList<QAction *> safeAreaAct;
QActionGroup *uavTrailTypeActGroup;
QList<QAction *> uavTrailTypeAct;
QAction *clearUAVtrailAct;
QActionGroup *uavTrailTimeActGroup;
QAction *showTrailLineAct;
QAction *showTrailAct;
QList<QAction *> uavTrailTimeAct;
QActionGroup *uavTrailDistanceActGroup;
QList<QAction *> uavTrailDistanceAct;
QActionGroup *mapModeActGroup;
QList<QAction *> mapModeAct;
QActionGroup *zoomActGroup;
QList<QAction *> zoomAct;
QActionGroup *maxUpdateRateActGroup;
QList<QAction *> maxUpdateRateAct;
// *****
void homeMagicWaypoint();
void moveToMagicWaypointPosition();
void loadComboBoxLines(QComboBox *comboBox, QString filename);
void saveComboBoxLines(QComboBox *comboBox, QString filename);
void hideMagicWaypointControls();
void showMagicWaypointControls();
void keepMagicWaypointWithInSafeArea();
double distance(internals::PointLatLng from, internals::PointLatLng to);
double bearing(internals::PointLatLng from, internals::PointLatLng to);
internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
bool getUAVPosition(double &latitude, double &longitude, double &altitude);
bool getGPSPosition(double &latitude, double &longitude, double &altitude);
double getUAV_Yaw();
void setMapFollowingMode();
bool setHomeLocationObject();
};
#endif /* OPMAP_GADGETWIDGET_H_ */

10
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
View File

@ -151,6 +151,16 @@ void SystemHealthGadgetWidget::setSystemFile(QString dfn)
QGraphicsScene *l_scene = scene();
l_scene->setSceneRect(background->boundingRect());
fitInView(background, Qt::KeepAspectRatio );
// Check whether the autopilot is connected already, by the way:
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
if (telMngr->isConnected()) {
onAutopilotConnect();
SystemAlarms* obj = dynamic_cast<SystemAlarms*>(objManager->getObject(QString("SystemAlarms")));
updateAlarms(obj);
}
}
}
else

30
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -143,6 +143,36 @@ int UAVObjectUtilManager::getBoardModel()
return boardType;
}
/**
* Get the UAV Board CPU Serial Number, for anyone interested. Return format is a byte array
*/
QByteArray UAVObjectUtilManager::getBoardCPUSerial()
{
QByteArray cpuSerial;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm)
return 0;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om)
return 0;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
// The code below will ask for the object update and wait for the updated to be received,
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
obj->requestUpdate();
loop.exec();
UAVObjectField* cpuField = obj->getField("CPUSerial");
for (int i = 0; i < cpuField->getNumElements(); ++i) {
cpuSerial.append(cpuField->getValue(i).toUInt());
}
return cpuSerial;
}
// ******************************
// HomeLocation

1
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -61,6 +61,7 @@ public:
int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
int getBoardModel();
QByteArray getBoardCPUSerial();
private:
QMutex *mutex;

1
ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec
View File

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

443
ground/openpilotgcs/src/plugins/uploader/images/application-certificate.svg Normal file
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131
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp Normal file
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/**
******************************************************************************
*
* @file runningdevicewidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup Uploader Serial and USB Uploader Plugin
* @{
* @brief The USB and Serial protocol uploader plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "runningdevicewidget.h"
runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
QWidget(parent)
{
myDevice = new Ui_runningDeviceWidget();
myDevice->setupUi(this);
devicePic = NULL; // Initialize pointer to null
// Initialization of the Device icon display
myDevice->devicePicture->setScene(new QGraphicsScene(this));
QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
myDevice->statusIcon->setPixmap(pix);
}
void runningDeviceWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
if (devicePic)
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
}
void runningDeviceWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
if (devicePic)
myDevice->devicePicture->fitInView(devicePic, Qt::KeepAspectRatio);
}
/**
Fills the various fields for the device
*/
void runningDeviceWidget::populate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
myDevice->deviceID->setText(QString("Device ID: ") + QString::number(id, 16));
// DeviceID tells us what sort of HW we have detected:
// display a nice icon:
myDevice->devicePicture->scene()->clear();
if (devicePic)
delete devicePic;
devicePic = new QGraphicsSvgItem();
devicePic->setSharedRenderer(new QSvgRenderer());
switch (id) {
case 0x0101:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg"));
break;
case 0x0301:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0301.svg"));
break;
case 0x0401:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg"));
break;
case 0x0201:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg"));
break;
default:
break;
}
devicePic->setElementId("device");
myDevice->devicePicture->scene()->addItem(devicePic);
myDevice->devicePicture->setSceneRect(devicePic->boundingRect());
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
QString serial = utilMngr->getBoardCPUSerial().toHex();
myDevice->cpuSerial->setText(serial);
status("Ready...", STATUSICON_INFO);
}
/**
Updates status message
*/
void runningDeviceWidget::status(QString str, StatusIcon ic)
{
QPixmap px;
myDevice->statusLabel->setText(str);
switch (ic) {
case STATUSICON_RUNNING:
px.load(QString(":/uploader/images/system-run.svg"));
break;
case STATUSICON_OK:
px.load(QString(":/uploader/images/dialog-apply.svg"));
break;
case STATUSICON_FAIL:
px.load(QString(":/uploader/images/process-stop.svg"));
break;
default:
px.load(QString(":/uploader/images/gtk-info.svg"));
}
myDevice->statusIcon->setPixmap(px);
}

69
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h Normal file
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/**
******************************************************************************
*
* @file devicewidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup YModemUploader YModem Serial Uploader Plugin
* @{
* @brief The YModem protocol serial uploader plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RUNNINGDEVICEWIDGET_H
#define RUNNINGDEVICEWIDGET_H
#include "ui_runningdevicewidget.h"
#include "uploadergadgetwidget.h"
#include <QWidget>
#include <QErrorMessage>
#include <QtSvg/QGraphicsSvgItem>
#include <QtSvg/QSvgRenderer>
#include "uavtalk/telemetrymanager.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "uavobjectutilmanager.h"
class runningDeviceWidget : public QWidget
{
Q_OBJECT
public:
runningDeviceWidget( QWidget *parent = 0);
void populate();
void freeze();
QString setOpenFileName();
QString setSaveFileName();
typedef enum { STATUSICON_OK, STATUSICON_RUNNING, STATUSICON_FAIL, STATUSICON_INFO} StatusIcon;
private:
Ui_runningDeviceWidget *myDevice;
int deviceID;
QGraphicsSvgItem *devicePic;
void status(QString str, StatusIcon ic);
signals:
protected:
void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event);
};
#endif // RUNNINGDEVICEWIDGET_H

91
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>runningDeviceWidget</class>
<widget class="QWidget" name="runningDeviceWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>516</width>
<height>253</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="6" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="statusIcon">
<property name="text">
<string>ic</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="statusLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Status</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="5" column="0">
<widget class="QLabel" name="deviceID">
<property name="text">
<string>DeviceID</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="cpuSerialLabel">
<property name="text">
<string>CPU Serial:</string>
</property>
</widget>
</item>
<item row="4" column="2" rowspan="2">
<widget class="QGraphicsView" name="devicePicture">
<property name="maximumSize">
<size>
<width>160</width>
<height>160</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background: transparent</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
</widget>
</item>
<item row="2" column="0" colspan="3">
<widget class="QLineEdit" name="description"/>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="cpuSerial"/>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

10
ground/openpilotgcs/src/plugins/uploader/uploader.pro
View File

@ -6,6 +6,7 @@ include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavtalk/uavtalk.pri)
include(../../plugins/rawhid/rawhid.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)
INCLUDEPATH += ../../libs/qextserialport/src
HEADERS += uploadergadget.h \
@ -20,7 +21,8 @@ HEADERS += uploadergadget.h \
SSP/port.h \
SSP/qssp.h \
SSP/qsspt.h \
SSP/common.h
SSP/common.h \
runningdevicewidget.h
SOURCES += uploadergadget.cpp \
uploadergadgetconfiguration.cpp \
uploadergadgetfactory.cpp \
@ -32,12 +34,14 @@ SOURCES += uploadergadget.cpp \
devicewidget.cpp \
SSP/port.cpp \
SSP/qssp.cpp \
SSP/qsspt.cpp
SSP/qsspt.cpp \
runningdevicewidget.cpp
OTHER_FILES += Uploader.pluginspec
FORMS += \
uploader.ui \
devicewidget.ui
devicewidget.ui \
runningdevicewidget.ui
RESOURCES += \
uploader.qrc

1
ground/openpilotgcs/src/plugins/uploader/uploader.qrc
View File

@ -9,5 +9,6 @@
<file>images/deviceID-0301.svg</file>
<file>images/deviceID-0201.svg</file>
<file>images/deviceID-0101.svg</file>
<file>images/application-certificate.svg</file>
</qresource>
</RCC>

12
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -115,6 +115,18 @@ void UploaderGadgetWidget::onAutopilotConnect(){
m_config->bootButton->setEnabled(false);
m_config->rescueButton->setEnabled(false);
m_config->telemetryLink->setEnabled(false);
// Add a very simple widget with Board model & serial number
// Delete all previous tabs:
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
}
runningDeviceWidget* dw = new runningDeviceWidget(this);
dw->populate();
m_config->systemElements->addTab(dw, QString("Connected Device"));
}
/**

1
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -31,6 +31,7 @@
#include "ui_uploader.h"
#include "delay.h"
#include "devicewidget.h"
#include "runningdevicewidget.h"
#include "op_dfu.h"
#include <qextserialport.h>
#include <qextserialenumerator.h>

2
make/firmware-defs.mk
View File

@ -10,6 +10,7 @@ OBJDUMP = $(TCHAIN_PREFIX)objdump
SIZE = $(TCHAIN_PREFIX)size
NM = $(TCHAIN_PREFIX)nm
STRIP = $(TCHAIN_PREFIX)strip
INSTALL = install
THUMB = -mthumb
@ -43,6 +44,7 @@ MSG_CLEANING := ${quote} CLEAN ${quote}
MSG_ASMFROMC := ${quote} AS(C) ${quote}
MSG_ASMFROMC_ARM := ${quote} AS(C)-ARM ${quote}
MSG_PYMITEINIT := ${quote} PY ${quote}
MSG_INSTALLING := ${quote} INSTALL ${quote}
toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1)))

13
make/winx86/README.txt
View File

@ -37,17 +37,18 @@ locations (but any other locations are fine as well):
- QtSDK in C:\Qt\2010.05
- msysGit in %ProgramFiles%\Git
- Unicode NSIS in %ProgramFiles%\NSIS\Unicode
- OpenOCD in C:\OpenOCD\0.4.0\bin
Also it is assumed that you have the C:\Program Files\Git\cmd\ directory in
the PATH. Usually this is the case for msysGit installation if you have chosen
the 2nd option: put only git and gitk in the PATH (it is recommended option).
Now you need to copy two files to your msysGit installation folders.
Now you need to copy few files to your msysGit installation folders.
Assuming that you installed the msysGit into C:\Program Files\Git\,
you have to copy:
make\winx86\make -> C:\Program Files\Git\bin\
make\winx86\sh.cmd -> C:\Program Files\Git\cmd\
make\winx86\bin\* -> C:\Program Files\Git\bin\
make\winx86\cmd\* -> C:\Program Files\Git\cmd\
If you have msysGit installed into another directory, you need to update paths
accordingly. Also if you have tools installed into different directories and
@ -93,7 +94,7 @@ software and flight firmware built in the end.
4) To build parts of the system you can use, for example, such commands:
user@pc /d/Work/OpenPilot/git (master)
$ make -j2 USE_BOOTLOADER=YES GCS_BUIL_CONF=release gcs coptercontrol bl_coptercontrol
$ make -j2 GCS_BUILD_CONF=release gcs coptercontrol
or to completely remove the build directory:
@ -109,7 +110,7 @@ or to completely remove the build directory:
#!/bin/sh
# This is the cc_make_release.sh file used to build CC release software
cd D:/Work/OpenPilot/git
make -j2 USE_BOOTLOADER=YES GCS_BUIL_CONF=release gcs coptercontrol bl_coptercontrol
make -j2 GCS_BUILD_CONF=release gcs coptercontrol
echo RC=$?
2) Run it typing:
@ -170,7 +171,7 @@ to get rid of git bash welcome message on every script invocation.
Currently there may be some problems running scripts which contain spaces in
file names or located in directories which contain spaces in full paths.
It results in in strange "file not found" or other errors.
It results in strange "file not found" or other errors.
It is recommended to avoid using such names with spaces.

15
make/winx86/bin/install Normal file
View File

@ -0,0 +1,15 @@
#!/bin/sh
#
# simple install command replacement for Windows
#
# This file should be put into C:\Program Files\Git\bin\ subdirectory
# (or similar, depeding on where the msysGit package was installed)
# to provide a make command to unix-like build environment on Windows.
#
# See also:
# README.txt
# http://wiki.openpilot.org/display/Doc/GCS+Development+on+Windows
# http://wiki.openpilot.org/display/Doc/Firmware+Development+on+Windows
#
cp -f $*

4
make/winx86/make → make/winx86/bin/make
View File

@ -1,6 +1,8 @@
#!/bin/sh
#
# This file is to be put into C:\Program Files\Git\bin\ subdirectory
# make command replacement for Windows
#
# This file should be put into C:\Program Files\Git\bin\ subdirectory
# (or similar, depeding on where the msysGit package was installed)
# to provide a make command to unix-like build environment on Windows.
#

9
make/winx86/cmd/make.sh Normal file
View File

@ -0,0 +1,9 @@
#
# make command replacement to run from command prompt under bash
#
# This file should be put into C:\Program Files\Git\cmd\ subdirectory
# (or similar, depeding on where the msysGit package was installed)
# to provide a shell prompt in the unix-like build environment on Windows.
#
exec /bin/make $*

3
make/winx86/sh.cmd → make/winx86/cmd/sh.cmd
View File

@ -1,6 +1,6 @@
@echo off
rem
rem This file is to be put into C:\Program Files\Git\cmd\ subdirectory
rem This file should be put into C:\Program Files\Git\cmd\ subdirectory
rem (or similar, depeding on where the msysGit package was installed)
rem to provide a shell prompt in the unix-like build environment on Windows.
rem
@ -56,6 +56,7 @@ call :which QTSDK "C:\Qt\2010.05\qt\bin" qmake.exe
call :which CODESOURCERY "C:\CodeSourcery\bin" cs-make.exe
call :which PYTHON "C:\Python27" python.exe
call :which UNSIS "%ProgramFiles%\NSIS\Unicode" makensis.exe
call :which OPENOCDBIN "C:\OpenOCD\0.4.0\bin" openocd.exe
if "%NOT_FOUND%" == "" goto set_path

145
release/Makefile Normal file
View File

@ -0,0 +1,145 @@
# Set up a default goal
.DEFAULT_GOAL := help
# Tried the best to support parallel (-j) builds. But since this Makefile
# uses other Makefiles to build few targets which in turn have similar
# dependencies on uavobjects and other generated files, it is difficult
# to support parallel builds perfectly. But at least it was tested with
# -j (unlimited job number) on Windows and Linux.
# Locate the root of the tree
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
ROOT_DIR := $(realpath $(WHEREAMI)/../)
# Set up some macros
BUILD_DIR := $(ROOT_DIR)/build
RELEASE_DATE := $(shell date +%Y%m%d)
RELEASE_TAG := unreleased
RELEASE_LBL := $(RELEASE_DATE)-$(RELEASE_TAG)
RELEASE_DIR := $(BUILD_DIR)/release-$(RELEASE_LBL)
FW_DIR := $(RELEASE_DIR)/firmware-$(RELEASE_LBL)
BL_DIR := $(FW_DIR)/bootloaders
BLUPD_DIR := $(FW_DIR)/bootloader_updaters
# Setup targets
FW_TARGETS_COMMON := ahrs pipxtreme
FW_TARGETS_INPUT := coptercontrol openpilot
FW_TARGETS_TOOLS := coptercontrol
FW_TARGETS := $(FW_TARGETS_COMMON) $(FW_TARGETS_INPUT)
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS))
help:
@echo
@echo " This Makefile is known to work on Linux and Mac in a standard shell environment."
@echo " It also works on Windows by following the instructions in ../make/winx86/README.txt."
@echo
@echo " Here is a summary of the available targets:"
@echo
@echo " [Release build and packaging]"
@echo " release - Build and package the OpenPilot release"
@echo " release_flight - Build and package the OpenPilot flight firmware"
@echo
@echo " Notes:"
@echo " - the build directory will be removed first on every run"
@echo " unless CLEAN_BUILD=NO is defined (recommended for testing only)"
@echo " - release packages will be placed in $(RELEASE_DIR)"
@echo
# Clean and build uavobjects since all parts depend on them
uavobjects: all_clean
$(V1) $(MAKE) -C $(ROOT_DIR) $@
all_clean:
ifneq ($(CLEAN_BUILD), NO)
$(V1) $(MAKE) -C $(ROOT_DIR) $@
endif
# Install template:
# $1 = target
# $2 = dependencies
# $3 = install directory (must be defined)
# $4 = installed file name prefix (optional)
# $5 = installed file name suffix (optional)
# $6 = extra make options (for instance, USE_SPEKTRUM=YES)
# $7 = optional target suffix (for instance, clean, if target must be cleaned first)
# $8 = list of targets to install (without _install suffix)
# $9 = inner make target (usually install, but can be other to just build)
define INSTALL_TEMPLATE
$(1): $(2)
ifneq ($(7),)
$$(V1) +$(MAKE) -C $(ROOT_DIR) $(6) $(addsuffix _$(7), $(8))
endif
$$(V1) +$(MAKE) -C $(ROOT_DIR) INSTALL_DIR=$(3) INSTALL_PFX=$(4) INSTALL_SFX=$(5) $(6) $(addsuffix _$(9), $(8))
.PHONY: $(1)
endef
# Firmware for different input drivers
$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(RELEASE_LBL),,,$(FW_TARGETS_COMMON),install))
$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(RELEASE_LBL),,clean,$(FW_TARGETS_INPUT),install))
$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-spektrum-$(RELEASE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install))
$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(RELEASE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install))
# Bootloaders (change 'bin' to 'install' to install bootloaders too)
$(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(RELEASE_LBL),,,$(BL_TARGETS),bin))
# Bootloader Updaters
$(eval $(call INSTALL_TEMPLATE,blupd_coptercontrol,all_bl,$(BLUPD_DIR),CopterControl_,-$(RELEASE_LBL),,,blupd_coptercontrol,install))
$(eval $(call INSTALL_TEMPLATE,blupd_ahrs,all_bl,$(BLUPD_DIR),AHRS_,-$(RELEASE_LBL),,,blupd_ahrs,install))
$(eval $(call INSTALL_TEMPLATE,blupd_openpilot,all_bl,$(BLUPD_DIR),OpenPilot_,-$(RELEASE_LBL),,,blupd_openpilot,install))
$(eval $(call INSTALL_TEMPLATE,blupd_pipxtreme,all_bl,$(BLUPD_DIR),PipXtreme_,-$(RELEASE_LBL),,,blupd_pipxtreme,install))
# CopterControl flash eraser tool (change fw_spektrum to fw_ppm if fw_ppm is enabled in release_fw target below)
$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(BLUPD_DIR),,-FlashEraser-$(RELEASE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
# Order-only dependencies
# They are bit complicated to support parallel (-j) builds and to
# create the pwm/ppm/spektrum and CC flash eraser targets in a sequence of build steps
fw_pwm: | # default dependencies
fw_spektrum: | fw_pwm # sequential build
fw_ppm: | fw_spektrum # sequential build
fw_tools: | fw_spektrum # sequential build, replace fw_spektrum by fw_ppm if uncommented below
release_fw: | fw_common fw_pwm fw_spektrum # fw_ppm
release_blupd: | $(BLUPD_TARGETS)
release_flight: | release_fw release_blupd fw_tools
release_ground: | ground_package
release: | release_flight release_ground
.PHONY: help uavobjects all_clean release release_flight release_fw release_blupd release_ground
# Decide on a verbosity level based on the V= parameter
export AT := @
ifndef V
export V0 :=
export V1 := $(AT)
else ifeq ($(V), 0)
export V0 := $(AT)
export V1 := $(AT)
else ifeq ($(V), 1)
endif
ifneq ($(V),1)
MAKEFLAGS += --no-print-directory
endif
# Platform-dependent stuff
PLATFORM := win32
UNAME := $(shell uname)
ifeq ($(UNAME), Linux)
PLATFORM := linux
endif
ifeq ($(UNAME), Darwin)
PLATFORM := osx
endif
include $(WHEREAMI)/Makefile.$(PLATFORM)

10
release/Makefile.linux Normal file
View File

@ -0,0 +1,10 @@
#
# Linux-specific packaging
#
gcs: uavobjects
$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
ground_package: | gcs
.PHONY: gcs ground_package

10
release/Makefile.osx Normal file
View File

@ -0,0 +1,10 @@
#
# MacOSX-specific packaging
#
gcs: uavobjects
$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
ground_package: | gcs
.PHONY: gcs ground_package

11
release/Makefile.win32 Normal file
View File

@ -0,0 +1,11 @@
#
# Windows-specific packaging
#
# Generate GCS installer
gcs_installer: uavobjects
$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
ground_package: | gcs_installer
.PHONY: gcs_installer ground_package

2
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -4,7 +4,7 @@
<field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="BoardRotation" units="deg" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.01"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>

6
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -7,9 +7,9 @@
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.3"/>
<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.3"/>
<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.3"/>
<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0.003,0.3"/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>