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Code Issues Releases Activity

Merge branch 'next' into thread/OP-39

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This commit is contained in:
Fredrik Arvidsson 2012-09-26 00:44:34 +02:00
commit f42085f6ac
38 changed files with 3168 additions and 2786 deletions
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4
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -2500,9 +2500,9 @@
<type>splitter</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<classId>PfdQmlGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
<activeConfiguration>NoTerrain</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>

4
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -2494,9 +2494,9 @@
<type>splitter</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<classId>PfdQmlGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
<activeConfiguration>NoTerrain</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>

26
ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
View File

@ -2,26 +2,24 @@ import Qt 4.7
Item {
id: sceneItem
property variant sourceSize
property variant sceneSize
Image {
SvgElementImage {
id: altitude_bg
source: "image://svg/pfd.svg!altitude-bg"
sourceSize: sceneItem.sourceSize
elementName: "altitude-bg"
sceneSize: sceneItem.sceneSize
clip: true
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-bg")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
Image {
SvgElementImage {
id: altitude_scale
source: "image://svg/pfd.svg!altitude-scale"
sourceSize: sceneItem.sourceSize
elementName: "altitude-scale"
sceneSize: sceneItem.sceneSize
anchors.verticalCenter: parent.verticalCenter
// The altitude scale represents 30 meters,
@ -55,12 +53,12 @@ Item {
}
Image {
SvgElementImage {
id: altitude_window
clip: true
source: "image://svg/pfd.svg!altitude-window"
sourceSize: sceneItem.sourceSize
elementName: "altitude-window"
sceneSize: sceneItem.sceneSize
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-window")

37
ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml Normal file
View File

@ -0,0 +1,37 @@
import Qt 4.7
import "."
Item {
id: sceneItem
property variant sceneSize
SvgElementImage {
id: compass
elementName: "compass"
sceneSize: sceneItem.sceneSize
clip: true
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
//anchors.horizontalCenter: parent.horizontalCenter
//split compass band to 8 parts to ensure it doesn't exceed the max texture size
Row {
anchors.centerIn: parent
//the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
anchors.horizontalCenterOffset: -1*((AttitudeActual.Yaw+180+720) % 360 - 180)/540*width
Repeater {
model: 5
SvgElementImage {
id: compass_band
elementName: "compass-band"
sceneSize: background.sceneSize
hSliceCount: 5
hSlice: index
}
}
}
}
}

86
ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
View File

@ -4,15 +4,13 @@ import "."
Rectangle {
color: "#666666"
Image {
SvgElementImage {
id: background
source: "image://svg/pfd.svg!background"
elementName: "background"
fillMode: Image.PreserveAspectFit
anchors.fill: parent
sourceSize.width: width
sourceSize.height: height
sceneSize: Qt.size(width, height)
Item {
id: sceneItem
@ -27,60 +25,74 @@ Rectangle {
source: qmlWidget.terrainEnabled ? "PfdTerrainView.qml" : "PfdWorldView.qml"
}
Image {
SvgElementImage {
id: rollscale
source: "image://svg/pfd.svg!rollscale"
sourceSize: background.sourceSize
elementName: "rollscale"
sceneSize: background.sceneSize
smooth: true
anchors.centerIn: parent
//rotate it around the center of scene
transform: Rotation {
angle: -AttitudeActual.Roll
origin.x : sceneItem.width/2 - x
origin.y : sceneItem.height/2 - y
}
anchors.centerIn: parent
//rotate it around the center of scene
transform: Rotation {
angle: -AttitudeActual.Roll
origin.x : sceneItem.width/2 - x
origin.y : sceneItem.height/2 - y
}
}
Image {
SvgElementImage {
id: foreground
source: "image://svg/pfd.svg!foreground"
sourceSize: background.sourceSize
elementName: "foreground"
sceneSize: background.sceneSize
anchors.centerIn: parent
}
Image {
id: compass
source: "image://svg/pfd.svg!compass"
sourceSize: background.sourceSize
clip: true
SvgElementImage {
id: side_slip
elementName: "sideslip"
sceneSize: background.sceneSize
smooth: true
y: 12
anchors.horizontalCenter: parent.horizontalCenter
Image {
id: compass_band
source: "image://svg/pfd.svg!compass-band"
sourceSize: background.sourceSize
anchors.centerIn: parent
//the band is 540 degrees wide
anchors.horizontalCenterOffset: -1*AttitudeActual.Yaw/540*width
property real sideSlip: Accels.y
//smooth side slip changes, a low pass filter replacement
//accels are updated once per second
Behavior on sideSlip {
SmoothedAnimation {
duration: 1000
velocity: -1
}
}
anchors.horizontalCenter: foreground.horizontalCenter
//0.5 coefficient is empirical to limit indicator movement
anchors.horizontalCenterOffset: -sideSlip*width*0.5
y: scaledBounds.y * sceneItem.height
}
Compass {
anchors.fill: parent
sceneSize: background.sceneSize
}
SpeedScale {
anchors.fill: parent
sourceSize: background.sourceSize
sceneSize: background.sceneSize
}
AltitudeScale {
anchors.fill: parent
sourceSize: background.sourceSize
sceneSize: background.sourceSize
}
VsiScale {
anchors.fill: parent
sceneSize: background.sourceSize
}
PfdIndicators {
anchors.fill: parent
sourceSize: background.sourceSize
sceneSize: background.sourceSize
}
}
}

25
ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
View File

@ -2,21 +2,19 @@ import Qt 4.7
Item {
id: sceneItem
property variant sourceSize
property variant sceneSize
//telemetry status arrow
Image {
SvgElementImage {
id: telemetry_status
source: "image://svg/pfd.svg!gcstelemetry-"+statusName
sourceSize: sceneItem.sourceSize
elementName: "gcstelemetry-"+statusName
sceneSize: sceneItem.sceneSize
property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
//telemetry rate text
@ -41,8 +39,8 @@ Item {
visible: GPSPosition.Satellites > 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gps-txt")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
Text {
@ -63,8 +61,7 @@ Item {
visible: FlightBatteryState.Voltage > 0 || FlightBatteryState.Current > 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "battery-txt")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
}

45
ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
View File

@ -1,23 +1,29 @@
import Qt 4.7
Item {
//worldView should fill the source size of svg document
id: worldView
Image {
Rectangle {
id: world
source: "image://svg/pfd.svg!world"
sourceSize.width: worldView.width
sourceSize.height: worldView.height
smooth: true
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "world")
width: Math.round(sceneItem.width*scaledBounds.width/2)*2
height: Math.round(sceneItem.height*scaledBounds.height/2)*2
gradient: Gradient {
GradientStop { position: 0.3; color: "#6589E2" }
GradientStop { position: 0.4999; color: "#AFC2F0" }
GradientStop { position: 0.5; color: "#A46933" }
GradientStop { position: 0.8; color: "black" }
}
transform: [
Translate {
id: pitchTranslate
x: (world.parent.width - world.width)/2
y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
x: Math.round((world.parent.width - world.width)/2)
y: Math.round((world.parent.height - world.height)/2 +
AttitudeActual.Pitch*world.parent.height/94)
},
Rotation {
angle: -AttitudeActual.Roll
@ -25,5 +31,26 @@ Item {
origin.y : world.parent.height/2
}
]
SvgElementImage {
id: pitch_scale
elementName: "pitch_scale"
//worldView is loaded with Loader, so background element is visible
sceneSize: background.sceneSize
anchors.centerIn: parent
border: 64 //sometimes numbers are excluded from bounding rect
smooth: true
}
SvgElementImage {
id: horizont_line
elementName: "world-centerline"
//worldView is loaded with Loader, so background element is visible
sceneSize: background.sceneSize
anchors.centerIn: parent
border: 1
smooth: true
}
}
}

30
ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
View File

@ -2,28 +2,24 @@ import Qt 4.7
Item {
id: sceneItem
property variant sourceSize
property variant sceneSize
property real groundSpeed : 3.6 * Math.sqrt(Math.pow(VelocityActual.North,2)+
Math.pow(VelocityActual.East,2))
Image {
SvgElementImage {
id: speed_bg
source: "image://svg/pfd.svg!speed-bg"
sourceSize: sceneItem.sourceSize
elementName: "speed-bg"
sceneSize: sceneItem.sceneSize
clip: true
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-bg")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
Image {
SvgElementImage {
id: speed_scale
source: "image://svg/pfd.svg!speed-scale"
sourceSize: sceneItem.sourceSize
elementName: "speed-scale"
sceneSize: sceneItem.sceneSize
anchors.verticalCenter: parent.verticalCenter
// The speed scale represents 30 meters,
@ -63,14 +59,12 @@ Item {
}
Image {
SvgElementImage {
id: speed_window
clip: true
source: "image://svg/pfd.svg!speed-window"
sourceSize: sceneItem.sourceSize
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-window")
elementName: "speed-window"
sceneSize: sceneItem.sceneSize
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height

34
ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml Normal file
View File

@ -0,0 +1,34 @@
import Qt 4.7
Image {
id: sceneItem
property variant sceneSize
property string elementName
property string svgFileName: "pfd.svg"
property int vSlice: 0
property int vSliceCount: 0
property int hSlice: 0
property int hSliceCount: 0
//border property is useful to extent the area of image e bit,
//so it looks well antialiased when rotated
property int border: 0
property variant scaledBounds: svgRenderer.scaledElementBounds(svgFileName, elementName)
sourceSize.width: Math.round(sceneSize.width*scaledBounds.width)
sourceSize.height: Math.round(sceneSize.height*scaledBounds.height)
Component.onCompleted: {
var params = ""
if (hSliceCount > 1)
params += "hslice="+hSlice+":"+hSliceCount+";"
if (vSliceCount > 1)
params += "vslice="+vSlice+":"+vSliceCount+";"
if (border > 0)
params += "border="+border+";"
if (params != "")
params = "?" + params
source = "image://svg/"+svgFileName+"!"+elementName+params
}
}

77
ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml Normal file
View File

@ -0,0 +1,77 @@
import Qt 4.7
Item {
id: sceneItem
property variant sceneSize
SvgElementImage {
id: vsi_bg
elementName: "vsi-bg"
sceneSize: sceneItem.sceneSize
clip: true
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
SvgElementImage {
id: vsi_bar
elementName: "vsi-bar"
sceneSize: sceneItem.sceneSize
//the scale in 1000 ft/min with height == 5200 ft/min
height: (-VelocityActual.Down*3.28*60/1000)*(vsi_scale.height/5.2)
anchors.bottom: parent.verticalCenter
anchors.left: parent.left
}
SvgElementImage {
id: vsi_scale
elementName: "vsi-scale"
sceneSize: sceneItem.sceneSize
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.left
//Text labels
Column {
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.right
Repeater {
model: [2, 1, 0, 1, 2]
Item {
height: vsi_scale.height / 5.2 //the scale height is 5200
width: vsi_bg.width - vsi_scale.width //fill area right to scale
Text {
text: modelData
visible: modelData !== 0 //hide "0" label
color: "white"
font.pixelSize: parent.height / 4
font.family: "Arial"
anchors.centerIn: parent
}
}
}
}
}
}
SvgElementImage {
id: vsi_window
clip: true
smooth: true
elementName: "vsi-window"
sceneSize: sceneItem.sceneSize
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
}

5127
ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
View File

@ -15,11 +15,11 @@
id="svg2"
version="1.1"
inkscape:version="0.48.3.1 r9886"
sodipodi:docname="pfd.svg"
sodipodi:docname="pfd-6.svg"
style="display:inline"
inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
inkscape:export-xdpi="269.53"
inkscape:export-ydpi="269.53">
inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
inkscape:export-xdpi="71.993568"
inkscape:export-ydpi="71.993568">
<defs
id="defs4">
<marker
@ -1615,18 +1615,18 @@
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.73067675"
inkscape:cx="431.15187"
inkscape:cy="372.16908"
inkscape:zoom="1"
inkscape:cx="568.94653"
inkscape:cy="247.78161"
inkscape:document-units="px"
inkscape:current-layer="layer3"
inkscape:current-layer="layer41"
showgrid="false"
inkscape:window-width="1440"
inkscape:window-height="838"
inkscape:window-x="-8"
inkscape:window-y="-8"
inkscape:window-width="1680"
inkscape:window-height="987"
inkscape:window-x="-4"
inkscape:window-y="-4"
inkscape:window-maximized="1"
showguides="true"
showguides="false"
inkscape:guide-bbox="true"
inkscape:snap-grids="false"
inkscape:snap-to-guides="true"
@ -1680,6 +1680,38 @@
orientation="0,1"
position="-378.30213,170.71578"
id="guide5917" />
<sodipodi:guide
orientation="0,1"
position="481.5,752.75"
id="guide7197" />
<sodipodi:guide
position="669.44526,613.50294"
orientation="519.61524,-300"
id="guide5032" />
<sodipodi:guide
position="779.25288,503.69532"
orientation="300,-519.61524"
id="guide5034" />
<sodipodi:guide
position="622.0513,635.6031"
orientation="563.81557,-205.21208"
id="guide5036" />
<sodipodi:guide
position="571.53971,649.13764"
orientation="590.88465,-104.1889"
id="guide5038" />
<sodipodi:guide
orientation="1,0"
position="450.8125,483.4375"
id="guide4007" />
<sodipodi:guide
orientation="1,0"
position="589,485.5"
id="guide4009" />
<sodipodi:guide
orientation="0,1"
position="-504.5,799.5"
id="guide5119" />
</sodipodi:namedview>
<metadata
id="metadata7">
@ -1689,14 +1721,14 @@
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
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inkscape:groupmode="layer"
id="layer7"
inkscape:label="Background"
inkscape:label="background"
style="display:none"
transform="translate(230.4171,-2.5493479)"
sodipodi:insensitive="true">
@ -1711,301 +1743,218 @@
inkscape:label="#rect6231" />
</g>
<g
inkscape:label="World"
inkscape:label="world"
inkscape:groupmode="layer"
id="layer1"
transform="translate(230.4171,-254.91153)"
style="display:none"
style="display:inline"
sodipodi:insensitive="true">
<g
id="world"
inkscape:label="#g3042">
<g
transform="matrix(4.6362185,0,0,1.5267412,-1475.4746,-169.05952)"
id="g4280">
transform="matrix(4.6362185,0,0,1.9084264,-1475.4746,-363.49767)"
id="world-bg"
inkscape:label="#g4280">
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ry="0"
y="509.42014"
x="227.8495"
height="654.98987"
width="305.71429"
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id="ground"
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inkscape:label="#rect3724" />
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id="sky"
width="305.71429"
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y="-145.56979"
ry="0"
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rx="2.7755576e-017"
inkscape:label="#rect2942" />
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inkscape:connector-curvature="0"
id="path3808"
id="world-centerline"
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35
ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth Normal file
View File

@ -0,0 +1,35 @@
<!--
osgEarth Sample - ReadyMap.ORG Server - http://readymap.org
ReadyMap.ORG provides free global base map data for osgEarth developers!
This tiled, worldwide dataset of imagery, elevation, and street map data
is a great base map that provides global context for your own local datasets.
It works "out of the box" with osgEarth applications.
**** NOTICE ****
YOU ARE RESPONSIBLE for abiding by the TERMS AND CONDITIONS outlined at:
http://readymap.org
-->
<map name="readymap.org" type="geocentric" version="2">
<image name="ReadyMap.org - Imagery" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/7/</url>
</image>
<image name="ReadyMap.org - Street Map" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/35/</url>
</image>
<elevation name="ReadyMap.org - Elevation" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
</elevation>
<options>
<terrain>
<lighting>false</lighting>
<lod_fall_off>6.0</lod_fall_off>
</terrain>
</options>
</map>

25
ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth Normal file
View File

@ -0,0 +1,25 @@
<!--
osgEarth Sample - SRTM global elevation
This sample demonstrates the use of a global SRTM TMS data source for world-wide elevation.
The heightfield is draped with the NASA Blue Marble imagery.
-->
<map name="srtm sample" type="globe" version="2">
<image name="yahoo aerial" driver="yahoo">
<dataset>satellite</dataset>
</image>
<elevation name="ReadyMap.org - Elevation" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
</elevation>
<options>
<terrain>
<lighting>false</lighting>
<lod_fall_off>6.0</lod_fall_off>
</terrain>
</options>
</map>

92
ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
View File

@ -67,12 +67,24 @@ QSvgRenderer *SvgImageProvider::loadRenderer(const QString &svgFile)
}
/**
requestedSize is realted to the whole svg file, not to specific element
*/
Supported id format: fileName[!elementName[?parameters]]
where parameters may be:
vslice=1:2;hslice=2:4 - use the 3rd horizontal slice of total 4 slices, slice numbering starts from 0
borders=1 - 1 pixel wide transparent border
requestedSize is related to the whole element size, even if slice is requested.
usage:
Image {
source: "image://svg/pfd.svg!world"
}
*/
QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSize &requestedSize)
{
QString svgFile = id;
QString element;
QString parameters;
int separatorPos = id.indexOf('!');
if (separatorPos != -1) {
@ -80,6 +92,34 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
element = id.mid(separatorPos+1);
}
int parametersPos = element.indexOf('?');
if (parametersPos != -1) {
parameters = element.mid(parametersPos+1);
element = element.left(parametersPos);
}
int hSlicesCount = 0;
int hSlice = 0;
int vSlicesCount = 0;
int vSlice = 0;
int border = 0;
if (!parameters.isEmpty()) {
QRegExp hSliceRx("hslice=(\\d+):(\\d+)");
if (hSliceRx.indexIn(parameters) != -1) {
hSlice = hSliceRx.cap(1).toInt();
hSlicesCount = hSliceRx.cap(2).toInt();
}
QRegExp vSliceRx("vslice=(\\d+):(\\d+)");
if (vSliceRx.indexIn(parameters) != -1) {
vSlice = vSliceRx.cap(1).toInt();
vSlicesCount = vSliceRx.cap(2).toInt();
}
QRegExp borderRx("border=(\\d+)");
if (borderRx.indexIn(parameters) != -1) {
border = borderRx.cap(1).toInt();
}
}
if (size)
*size = QSize();
@ -92,9 +132,15 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
QSize docSize = renderer->defaultSize();
if (!requestedSize.isEmpty() && !docSize.isEmpty()) {
xScale = qreal(requestedSize.width())/docSize.width();
yScale = qreal(requestedSize.height())/docSize.height();
if (!requestedSize.isEmpty()) {
if (!element.isEmpty()) {
QRectF elementBounds = renderer->boundsOnElement(element);
xScale = qreal(requestedSize.width())/elementBounds.width();
yScale = qreal(requestedSize.height())/elementBounds.height();
} else if (!docSize.isEmpty()) {
xScale = qreal(requestedSize.width())/docSize.width();
yScale = qreal(requestedSize.height())/docSize.height();
}
}
//keep the aspect ratio
@ -108,16 +154,37 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
}
QRectF elementBounds = renderer->boundsOnElement(element);
int w = qRound(elementBounds.width() * xScale);
int h = qRound(elementBounds.height() * yScale);
int elementWidth = qRound(elementBounds.width() * xScale);
int elementHeigh = qRound(elementBounds.height() * yScale);
int w = elementWidth;
int h = elementHeigh;
int x = 0;
int y = 0;
QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
if (hSlicesCount > 1) {
x = (w*hSlice)/hSlicesCount;
w = (w*(hSlice+1))/hSlicesCount - x;
}
if (vSlicesCount > 1) {
y = (h*(vSlice))/vSlicesCount;
h = (h*(vSlice+1))/vSlicesCount - y;
}
QImage img(w+border*2, h+border*2, QImage::Format_ARGB32_Premultiplied);
img.fill(0);
QPainter p(&img);
renderer->render(&p, element);
p.setRenderHints(QPainter::TextAntialiasing |
QPainter::Antialiasing |
QPainter::SmoothPixmapTransform);
p.translate(-x+border,-y+border);
renderer->render(&p, element, QRectF(0, 0, elementWidth, elementHeigh));
if (size)
*size = QSize(w, h);
//img.save(element+parameters+".png");
return img;
} else {
//render the whole svg file
@ -127,7 +194,12 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
img.fill(0);
QPainter p(&img);
renderer->render(&p);
p.setRenderHints(QPainter::TextAntialiasing |
QPainter::Antialiasing |
QPainter::SmoothPixmapTransform);
p.scale(xScale, yScale);
renderer->render(&p, QRectF(QPointF(), QSizeF(docSize)));
if (size)
*size = QSize(w, h);

2
ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
View File

@ -52,8 +52,10 @@ const char * const GCS_YEAR = "2012";
const char * const GCS_HELP = "http://wiki.openpilot.org";
#ifdef GCS_REVISION
const char * const GCS_REVISION_STR = STRINGIFY(GCS_REVISION);
const char * const UAVOSHA1_STR = STRINGIFY(UAVO_HASH);
#else
const char * const GCS_REVISION_STR = "";
const char * const UAVOSHA1_STR = "";
#endif
#undef GCS_VERSION

2
ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri
View File

@ -12,12 +12,14 @@
VERSION_INFO_SCRIPT = $$ROOT_DIR/make/scripts/version-info.py
VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcsversioninfotemplate.h
VERSION_INFO_COMMAND = python \"$$VERSION_INFO_SCRIPT\"
UAVO_DEF_PATH = $$ROOT_DIR/shared/uavobjectdefinition
# Create custom version_info target which generates a header
version_info.target = $$VERSION_INFO_HEADER
version_info.commands = $$VERSION_INFO_COMMAND \
--path=\"$$GCS_SOURCE_TREE\" \
--template=\"$$VERSION_INFO_TEMPLATE\" \
--uavodir=\"$$UAVO_DEF_PATH\" \
--outfile=\"$$VERSION_INFO_HEADER\"
version_info.depends = FORCE
QMAKE_EXTRA_TARGETS += version_info

24
ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
View File

@ -67,6 +67,26 @@ VersionDialog::VersionDialog(QWidget *parent)
//: This gets conditionally inserted as argument %8 into the description string.
ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(60));
#endif
QString uavoHashStr;
#ifdef UAVO_HASH
//: This gets conditionally inserted as argument %11 into the description string.
QByteArray uavoHashArray;
QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
uavoHash.chop(2);
uavoHash.remove(0,2);
uavoHash=uavoHash.trimmed();
bool ok;
foreach(QString str,uavoHash.split(","))
{
uavoHashArray.append(str.toInt(&ok,16));
}
QString gcsUavoHashStr;
foreach(char i, uavoHashArray)
{
gcsUavoHashStr.append(QString::number(i,16).right(2));
}
uavoHashStr = tr("UAVO hash %1<br/>").arg(gcsUavoHashStr);
#endif
const QString description = tr(
"<h3>OpenPilot GCS %1 %9 (%10)</h3>"
@ -76,6 +96,8 @@ VersionDialog::VersionDialog(QWidget *parent)
"<br/>"
"%8"
"<br/>"
"%11"
"<br/>"
"Copyright 2010-%6 %7. All rights reserved.<br/>"
"<br/>"
"<small>This program is free software; you can redistribute it and/or modify<br/>"
@ -87,7 +109,7 @@ VersionDialog::VersionDialog(QWidget *parent)
"PARTICULAR PURPOSE.</small><br/>")
.arg(version, QLatin1String(QT_VERSION_STR), QString::number(QSysInfo::WordSize),
QLatin1String(__DATE__), QLatin1String(__TIME__), QLatin1String(GCS_YEAR),
(QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME));
(QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME), uavoHashStr);
QLabel *copyRightLabel = new QLabel(description);
copyRightLabel->setWordWrap(true);

9
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
View File

@ -38,6 +38,7 @@ PfdQmlGadget::~PfdQmlGadget()
void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
PfdQmlGadgetConfiguration *m = qobject_cast<PfdQmlGadgetConfiguration*>(config);
m_widget->setOpenGLEnabled(m->openGLEnabled());
m_widget->setQmlFile(m->qmlFile());
m_widget->setEarthFile(m->earthFile());
m_widget->setTerrainEnabled(m->terrainEnabled());
@ -51,8 +52,10 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
if (m->cacheOnly()) {
qputenv("OSGEARTH_CACHE_ONLY", "true");
} else {
//how portable it is?
//unsetenv("OSGEARTH_CACHE_ONLY");
qputenv("OSGEARTH_CACHE_ONLY", "false");
#ifdef Q_OS_WIN32
qputenv("OSGEARTH_CACHE_ONLY", "");
#else
unsetenv("OSGEARTH_CACHE_ONLY");
#endif
}
}

6
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
View File

@ -25,7 +25,8 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
IUAVGadgetConfiguration(classId, parent),
m_qmlFile("Unknown"),
m_earthFile("Unknown"),
m_terrainEnabled(true),
m_openGLEnabled(true),
m_terrainEnabled(false),
m_actualPositionUsed(false),
m_latitude(0),
m_longitude(0),
@ -40,6 +41,7 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
m_earthFile = qSettings->value("earthFile").toString();
m_earthFile=Utils::PathUtils().InsertDataPath(m_earthFile);
m_openGLEnabled = qSettings->value("openGLEnabled", true).toBool();
m_terrainEnabled = qSettings->value("terrainEnabled").toBool();
m_actualPositionUsed = qSettings->value("actualPositionUsed").toBool();
m_latitude = qSettings->value("latitude").toDouble();
@ -57,6 +59,7 @@ IUAVGadgetConfiguration *PfdQmlGadgetConfiguration::clone()
{
PfdQmlGadgetConfiguration *m = new PfdQmlGadgetConfiguration(this->classId());
m->m_qmlFile = m_qmlFile;
m->m_openGLEnabled = m_openGLEnabled;
m->m_earthFile = m_earthFile;
m->m_terrainEnabled = m_terrainEnabled;
m->m_actualPositionUsed = m_actualPositionUsed;
@ -78,6 +81,7 @@ void PfdQmlGadgetConfiguration::saveConfig(QSettings* qSettings) const {
QString earthFile = Utils::PathUtils().RemoveDataPath(m_earthFile);
qSettings->setValue("earthFile", earthFile);
qSettings->setValue("openGLEnabled", m_openGLEnabled);
qSettings->setValue("terrainEnabled", m_terrainEnabled);
qSettings->setValue("actualPositionUsed", m_actualPositionUsed);
qSettings->setValue("latitude", m_latitude);

3
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
View File

@ -29,6 +29,7 @@ public:
void setQmlFile(const QString &fileName) { m_qmlFile=fileName; }
void setEarthFile(const QString &fileName) { m_earthFile=fileName; }
void setOpenGLEnabled(bool flag) { m_openGLEnabled = flag; }
void setTerrainEnabled(bool flag) { m_terrainEnabled = flag; }
void setActualPositionUsed(bool flag) { m_actualPositionUsed = flag; }
void setLatitude(double value) { m_latitude = value; }
@ -38,6 +39,7 @@ public:
QString qmlFile() const { return m_qmlFile; }
QString earthFile() const { return m_earthFile; }
bool openGLEnabled() const { return m_openGLEnabled; }
bool terrainEnabled() const { return m_terrainEnabled; }
bool actualPositionUsed() const { return m_actualPositionUsed; }
double latitude() const { return m_latitude; }
@ -51,6 +53,7 @@ public:
private:
QString m_qmlFile; // The name of the dial's SVG source file
QString m_earthFile; // The name of osgearth terrain file
bool m_openGLEnabled;
bool m_terrainEnabled;
bool m_actualPositionUsed;
double m_latitude;

7
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
View File

@ -53,6 +53,7 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
options_page->earthFile->setPromptDialogTitle(tr("Choose OsgEarth terrain file"));
options_page->earthFile->setPath(m_config->earthFile());
options_page->useOpenGL->setChecked(m_config->openGLEnabled());
options_page->showTerrain->setChecked(m_config->terrainEnabled());
options_page->useActualLocation->setChecked(m_config->actualPositionUsed());
@ -80,7 +81,13 @@ void PfdQmlGadgetOptionsPage::apply()
{
m_config->setQmlFile(options_page->qmlSourceFile->path());
m_config->setEarthFile(options_page->earthFile->path());
m_config->setOpenGLEnabled(options_page->useOpenGL->isChecked());
#ifdef USE_OSG
m_config->setTerrainEnabled(options_page->showTerrain->isChecked());
#else
m_config->setTerrainEnabled(false);
#endif
m_config->setActualPositionUsed(options_page->useActualLocation->isChecked());
m_config->setLatitude(options_page->latitude->text().toDouble());

62
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
View File

@ -20,12 +20,6 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<number>0</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
@ -42,8 +36,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>457</width>
<height>436</height>
<width>439</width>
<height>418</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -78,6 +72,16 @@
</layout>
</item>
<item row="1" column="0" colspan="2">
<widget class="QCheckBox" name="useOpenGL">
<property name="text">
<string>Use OpenGL</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QGroupBox" name="showTerrain">
<property name="title">
<string>Show Terrain:</string>
@ -213,7 +217,7 @@
</layout>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -249,12 +253,12 @@
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>150</x>
<y>138</y>
<x>167</x>
<y>188</y>
</hint>
<hint type="destinationlabel">
<x>142</x>
<y>172</y>
<x>260</x>
<y>222</y>
</hint>
</hints>
</connection>
@ -265,12 +269,12 @@
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>164</x>
<y>141</y>
<x>181</x>
<y>188</y>
</hint>
<hint type="destinationlabel">
<x>164</x>
<y>202</y>
<x>282</x>
<y>255</y>
</hint>
</hints>
</connection>
@ -281,12 +285,28 @@
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>190</x>
<y>141</y>
<x>207</x>
<y>188</y>
</hint>
<hint type="destinationlabel">
<x>190</x>
<y>237</y>
<x>308</x>
<y>288</y>
</hint>
</hints>
</connection>
<connection>
<sender>useOpenGL</sender>
<signal>toggled(bool)</signal>
<receiver>showTerrain</receiver>
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>99</x>
<y>57</y>
</hint>
<hint type="destinationlabel">
<x>99</x>
<y>89</y>
</hint>
</hints>
</connection>

30
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
View File

@ -34,6 +34,7 @@
PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
QDeclarativeView(parent),
m_openGLEnabled(false),
m_terrainEnabled(false),
m_actualPositionUsed(false),
m_latitude(46.671478),
@ -44,12 +45,16 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setResizeMode(SizeRootObjectToView);
setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
//setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
QStringList objectsToExport;
objectsToExport << "VelocityActual" <<
"PositionActual" <<
"AttitudeActual" <<
"Accels" <<
"VelocityDesired" <<
"PositionDesired" <<
"AttitudeHoldDesired" <<
"GPSPosition" <<
"GCSTelemetryStats" <<
"FlightBatteryState";
@ -106,9 +111,26 @@ void PfdQmlGadgetWidget::setEarthFile(QString arg)
void PfdQmlGadgetWidget::setTerrainEnabled(bool arg)
{
if (m_terrainEnabled != arg) {
m_terrainEnabled = arg;
emit terrainEnabledChanged(arg);
bool wasEnabled = terrainEnabled();
m_terrainEnabled = arg;
if (wasEnabled != terrainEnabled())
emit terrainEnabledChanged(terrainEnabled());
}
void PfdQmlGadgetWidget::setOpenGLEnabled(bool arg)
{
if (m_openGLEnabled != arg) {
m_openGLEnabled = arg;
qDebug() << Q_FUNC_INFO << "Set OPENGL" << m_openGLEnabled;
if (m_openGLEnabled)
setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
else
setViewport(new QWidget);
//update terrainEnabled status with opengl status chaged
setTerrainEnabled(m_terrainEnabled);
}
}

4
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
View File

@ -39,7 +39,7 @@ public:
void setQmlFile(QString fn);
QString earthFile() const { return m_earthFile; }
bool terrainEnabled() const { return m_terrainEnabled; }
bool terrainEnabled() const { return m_terrainEnabled && m_openGLEnabled; }
bool actualPositionUsed() const { return m_actualPositionUsed; }
double latitude() const { return m_latitude; }
@ -49,6 +49,7 @@ public:
public slots:
void setEarthFile(QString arg);
void setTerrainEnabled(bool arg);
void setOpenGLEnabled(bool arg);
void setLatitude(double arg);
void setLongitude(double arg);
@ -68,6 +69,7 @@ signals:
private:
QString m_qmlFileName;
QString m_earthFile;
bool m_openGLEnabled;
bool m_terrainEnabled;
bool m_actualPositionUsed;

1
ground/openpilotgcs/src/plugins/plugins.pro
View File

@ -92,6 +92,7 @@ plugin_uploader.subdir = uploader
plugin_uploader.depends = plugin_coreplugin
plugin_uploader.depends += plugin_uavobjects
plugin_uploader.depends += plugin_rawhid
plugin_uploader.depends += plugin_uavobjectutil
SUBDIRS += plugin_uploader
#Dial gadget

2
ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
View File

@ -8,6 +8,8 @@ public:
QString gitHash;
QString gitDate;
QString gitTag;
QByteArray fwHash;
QByteArray uavoHash;
int boardType;
int boardRevision;
static QString idToBoardName(int id)

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

@ -257,7 +257,12 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
int UAVObjectUtilManager::getBoardModel()
{
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
qDebug()<<"Board type="<<firmwareIapData.BoardType;
qDebug()<<"Board revision="<<firmwareIapData.BoardRevision;
int ret=firmwareIapData.BoardType <<8;
ret = ret + firmwareIapData.BoardRevision;
qDebug()<<"Board info="<<ret;
return ret;
}
/**
@ -625,11 +630,11 @@ int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
{
deviceDescriptorStruct ret;
descriptionToStructure(getBoardDescription(),&ret);
descriptionToStructure(getBoardDescription(),ret);
return ret;
}
bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc)
{
if (desc.startsWith("OpFw")) {
/*
@ -639,9 +644,9 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
* 4 bytes: Unix timestamp of last git commit
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
* ---- 40 bytes limit ---
* 20 bytes: SHA1 sum of the firmware.
* 40 bytes: free for now.
* 20 bytes: SHA1 sum of the UAVO definition files.
* 20 bytes: free for now.
*/
// Note: the ARM binary is big-endian:
@ -650,23 +655,26 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
gitCommitHash = gitCommitHash << 8;
gitCommitHash += desc.at(7-i) & 0xFF;
}
struc->gitHash = QString::number(gitCommitHash, 16);
struc.gitHash = QString("%1").arg(gitCommitHash, 8, 16, QChar('0'));
quint32 gitDate = desc.at(11) & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += desc.at(11-i) & 0xFF;
}
struc->gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
struc.gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
QString gitTag = QString(desc.mid(14,26));
struc->gitTag = gitTag;
struc.gitTag = gitTag;
// TODO: check platform compatibility
QByteArray targetPlatform = desc.mid(12,2);
struc->boardType = (int)targetPlatform.at(0);
struc->boardRevision = (int)targetPlatform.at(1);
struc.boardType = (int)targetPlatform.at(0);
struc.boardRevision = (int)targetPlatform.at(1);
struc.fwHash.clear();
struc.fwHash=desc.mid(40,20);
struc.uavoHash.clear();
struc.uavoHash=desc.mid(60,20);
return true;
}
return false;

2
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -68,7 +68,7 @@ public:
quint32 getFirmwareCRC();
QByteArray getBoardDescription();
deviceDescriptorStruct getBoardDescriptionStruct();
static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct & struc);
UAVObjectManager* getObjectManager();
void saveObjectToSD(UAVObject *obj);
protected:

2
ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
View File

@ -60,7 +60,7 @@ public slots:
private:
static const int STATS_UPDATE_PERIOD_MS = 4000;
static const int STATS_CONNECT_PERIOD_MS = 1000;
static const int STATS_CONNECT_PERIOD_MS = 2000;
static const int CONNECTION_TIMEOUT_MS = 8000;
UAVObjectManager* objMngr;

4
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -154,7 +154,7 @@ void deviceWidget::freeze()
*/
bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
{
if(UAVObjectUtilManager::descriptionToStructure(desc,&onBoardDescription))
if(UAVObjectUtilManager::descriptionToStructure(desc,onBoardDescription))
{
myDevice->lblGitTag->setText(onBoardDescription.gitHash);
myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
@ -184,7 +184,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
}
bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
{
if(UAVObjectUtilManager::descriptionToStructure(desc,&LoadedDescription))
if(UAVObjectUtilManager::descriptionToStructure(desc,LoadedDescription))
{
myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));

2
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -101,7 +101,7 @@ void runningDeviceWidget::populate()
QByteArray description = utilMngr->getBoardDescription();
deviceDescriptorStruct devDesc;
if(UAVObjectUtilManager::descriptionToStructure(description,&devDesc))
if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
{
if(devDesc.gitTag.startsWith("release",Qt::CaseInsensitive))
{

41
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -650,18 +650,41 @@ void UploaderGadgetWidget::versionMatchCheck()
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
deviceDescriptorStruct boardDescription = utilMngr->getBoardDescriptionStruct();
QByteArray uavoHashArray;
QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
uavoHash.chop(2);
uavoHash.remove(0,2);
uavoHash=uavoHash.trimmed();
bool ok;
foreach(QString str,uavoHash.split(","))
{
uavoHashArray.append(str.toInt(&ok,16));
}
QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
gcsGitHash.remove( QRegExp("^[0]*") );
QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
QString gcsVersion = gcsGitDate + " (" + gcsGitHash + ")";
QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + ")";
QByteArray fwVersion=boardDescription.uavoHash;
if (fwVersion != uavoHashArray) {
QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
gcsGitHash.remove( QRegExp("^[0]*") );
QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
QString gcsUavoHashStr;
QString fwUavoHashStr;
foreach(char i, fwVersion)
{
fwUavoHashStr.append(QString::number(i,16).right(2));
}
foreach(char i, uavoHashArray)
{
gcsUavoHashStr.append(QString::number(i,16).right(2));
}
QString gcsVersion = gcsGitDate + " (" + gcsGitHash + "-"+ gcsUavoHashStr.right(8) + ")";
QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + "-" + fwUavoHashStr.right(8) + ")";
if (boardDescription.gitHash != gcsGitHash) {
QString warning = QString(tr(
"GCS and firmware versions do not match which can cause configuration problems. "
"GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
"GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. "
"GCS version: %1 Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
msg->showMessage(warning);
}
}

3
make/firmware-defs.mk
View File

@ -131,7 +131,8 @@ $(1).firmwareinfo.c: $(1) $(TOP)/make/templates/firmwareinfotemplate.c FORCE
--outfile=$$@ \
--image=$(1) \
--type=$(2) \
--revision=$(3)
--revision=$(3) \
--uavodir=$(TOP)/shared/uavobjectdefinition
$(eval $(call COMPILE_C_TEMPLATE, $(1).firmwareinfo.c))

55
make/scripts/version-info.py
View File

@ -250,6 +250,57 @@ def xtrim(string, suffix, length):
assert n > 0, "length of truncated string+suffix exceeds maximum length"
return ''.join([string[:n], '+', suffix])
def GetHashofDirs(directory, verbose=0):
import hashlib, os
SHAhash = hashlib.sha1()
if not os.path.exists (directory):
return -1
try:
for root, dirs, files in os.walk(directory):
# os.walk() is unsorted. Must make sure we process files in sorted order so
# that the hash is stable across invocations and across OSes.
if files:
files.sort()
for names in files:
if verbose == 1:
print 'Hashing', names
filepath = os.path.join(root,names)
try:
f1 = open(filepath, 'rb')
except:
# You can't open the file for some reason
f1.close()
continue
# Compute file hash. Same as running "sha1sum <file>".
f1hash = hashlib.sha1()
while 1:
# Read file in as little chunks
buf = f1.read(4096)
if not buf : break
f1hash.update(buf)
f1.close()
if verbose == 1:
print 'Hash is', f1hash.hexdigest()
# Append the hex representation of the current file's hash into the cumulative hash
SHAhash.update(f1hash.hexdigest())
except:
import traceback
# Print the stack traceback
traceback.print_exc()
return -2
if verbose == 1:
print 'Final hash is', SHAhash.hexdigest()
hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
return hex_stream(SHAhash.digest())
def main():
"""This utility uses git repository in the current working directory
or from the given path to extract some info about it and HEAD commit.
@ -302,7 +353,8 @@ dependent targets.
help='board type, for example, 0x04 for CopterControl');
parser.add_option('--revision', default = "",
help='board revision, for example, 0x01');
parser.add_option('--uavodir', default = "",
help='uav object definition directory');
(args, positional_args) = parser.parse_args()
if len(positional_args) != 0:
parser.error("incorrect number of arguments, try --help for help")
@ -328,6 +380,7 @@ dependent targets.
BOARD_TYPE = args.type,
BOARD_REVISION = args.revision,
SHA1 = sha1(args.image),
UAVOSHA1= GetHashofDirs(args.uavodir,0),
)
if args.info:

10
make/templates/firmwareinfotemplate.c
View File

@ -30,8 +30,6 @@
/**
* We have 100 bytes for the whole description.
*
* Only the first 40 are visible on the FirmwareIAP uavobject, the remaining
* 60 are ok to use for packaging and will be saved in the flash.
*
* Structure is:
* 4 bytes: header: "OpFw".
@ -39,9 +37,9 @@
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* ---- 40 bytes limit ---
* 20 bytes: SHA1 sum of the firmware.
* 40 bytes: free for now.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*
*/
@ -53,7 +51,8 @@ struct __attribute__((packed)) fw_version_info {
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[20];
uint8_t pad[40];
uint8_t uavosha1[20];
uint8_t pad[20];
};
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
@ -64,6 +63,7 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
.board_revision = ${BOARD_REVISION},
.commit_tag_name = "${FWTAG}",
.sha1sum = { ${SHA1} },
.uavosha1 = { ${UAVOSHA1} },
};
/**

2
make/templates/gcsversioninfotemplate.h
View File

@ -26,7 +26,7 @@
*/
#define GCS_REVISION ${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}
#define UAVO_HASH "{ ${UAVOSHA1} }"
/**
* @}
*/

2
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -2,7 +2,7 @@
<object name="FirmwareIAPObj" singleinstance="true" settings="false">
<description>Queries board for SN, model, revision, and sends reset command</description>
<field name="Command" units="" type="uint16" elements="1"/>
<field name="Description" units="" type="uint8" elements="40"/>
<field name="Description" units="" type="uint8" elements="100"/>
<field name="CPUSerial" units="" type="uint8" elements="12" />
<field name="BoardRevision" units="" type="uint16" elements="1"/>
<field name="BoardType" units="" type="uint8" elements="1"/>

2
shared/uavobjectdefinition/relaytuning.xml
View File

@ -3,7 +3,7 @@
<description>The input to the relay tuning.</description>
<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
<field name="Gain" units="(deg/s)/output" type="float" elementnames="Roll,Pitch,Yaw"/>
<access gcs="readwrite" flight="readwrite"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="manual" period="0"/>