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Code Issues Releases Activity

Merge branch 'next' into os/GPS-on-CopterControl_next_v2

Browse Source 
Conflicts:
	flight/Modules/System/systemmod.c
This commit is contained in:
Oleg Semyonov 2011-10-22 23:00:47 +03:00
commit f71361ca83
50 changed files with 1322 additions and 452 deletions
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8
HISTORY.txt
View File

@ -1,5 +1,12 @@
Short summary of changes. For a complete list see the git log.
2011-10-11
Fix for the Mac telemetry rates and specifically how long enumeration took.
2011-10-08
Make the flash chip need to be have bad magic for a full second before erasing
settings. Should avoid random lost settings.
2011-09-12
Max rate now ONLY applies to attitude and axis lock mode. Manual rate is the
only term that limits the rate mode now (and in axis lock when you push stick
@ -56,3 +63,4 @@ selected from ManualControlSettings.InputMode and the aircraft must be rebooted
after changing this. Also for CopterControl the HwSettings object must
indicate which modules are connected to which ports. PPM currently not
working.

2
flight/Bootloaders/AHRS/Makefile
View File

@ -354,7 +354,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/CopterControl/Makefile
View File

@ -413,7 +413,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/OpenPilot/Makefile
View File

@ -419,7 +419,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/PipXtreme/Makefile
View File

@ -414,7 +414,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Modules/ManualControl/manualcontrol.c
View File

@ -456,7 +456,7 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
break;
}
ReceiverActivityActiveGroupSet(&group);
ReceiverActivityActiveGroupSet((uint8_t*)&group);
ReceiverActivityActiveChannelSet(&channel);
activity_updated = true;
}

2
flight/Modules/System/systemmod.c
View File

@ -49,7 +49,6 @@
#include "hwsettings.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "pios.h"
// Private constants
@ -115,6 +114,7 @@ int32_t SystemModInitialize(void)
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAGNOSTICS)
TaskInfoInitialize();

8
flight/OpenPilot/System/inc/pios_config_posix.h
View File

@ -64,6 +64,14 @@
/* Stabilization options */
#define PIOS_QUATERNION_STABILIZATION
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* GPS options */
#define PIOS_GPS_SETS_HOMELOCATION

12
flight/OpenPilot/System/pios_board_posix.c
View File

@ -34,11 +34,19 @@
#include "attitudeactual.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "manualcontrolsettings.h"
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
* NOTE: No slot in this map for NONE.
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#endif /* PIOS_INCLUDE_RCVR */
void Stack_Change() {
}

21
flight/PiOS.posix/inc/pios_rcvr.h
View File

@ -31,21 +31,24 @@
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
struct pios_rcvr_channel_map {
uint32_t id;
uint8_t channel;
};
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
/*! Define error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {
/*! Indicates that a failsafe condition or missing receiver detected for that channel */
PIOS_RCVR_TIMEOUT = 0,
/*! Channel is invalid for this driver (usually out of range supported) */
PIOS_RCVR_INVALID = -1,
/*! Indicates that the driver for this channel has not been initialized */
PIOS_RCVR_NODRIVER = -2
};
#endif /* PIOS_RCVR_H */
/**

65
flight/PiOS.posix/posix/pios_rcvr.c
View File

@ -21,32 +21,39 @@ static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
if (!rcvr_dev) return (NULL);
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return(rcvr_dev);
}
//static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
//{
// struct pios_rcvr_dev * rcvr_dev;
//
// rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
// if (!rcvr_dev) return (NULL);
//
// rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
// return(rcvr_dev);
//}
#else
static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
static uint8_t pios_rcvr_num_devs;
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
static uint32_t PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
return (NULL);
return (PIOS_RCVR_MAX_DEVS+1);
}
rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return (rcvr_dev);
return (pios_rcvr_num_devs);
}
static struct pios_rcvr_dev * PIOS_RCVR_find_dev(uint32_t rcvr_dev_id)
{
if (!rcvr_dev_id) return NULL;
if (rcvr_dev_id>pios_rcvr_num_devs+1) return NULL;
return &pios_rcvr_devs[rcvr_dev_id-1];
}
#endif
/**
@ -56,35 +63,53 @@ static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, uint32_t lower_id)
{
PIOS_DEBUG_Assert(rcvr_id);
PIOS_DEBUG_Assert(driver);
uint32_t rcvr_dev_id;
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
rcvr_dev_id = PIOS_RCVR_alloc();
rcvr_dev = PIOS_RCVR_find_dev(rcvr_dev_id);
if (!rcvr_dev) goto out_fail;
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
*rcvr_id = pios_rcvr_num_devs - 1;
*rcvr_id = rcvr_dev_id;
return(0);
out_fail:
return(-1);
}
/**
* @brief Reads an input channel from the appropriate driver
* @param[in] rcvr_id driver to read from
* @param[in] channel channel to read
* @returns Unitless input value
* @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel
* @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported)
* @retval PIOS_RCVR_NODRIVER driver was not initialized
*/
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rcvr_dev * rcvr_dev = &pios_rcvr_devs[rcvr_id];
// Publicly facing API uses channel 1 for first channel
if(channel == 0)
return PIOS_RCVR_INVALID;
else
channel--;
if (rcvr_id == 0)
return PIOS_RCVR_NODRIVER;
struct pios_rcvr_dev * rcvr_dev = PIOS_RCVR_find_dev(rcvr_id);
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);

2
flight/PiOS.posix/posix/pios_udp.c
View File

@ -194,7 +194,7 @@ static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail)
length = (udp_dev->tx_out_cb)(udp_dev->tx_out_context, udp_dev->tx_buffer, PIOS_UDP_RX_BUFFER_SIZE, NULL, &tx_need_yield);
rem = length;
while (rem>0) {
len = sendto(udp_dev->socket, udp_dev->tx_buffer, length, 0,
len = sendto(udp_dev->socket, udp_dev->tx_buffer+length-rem, rem, 0,
(struct sockaddr *) &udp_dev->client,
sizeof(udp_dev->client));
if (len<=0) {

6
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -61,7 +61,7 @@ struct fileHeader {
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00001000
#define SECTOR_SIZE 0x00001000
#define MAX_BADMAGIC 4
#define MAX_BADMAGIC 1000
/**
* @brief Initialize the flash object setting FS
@ -72,7 +72,7 @@ int32_t PIOS_FLASHFS_Init()
// Check for valid object table or create one
uint32_t object_table_magic;
uint8_t magic_fail_count = 0;
uint32_t magic_fail_count = 0;
bool magic_good = false;
while(!magic_good) {
@ -85,7 +85,7 @@ int32_t PIOS_FLASHFS_Init()
magic_fail_count = 0;
magic_good = true;
} else {
PIOS_DELAY_WaituS(100);
PIOS_DELAY_WaituS(1000);
}
}

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

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

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

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

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

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

3
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -98,7 +98,7 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
attitudeSettingsData.GyroBias[0] = -x_gyro_bias;
attitudeSettingsData.GyroBias[1] = -y_gyro_bias;
attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
attitudeSettingsData.BiasCorrectGyro = initialBiasCorrected;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
} else {
@ -134,7 +134,6 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
// Disable gyro bias correction to see raw data
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
initialBiasCorrected = attitudeSettingsData.BiasCorrectGyro;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);

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

@ -57,7 +57,6 @@ private:
Ui_ccattitude *ui;
QTimer timer;
UAVObject::Metadata initialMdata;
quint8 initialBiasCorrected;
int updates;

50
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
View File

@ -26,14 +26,17 @@
*/
#include "configtaskwidget.h"
#include <QtGui/QWidget>
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
#include "configgadgetwidget.h"
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false)
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
}
void ConfigTaskWidget::addWidget(QWidget * widget)
{
@ -62,6 +65,8 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
{
obj = objManager->getObject(QString(object));
Q_ASSERT(obj);
objectUpdates.insert(obj,true);
connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
}
//smartsave->addObject(obj);
@ -123,6 +128,7 @@ ConfigTaskWidget::~ConfigTaskWidget()
void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
{
qDebug()<<"ConfigTaskWidget::saveObjectToSD";
// saveObjectToSD is now handled by the UAVUtils plugin in one
// central place (and one central queue)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -153,10 +159,12 @@ void ConfigTaskWidget::onAutopilotDisconnect()
{
isConnected=false;
enableControls(false);
invalidateObjects();
}
void ConfigTaskWidget::onAutopilotConnect()
{
invalidateObjects();
dirty=false;
isConnected=true;
enableControls(true);
@ -189,6 +197,10 @@ void ConfigTaskWidget::populateWidgets()
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(ow->widget))
{
cb->setChecked(ow->field->getValue(ow->index).toBool());
}
}
setDirty(dirtyBack);
}
@ -218,6 +230,10 @@ void ConfigTaskWidget::refreshWidgetsValues()
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(ow->widget))
{
cb->setChecked(ow->field->getValue(ow->index).toBool());
}
}
setDirty(dirtyBack);
}
@ -246,6 +262,10 @@ void ConfigTaskWidget::updateObjectsFromWidgets()
{
ow->field->setValue(cb->value()* ow->scale,ow->index);
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(ow->widget))
{
ow->field->setValue((cb->isChecked()?"TRUE":"FALSE"),ow->index);
}
}
}
@ -308,6 +328,30 @@ void ConfigTaskWidget::enableObjUpdates()
}
}
void ConfigTaskWidget::objectUpdated(UAVObject *obj)
{
objectUpdates[obj]=true;
}
bool ConfigTaskWidget::allObjectsUpdated()
{
bool ret=true;
foreach(UAVObject *obj, objectUpdates.keys())
{
ret=ret & objectUpdates[obj];
}
qDebug()<<"ALL OBJECTS UPDATE:"<<ret;
return ret;
}
void ConfigTaskWidget::invalidateObjects()
{
foreach(UAVObject *obj, objectUpdates.keys())
{
objectUpdates[obj]=false;
}
}

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

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

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

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

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

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

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

13
ground/openpilotgcs/src/plugins/debuggadget/debugengine.cpp Normal file
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@ -0,0 +1,13 @@
#include "debugengine.h"
debugengine::debugengine()
{
}
void debugengine::writeToStdErr(const QString &level, const QList<QVariant> &msgs)
{
emit dbgMsgError(level,msgs);
}
void debugengine::writeToStdOut(const QString &level, const QList<QVariant> &msgs)
{
emit dbgMsg(level,msgs);
}

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

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

@ -0,0 +1,39 @@
/**
******************************************************************************
*
* @file debuggadget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debuggadget.h"
#include "debuggadgetwidget.h"
DebugGadget::DebugGadget(QString classId, DebugGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
DebugGadget::~DebugGadget()
{
delete m_widget;
}

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

@ -0,0 +1,59 @@
/**
******************************************************************************
*
* @file debuggadget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGGADGET_H_
#define DEBUGGADGET_H_
#include <coreplugin/iuavgadget.h>
namespace Core {
class IUAVGadget;
}
//class QWidget;
//class QString;
class DebugGadgetWidget;
using namespace Core;
class DebugGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
DebugGadget(QString classId, DebugGadgetWidget *widget, QWidget *parent = 0);
~DebugGadget();
QList<int> context() const { return m_context; }
QWidget *widget() { return m_widget; }
QString contextHelpId() const { return QString(); }
private:
QWidget *m_widget;
QList<int> m_context;
};
#endif // DEBUGGADGET_H_

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

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

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

@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file debuggadgetfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debuggadgetfactory.h"
#include "debuggadgetwidget.h"
#include "debuggadget.h"
#include <coreplugin/iuavgadget.h>
DebugGadgetFactory::DebugGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("DebugGadget"),
tr("DebugGadget"),
parent)
{
}
DebugGadgetFactory::~DebugGadgetFactory()
{
}
IUAVGadget* DebugGadgetFactory::createGadget(QWidget *parent) {
DebugGadgetWidget* gadgetWidget = new DebugGadgetWidget(parent);
return new DebugGadget(QString("DebugGadget"), gadgetWidget, parent);
}

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

@ -0,0 +1,50 @@
/**
******************************************************************************
*
* @file debuggadgetfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGGADGETFACTORY_H_
#define DEBUGGADGETFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class DebugGadgetFactory : public IUAVGadgetFactory
{
Q_OBJECT
public:
DebugGadgetFactory(QObject *parent = 0);
~DebugGadgetFactory();
IUAVGadget *createGadget(QWidget *parent);
};
#endif // DEBUGGADGETFACTORY_H_

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

@ -0,0 +1,96 @@
/**
******************************************************************************
*
* @file debuggadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debuggadgetwidget.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include "qxtlogger.h"
#include "debugengine.h"
#include <QFile>
#include <QFileDialog>
#include <QMessageBox>
#include <QScrollBar>
#include <QTime>
DebugGadgetWidget::DebugGadgetWidget(QWidget *parent) : QLabel(parent)
{
m_config = new Ui_Form();
m_config->setupUi(this);
debugengine * de=new debugengine();
QxtLogger::getInstance()->addLoggerEngine("debugplugin", de);
connect(de,SIGNAL(dbgMsg(QString,QList<QVariant>)),this,SLOT(dbgMsg(QString,QList<QVariant>)));
connect(de,SIGNAL(dbgMsgError(QString,QList<QVariant>)),this,SLOT(dbgMsgError(QString,QList<QVariant>)));
connect(m_config->pushButton,SIGNAL(clicked()),this,SLOT(saveLog()));
}
DebugGadgetWidget::~DebugGadgetWidget()
{
// Do nothing
}
void DebugGadgetWidget::dbgMsg(const QString &level, const QList<QVariant> &msgs)
{
m_config->plainTextEdit->setTextColor(Qt::red);
m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
sb->setValue(sb->maximum());
}
void DebugGadgetWidget::dbgMsgError(const QString &level, const QList<QVariant> &msgs)
{
m_config->plainTextEdit->setTextColor(Qt::black);
m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
sb->setValue(sb->maximum());
}
void DebugGadgetWidget::saveLog()
{
QString fileName = QFileDialog::getSaveFileName(0, tr("Save log File As"), "");
if (fileName.isEmpty()) {
return;
}
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(m_config->plainTextEdit->toHtml().toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("Log Save"),
tr("Unable to save log: ") + fileName,
QMessageBox::Ok);
return;
}
}

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

@ -0,0 +1,49 @@
/**
******************************************************************************
*
* @file debuggadgetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGGADGETWIDGET_H_
#define DEBUGGADGETWIDGET_H_
#include <QtGui/QLabel>
#include "ui_debug.h"
class DebugGadgetWidget : public QLabel
{
Q_OBJECT
public:
DebugGadgetWidget(QWidget *parent = 0);
~DebugGadgetWidget();
private:
Ui_Form *m_config;
private slots:
void saveLog();
void dbgMsgError( const QString & level, const QList<QVariant> & msgs );
void dbgMsg( const QString & level, const QList<QVariant> & msgs );
};
#endif /* DEBUGGADGETWIDGET_H_ */

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

@ -0,0 +1,65 @@
/**
******************************************************************************
*
* @file debugplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "debugplugin.h"
#include "debuggadgetfactory.h"
#include <QDebug>
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
DebugPlugin::DebugPlugin()
{
// Do nothing
}
DebugPlugin::~DebugPlugin()
{
// Do nothing
}
bool DebugPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new DebugGadgetFactory(this);
addAutoReleasedObject(mf);
return true;
}
void DebugPlugin::extensionsInitialized()
{
// Do nothing
}
void DebugPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(DebugPlugin)

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

@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file debugplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup DebugGadgetPlugin Debug Gadget Plugin
* @{
* @brief A place holder gadget plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef DEBUGPLUGIN_H_
#define DEBUGPLUGIN_H_
#include <extensionsystem/iplugin.h>
class DebugGadgetFactory;
class DebugPlugin : public ExtensionSystem::IPlugin
{
public:
DebugPlugin();
~DebugPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
DebugGadgetFactory *mf;
};
#endif /* DEBUGPLUGIN_H_ */

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

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

7
ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
View File

@ -37,7 +37,6 @@
#if defined( Q_OS_MAC)
// todo:
#elif defined(Q_OS_UNIX)
//#elif defined(Q_OS_LINUX)
@ -104,10 +103,12 @@ public:
void mytest(int num);
signals:
void deviceUnplugged(int);//just to make pips changes compile
private:
#if defined( Q_OS_MAC)
// todo:
#endif
private:
#if defined( Q_OS_MAC)
#elif defined(Q_OS_UNIX)
//#elif defined(Q_OS_LINUX)

119
ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
View File

@ -44,6 +44,18 @@
#include <IOKit/hid/IOHIDLib.h>
#include <CoreFoundation/CFString.h>
#include <QString>
#include <QThread>
#include <QTimer>
#include <QCoreApplication>
class delay : public QThread
{
public:
static void msleep(unsigned long msecs)
{
QThread::msleep(msecs);
}
};
#define BUFFER_SIZE 64
@ -54,6 +66,8 @@ typedef struct hid_struct hid_t;
typedef struct buffer_struct buffer_t;
static hid_t *first_hid = NULL;
static hid_t *last_hid = NULL;
// Make sure we use the correct runloop
CFRunLoopRef the_correct_runloop = NULL;
struct hid_struct {
IOHIDDeviceRef ref;
int open;
@ -75,9 +89,10 @@ static void free_all_hid(void);
static void hid_close(hid_t *);
static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
static void timeout_callback(CFRunLoopTimerRef, void *);
static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
static void timeout_callback(CFRunLoopTimerRef, void *);
pjrc_rawhid::pjrc_rawhid()
{
@ -164,6 +179,8 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
CFRelease(hid_manager);
return 0;
}
// Set the run loop reference:
the_correct_runloop = CFRunLoopGetCurrent();
printf("run loop\n");
// let it do the callback for all devices
while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
@ -183,47 +200,56 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
//
int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
{
hid_t *hid;
buffer_t *b;
CFRunLoopTimerRef timer=NULL;
CFRunLoopTimerContext context;
int ret=0, timeout_occurred=0;
hid_t *hid;
buffer_t *b;
CFRunLoopTimerRef timer=NULL;
CFRunLoopTimerContext context;
int ret=0, timeout_occurred=0;
if (len < 1) return 0;
hid = get_hid(num);
if (!hid || !hid->open) return -1;
if ((b = hid->first_buffer) != NULL) {
if (len > b->len) len = b->len;
memcpy(buf, b->buf, len);
hid->first_buffer = b->next;
free(b);
return len;
}
memset(&context, 0, sizeof(context));
context.info = &timeout_occurred;
timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
(double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
while (1) {
CFRunLoopRun();
if ((b = hid->first_buffer) != NULL) {
if (len > b->len) len = b->len;
memcpy(buf, b->buf, len);
hid->first_buffer = b->next;
free(b);
ret = len;
if (len < 1) return 0;
hid = get_hid(num);
if (!hid || !hid->open) return -1;
if ((b = hid->first_buffer) != NULL) {
if (len > b->len) len = b->len;
memcpy(buf, b->buf, len);
hid->first_buffer = b->next;
free(b);
return len;
}
memset(&context, 0, sizeof(context));
context.info = &timeout_occurred;
timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
(double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
the_correct_runloop = CFRunLoopGetCurrent();
//qDebug("--");
while (1) {
//qDebug(".");
CFRunLoopRun(); // Found the problem: somehow the input_callback does not
// stop this CFRunLoopRun because it is hooked to a different run loop !!!
// Hence the use of the "correct_runloop" variable above.
//qDebug(" ..");
if ((b = hid->first_buffer) != NULL) {
if (len > b->len) len = b->len;
memcpy(buf, b->buf, len);
hid->first_buffer = b->next;
free(b);
ret = len;
//qDebug("*************");
break;
}
if (!hid->open) {
printf("pjrc_rawhid_recv, device not open\n");
ret = -1;
break;
}
if (timeout_occurred)
break;
}
if (!hid->open) {
printf("pjrc_rawhid_recv, device not open\n");
ret = -1;
break;
}
if (timeout_occurred) break;
}
CFRunLoopTimerInvalidate(timer);
CFRelease(timer);
return ret;
}
CFRunLoopTimerInvalidate(timer);
CFRelease(timer);
return ret;
}
// send - send a packet
@ -335,10 +361,11 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
buffer_t *n;
hid_t *hid;
printf("input_callback, report id: %i buf: %x %x, len: %d\n", id, data[0], data[1], len);
//qDebug("input_callback, ret: %i - report id: %i buf: %x %x, len: %d\n", ret, id, data[0], data[1], len);
if (ret != kIOReturnSuccess || len < 1) return;
hid = (hid_t*)context;
if (!hid || hid->ref != sender) return;
printf("Processing packet");
n = (buffer_t *)malloc(sizeof(buffer_t));
if (!n) return;
if (len > BUFFER_SIZE) len = BUFFER_SIZE;
@ -352,14 +379,16 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
hid->last_buffer->next = n;
hid->last_buffer = n;
}
CFRunLoopStop(CFRunLoopGetCurrent());
//qDebug() << "Stop CFRunLoop from input_callback" << CFRunLoopGetCurrent();
CFRunLoopStop(the_correct_runloop);
}
static void timeout_callback(CFRunLoopTimerRef timer, void *info)
{
printf("timeout_callback\n");
*(int *)info = 1;
CFRunLoopStop(CFRunLoopGetCurrent());
//qDebug("timeout_callback\n");
*(int *)info = 1;
//qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
CFRunLoopStop(CFRunLoopGetCurrent());
}
static void add_hid(hid_t *h)

5
ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
View File

@ -117,7 +117,7 @@ void USBMonitor::removeDevice(IOHIDDeviceRef dev) {
*/
void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
qDebug() << "USBMonitor: Device detached event";
instance()->removeDevice(dev);
}
@ -136,6 +136,8 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
deviceInfo.dev_handle = dev;
qDebug() << "USBMonitor: Device attached event";
// Populate the device info structure
got_properties &= HID_GetIntProperty(dev, CFSTR( kIOHIDVendorIDKey ), &deviceInfo.vendorID);
got_properties &= HID_GetIntProperty(dev, CFSTR( kIOHIDProductIDKey ), &deviceInfo.productID);
@ -149,6 +151,7 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
// Currently only enumerating objects that have the complete list of properties
if(got_properties) {
qDebug() << "USBMonitor: Adding device";
instance()->addDevice(deviceInfo);
}
}

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

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

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

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

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

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

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

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

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

@ -0,0 +1,40 @@
/**
******************************************************************************
*
* @file uavsettingsimportexport_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVSETTINGSIMPORTEXPORT_GLOBAL_H
#define UAVSETTINGSIMPORTEXPORT_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(UAVSETTINGSIMPORTEXPORT_LIBRARY)
# define UAVSETTINGSIMPORTEXPORT_EXPORT Q_DECL_EXPORT
#else
# define UAVSETTINGSIMPORTEXPORT_EXPORT Q_DECL_IMPORT
#endif
#endif // UAVSETTINGSIMPORTEXPORT_GLOBAL_H

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

@ -0,0 +1,365 @@
/**
******************************************************************************
*
* @file uavsettingsimportexportfactory.cpp
* @author (C) 2011 The OpenPilot Team, http://www.openpilot.org
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVSettingsImportExport UAVSettings Import/Export Plugin
* @{
* @brief UAVSettings Import/Export Plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavsettingsimportexportfactory.h"
#include <QtPlugin>
#include <QStringList>
#include <QDebug>
#include <QCheckBox>
#include "importsummary.h"
// for menu item
#include <coreplugin/coreconstants.h>
#include <coreplugin/actionmanager/actionmanager.h>
#include <coreplugin/icore.h>
#include <QKeySequence>
// for UAVObjects
#include "uavdataobject.h"
#include "uavobjectmanager.h"
#include "extensionsystem/pluginmanager.h"
// for XML object
#include <QDomDocument>
// for file dialog and error messages
#include <QFileDialog>
#include <QMessageBox>
UAVSettingsImportExportFactory::~UAVSettingsImportExportFactory()
{
// Do nothing
}
UAVSettingsImportExportFactory::UAVSettingsImportExportFactory(QObject * parent):QObject(parent)
{
// Add Menu entry
Core::ActionManager* am = Core::ICore::instance()->actionManager();
Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_FILE);
Core::Command* cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVSettingsExport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+E"));
cmd->action()->setText(tr("Export UAV Settings..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVSettings()));
cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVSettingsImport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+I"));
cmd->action()->setText(tr("Import UAV Settings..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(importUAVSettings()));
cmd = am->registerAction(new QAction(this),
"UAVSettingsImportExportPlugin.UAVDataExport",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->action()->setText(tr("Export UAV Data..."));
ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::importUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVSettings XML files (*.uav);; XML files (*.xml)");
fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
if (fileName.isEmpty()) {
return;
}
// Now open the file
QFile file(fileName);
QDomDocument doc("UAVSettings");
file.open(QFile::ReadOnly|QFile::Text);
if (!doc.setContent(file.readAll())) {
QMessageBox msgBox;
msgBox.setText(tr("File Parsing Failed."));
msgBox.setInformativeText(tr("This file is not a correct XML file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
file.close();
emit importAboutToBegin();
qDebug()<<"Import about to begin";
QDomElement root = doc.documentElement();
if (root.tagName() != "settings") {
QMessageBox msgBox;
msgBox.setText(tr("Wrong file contents."));
msgBox.setInformativeText(tr("This file is not a correct UAVSettings file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
// We are now ok: setup the import summary dialog & update it as we
// go along.
ImportSummaryDialog swui;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
swui.show();
QDomNode node = root.firstChild();
while (!node.isNull()) {
QDomElement e = node.toElement();
if (e.tagName() == "object") {
// - Read each object
QString uavObjectName = e.attribute("name");
uint uavObjectID = e.attribute("id").toUInt(NULL,16);
// Sanity Check:
UAVObject* obj = objManager->getObject(uavObjectName);
if (obj == NULL) {
// This object is unknown!
qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
swui.addLine(uavObjectName, "Error (Object unknown)", false);
} else {
// - Update each field
// - Issue and "updated" command
bool error=false;
QDomNode field = node.firstChild();
while(!field.isNull()) {
QDomElement f = field.toElement();
if (f.tagName() == "field") {
UAVObjectField *uavfield = obj->getField(f.attribute("name"));
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
uavfield->setValue(f.attribute("values"));
} else {
// This is an enum:
int i=0;
QStringList list = f.attribute("values").split(",");
foreach (QString element, list) {
uavfield->setValue(element,i++);
}
}
error = false;
} else {
error = true;
}
}
field = field.nextSibling();
}
obj->updated();
if (error) {
swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else
swui.addLine(uavObjectName, "OK", true);
}
}
node = node.nextSibling();
}
qDebug()<<"End import";
swui.exec();
}
// Create an XML document from UAVObject database
QString UAVSettingsImportExportFactory::createXMLDocument(
const QString docName, const bool isSettings, const bool fullExport)
{
// generate an XML first (used for all export formats as a formatted data source)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
QDomDocument doc(docName);
QDomElement root = doc.createElement(isSettings ? "settings" : "data");
doc.appendChild(root);
QDomElement versionInfo =doc.createElement("versionInfo");
root.appendChild(versionInfo);
QDomElement fw=doc.createElement("Embedded");
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
fw.setAttribute("gitcommittag",utilMngr->getBoardDescriptionStruct().gitTag);
fw.setAttribute("fwtag",utilMngr->getBoardDescriptionStruct().description);
fw.setAttribute("cpuSerial",QString(utilMngr->getBoardCPUSerial().toHex()));
versionInfo.appendChild(fw);
QDomElement gcs=doc.createElement("GCS");
gcs.setAttribute("revision",QString::fromLatin1(Core::Constants::GCS_REVISION_STR));
versionInfo.appendChild(gcs);
// iterate over settings objects
QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
foreach (QList<UAVDataObject*> list, objList) {
foreach (UAVDataObject* obj, list) {
if (obj->isSettings() == isSettings) {
// add each object to the XML
QDomElement o = doc.createElement("object");
o.setAttribute("name", obj->getName());
o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
if (fullExport) {
QDomElement d = doc.createElement("description");
QDomText t = doc.createTextNode(obj->getDescription().remove("@Ref ", Qt::CaseInsensitive));
d.appendChild(t);
o.appendChild(d);
}
// iterate over fields
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
QDomElement f = doc.createElement("field");
// iterate over values
QString vals;
quint32 nelem = field->getNumElements();
for (unsigned int n = 0; n < nelem; ++n) {
vals.append(QString("%1,").arg(field->getValue(n).toString()));
}
vals.chop(1);
f.setAttribute("name", field->getName());
f.setAttribute("values", vals);
if (fullExport) {
f.setAttribute("type", field->getTypeAsString());
f.setAttribute("units", field->getUnits());
f.setAttribute("elements", nelem);
if (field->getType() == UAVObjectField::ENUM) {
f.setAttribute("options", field->getOptions().join(","));
}
}
o.appendChild(f);
}
root.appendChild(o);
}
}
}
return doc.toString(4);
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::exportUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVSettings XML files (*.uav)");
fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Settings File As"), "", filters);
if (fileName.isEmpty()) {
return;
}
bool fullExport = false;
// If the filename ends with .xml, we will do a full export, otherwise, a simple export
if (fileName.endsWith(".xml")) {
fullExport = true;
} else if (!fileName.endsWith(".uav")) {
fileName.append(".uav");
}
// generate an XML first (used for all export formats as a formatted data source)
QString xml = createXMLDocument("UAVSettings", true, fullExport);
// save file
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(xml.toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("UAV Settings Export"),
tr("Unable to save settings: ") + fileName,
QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Settings saved."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::exportUAVData()
{
if (QMessageBox::question(0, tr("Are you sure?"),
tr("This option is only useful for passing your current "
"system data to the technical support staff. "
"Do you really want to export?"),
QMessageBox::Ok | QMessageBox::Cancel,
QMessageBox::Ok) != QMessageBox::Ok) {
return;
}
// ask for file name
QString fileName;
QString filters = tr("UAVData XML files (*.uav)");
fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Data File As"), "", filters);
if (fileName.isEmpty()) {
return;
}
bool fullExport = false;
// If the filename ends with .xml, we will do a full export, otherwise, a simple export
if (fileName.endsWith(".xml")) {
fullExport = true;
} else if (!fileName.endsWith(".uav")) {
fileName.append(".uav");
}
// generate an XML first (used for all export formats as a formatted data source)
QString xml = createXMLDocument("UAVData", false, fullExport);
// save file
QFile file(fileName);
if (file.open(QIODevice::WriteOnly) &&
(file.write(xml.toAscii()) != -1)) {
file.close();
} else {
QMessageBox::critical(0,
tr("UAV Data Export"),
tr("Unable to save data: ") + fileName,
QMessageBox::Ok);
return;
}
QMessageBox msgBox;
msgBox.setText(tr("Data saved."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
}

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

@ -0,0 +1,55 @@
/**
******************************************************************************
*
* @file uavsettingsimportexportfactory.h
* @author (C) 2011 The OpenPilot Team, http://www.openpilot.org
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVSettingsImportExport UAVSettings Import/Export Plugin
* @{
* @brief UAVSettings Import/Export Plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVSETTINGSIMPORTEXPORTFACTORY_H
#define UAVSETTINGSIMPORTEXPORTFACTORY_H
#include "uavsettingsimportexport_global.h"
#include "uavobjectutil/uavobjectutilmanager.h"
#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
class UAVSETTINGSIMPORTEXPORT_EXPORT UAVSettingsImportExportFactory : public QObject
{
Q_OBJECT
public:
UAVSettingsImportExportFactory(QObject *parent = 0);
~UAVSettingsImportExportFactory();
private:
QString createXMLDocument(const QString docName,
const bool isSettings,
const bool fullExport);
private slots:
void importUAVSettings();
void exportUAVSettings();
void exportUAVData();
signals:
void importAboutToBegin();
void importEnded();
};
#endif // UAVSETTINGSIMPORTEXPORTFACTORY_H

37
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -80,29 +80,26 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
}
else
{
send_delay=10;
use_delay=true;
// int numDevices=0;
QList<USBPortInfo> devices;
int count=0;
while((devices.length()==0) && count < 10)
{
if (debug)
qDebug() << ".";
delay::msleep(500);
// processEvents enables XP to process the system
// plug/unplug events, otherwise it will not process
// those events before the end of the call!
QApplication::processEvents();
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
count++;
}
if (devices.length()==1) {
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
} else {
qDebug() << devices.length() << " device(s) detected, don't know what to do!";
mready = false;
}
// Wait for the board to appear on the USB bus:
QEventLoop m_eventloop;
connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
QTimer::singleShot(5000,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
delay::msleep(2000); // Let the USB Subsystem settle (especially important on Mac!)
hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
}
else {
qDebug() << devices.length() << " device(s) detected, don't know what to do!";
mready = false;
}
}
}
}

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

@ -17,6 +17,7 @@
#include "delay.h"
#include <qextserialport/src/qextserialport.h>
#include <QTime>
#include <QTimer>
#include "SSP/qssp.h"
#include "SSP/port.h"
#include "SSP/qsspt.h"

14
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -48,7 +48,8 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));
connect(m_config->rescueButton, SIGNAL(clicked()), this, SLOT(systemRescue()));
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
connect(cm,SIGNAL(deviceConnected(QIODevice*)),this,SLOT(onPhisicalHWConnect()));
getSerialPorts();
QIcon rbi;
@ -105,7 +106,12 @@ QString UploaderGadgetWidget::getPortDevice(const QString &friendName)
}
return "";
}
void UploaderGadgetWidget::onPhisicalHWConnect()
{
m_config->bootButton->setEnabled(false);
m_config->rescueButton->setEnabled(false);
m_config->telemetryLink->setEnabled(false);
}
/**
Enables widget buttons if autopilot connected
@ -235,9 +241,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
currentStep = IAP_STATE_BOOTLOADER;
// Tell the mainboard to get into bootloader state:
log("Detecting devices, please wait 5 seconds...");
this->repaint();
delay::msleep(5100); // Required to let the board(s) settle
log("Detecting devices, please wait a few seconds...");
if (!dfu) {
if (dlj.startsWith("USB"))
dfu = new DFUObject(DFU_DEBUG, false, QString());

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

@ -85,6 +85,7 @@ private:
QLineEdit* openFileNameLE;
QEventLoop m_eventloop;
private slots:
void onPhisicalHWConnect();
void error(QString errorString,int errorNumber);
void info(QString infoString,int infoNumber);
void goToBootloader(UAVObject* = NULL, bool = false);