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

Conflicts:
	flight/Modules/System/systemmod.c

HISTORY.txt

@@ -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.
+

flight/Bootloaders/AHRS/Makefile

@@ -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

flight/Bootloaders/CopterControl/Makefile

@@ -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

flight/Bootloaders/OpenPilot/Makefile

@@ -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

flight/Bootloaders/PipXtreme/Makefile

@@ -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

flight/Modules/ManualControl/manualcontrol.c

@@ -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;
 		}

flight/Modules/System/systemmod.c

@@ -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();

flight/OpenPilot/System/inc/pios_config_posix.h

@@ -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
 

flight/OpenPilot/System/pios_board_posix.c

@@ -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];
+/* One slot per selectable receiver group.
-uint32_t pios_rcvr_max_channel;
+ *  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() {
 }

flight/PiOS.posix/inc/pios_rcvr.h

@@ -31,13 +31,6 @@
 #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);
@@ -46,6 +39,16 @@ struct pios_rcvr_driver {
 /* 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 */
 
 /**

flight/PiOS.posix/posix/pios_rcvr.c

@@ -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)
+//static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
-{
+//{
-  struct pios_rcvr_dev * rcvr_dev;
+//  struct pios_rcvr_dev * rcvr_dev;
-
+//
-  rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
+//  rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
-  if (!rcvr_dev) return (NULL);
+//  if (!rcvr_dev) return (NULL);
-
+//
-  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+//  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
-  return(rcvr_dev);
+//  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 = rcvr_dev_id;
-  *rcvr_id = pios_rcvr_num_devs - 1;
-
   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);

flight/PiOS.posix/posix/pios_udp.c

@@ -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) {

flight/PiOS/Common/pios_flashfs_objlist.c

@@ -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);
 			}
 
 		}

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

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

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

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

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

@@ -36,6 +36,10 @@
 #include <math.h>
 #include <QDesktopServices>
 #include <QUrl>
+#include "systemsettings.h"
+#include "mixersettings.h"
+#include "actuatorsettings.h"
+#include <QEventLoop>
 
 /**
   Helper delegate for the custom mixer editor table.
@@ -443,6 +447,8 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, d
   */
 void ConfigAirframeWidget::refreshWidgetsValues()
 {
+    if(!allObjectsUpdated())
+        return;
     bool dirty=isDirty();
     // Get the Airframe type from the system settings:
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
@@ -1516,6 +1522,16 @@ bool ConfigAirframeWidget::setupFrameVtail()
   */
 bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
 {
+    qDebug()<<"Mixer factors";
+    qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
+    qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
+    qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
+    qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
+    qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
+    qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
+    qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
+    qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
+
     UAVObjectField *field;
     QList<QComboBox*> mmList;
     mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
@@ -1533,12 +1549,16 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
     double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
     double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
+    qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
     for (int i=0 ; i<8; i++) {
+        if(mmList.at(i)->isEnabled())
+        {
             int channel = mmList.at(i)->currentIndex()-1;
             if (channel > -1)
                 setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
                            rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
         }
+    }
 //    obj->updated();
     return true;
 }
@@ -1549,6 +1569,7 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
   */
 void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
 {
+    qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(obj);
     UAVObjectField *field = obj->getField(mixerTypes.at(channel));
@@ -1560,10 +1581,13 @@ void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll
     field->setValue(127, ti);
     ti = field->getElementNames().indexOf("Roll");
     field->setValue(roll*127,ti);
+    qDebug()<<"Set roll="<<roll*127;
     ti = field->getElementNames().indexOf("Pitch");
     field->setValue(pitch*127,ti);
+    qDebug()<<"Set pitch="<<pitch*127;
     ti = field->getElementNames().indexOf("Yaw");
     field->setValue(yaw*127,ti);
+    qDebug()<<"Set yaw="<<yaw*127;
 }
 
 /**

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

@@ -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);
 

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

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

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

@@ -26,14 +26,17 @@
  */
 #include "configtaskwidget.h"
 #include <QtGui/QWidget>
-
+#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
+#include "configgadgetwidget.h"
 
 ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false)
 {
     pm = ExtensionSystem::PluginManager::instance();
     objManager = pm->getObject<UAVObjectManager>();
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
-    connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
+    connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
+    UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
+    connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
 }
 void ConfigTaskWidget::addWidget(QWidget * widget)
 {
@@ -62,6 +65,8 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
     {
         obj = objManager->getObject(QString(object));
         Q_ASSERT(obj);
+        objectUpdates.insert(obj,true);
+        connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
         connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
     }
     //smartsave->addObject(obj);
@@ -123,6 +128,7 @@ ConfigTaskWidget::~ConfigTaskWidget()
 
 void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
 {
+    qDebug()<<"ConfigTaskWidget::saveObjectToSD";
     // saveObjectToSD is now handled by the UAVUtils plugin in one
     // central place (and one central queue)
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@@ -153,10 +159,12 @@ void ConfigTaskWidget::onAutopilotDisconnect()
 {
     isConnected=false;
     enableControls(false);
+    invalidateObjects();
 }
 
 void ConfigTaskWidget::onAutopilotConnect()
 {
+    invalidateObjects();
     dirty=false;
     isConnected=true;
     enableControls(true);
@@ -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;
+    }
+}
+
 
 
 

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,13 @@
+#include "debugengine.h"
+debugengine::debugengine()
+{
+}
+
+void debugengine::writeToStdErr(const QString &level, const QList<QVariant> &msgs)
+{
+    emit dbgMsgError(level,msgs);
+}
+void debugengine::writeToStdOut(const QString &level, const QList<QVariant> &msgs)
+{
+    emit dbgMsg(level,msgs);
+}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ground/openpilotgcs/src/plugins/plugins.pro

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

ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h

@@ -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)

ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp

@@ -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) ;
@@ -204,14 +221,22 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
    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) {
-        CFRunLoopRun();
+       //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) {
@@ -219,7 +244,8 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
            ret = -1;
            break;
        }
-        if (timeout_occurred) break;
+       if (timeout_occurred)
+            break;
    }
    CFRunLoopTimerInvalidate(timer);
    CFRelease(timer);
@@ -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;
@@ -352,13 +379,15 @@ 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");
+   //qDebug("timeout_callback\n");
    *(int *)info = 1;
+   //qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
    CFRunLoopStop(CFRunLoopGetCurrent());
 }
 

ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp

@@ -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);
     }
 }

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

@@ -31,7 +31,7 @@
 #include <QStringList> 
 #include <QDebug>
 #include <QCheckBox>
-
+#include "importsummary.h"
 // for menu item
 #include <coreplugin/coreconstants.h>
 #include <coreplugin/actionmanager/actionmanager.h>
@@ -64,319 +64,18 @@ bool UAVSettingsImportExportPlugin::initialize(const QStringList& args, QString
 { 
     Q_UNUSED(args);
     Q_UNUSED(errMsg);
-
+    mf = new UAVSettingsImportExportFactory(this);
-   // Add Menu entry
+    addAutoReleasedObject(mf);
-   Core::ActionManager* am = Core::ICore::instance()->actionManager();
-   Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_FILE);
-   Core::Command* cmd = am->registerAction(new QAction(this),
-                                           "UAVSettingsImportExportPlugin.UAVSettingsExport",
-                                           QList<int>() <<
-                                           Core::Constants::C_GLOBAL_ID);
-    cmd->setDefaultKeySequence(QKeySequence("Ctrl+E"));
-    cmd->action()->setText(tr("Export UAV Settings..."));
-    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
-    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVSettings()));
-
-    cmd = am->registerAction(new QAction(this),
-                             "UAVSettingsImportExportPlugin.UAVSettingsImport",
-                             QList<int>() <<
-                             Core::Constants::C_GLOBAL_ID);
-    cmd->setDefaultKeySequence(QKeySequence("Ctrl+I"));
-    cmd->action()->setText(tr("Import UAV Settings..."));
-    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
-    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(importUAVSettings()));
-
-    cmd = am->registerAction(new QAction(this),
-                             "UAVSettingsImportExportPlugin.UAVDataExport",
-                             QList<int>() <<
-                             Core::Constants::C_GLOBAL_ID);
-    cmd->action()->setText(tr("Export UAV Data..."));
-    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
-    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
-
     return true;
 }
 
-void UAVSettingsImportExportPlugin::extensionsInitialized() 
-{ 
-   // Do nothing 
-}
-
-
-// Slot called by the menu manager on user action
-void UAVSettingsImportExportPlugin::importUAVSettings()
-{
-    // ask for file name
-    QString fileName;
-    QString filters = tr("UAVSettings XML files (*.uav);; XML files (*.xml)");
-    fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
-    if (fileName.isEmpty()) {
-        return;
-    }
-
-    // Now open the file
-    QFile file(fileName);
-    QDomDocument doc("UAVSettings");
-    file.open(QFile::ReadOnly|QFile::Text);
-    if (!doc.setContent(file.readAll())) {
-        QMessageBox msgBox;
-        msgBox.setText(tr("File Parsing Failed."));
-        msgBox.setInformativeText(tr("This file is not a correct XML file"));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.exec();
-        return;
-    }
-    file.close();
-
-    QDomElement root = doc.documentElement();
-    if (root.tagName() != "settings") {
-        QMessageBox msgBox;
-        msgBox.setText(tr("Wrong file contents."));
-        msgBox.setInformativeText(tr("This file is not a correct UAVSettings file"));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.exec();
-        return;
-    }
-
-    // We are now ok: setup the import summary dialog & update it as we
-    // go along.
-    ImportSummaryDialog swui;
-
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    swui.show();
-
-    QDomNode node = root.firstChild();
-    while (!node.isNull()) {
-        QDomElement e = node.toElement();
-        if (e.tagName() == "object") {
-        //  - Read each object
-         QString uavObjectName  = e.attribute("name");
-         uint uavObjectID = e.attribute("id").toUInt(NULL,16);
-
-         // Sanity Check:
-         UAVObject* obj = objManager->getObject(uavObjectName);
-         if (obj == NULL) {
-             // This object is unknown!
-             qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
-             swui.addLine(uavObjectName, "Error (Object unknown)", false);
-
-         } else {
-             //  - Update each field
-             //  - Issue and "updated" command
-             bool error=false;
-             QDomNode field = node.firstChild();
-             while(!field.isNull()) {
-                 QDomElement f = field.toElement();
-                 if (f.tagName() == "field") {
-                     UAVObjectField *uavfield = obj->getField(f.attribute("name"));
-                     if (uavfield) {
-                         QStringList list = f.attribute("values").split(",");
-                         if (list.length() == 1) {
-                             uavfield->setValue(f.attribute("values"));
-                         } else {
-                         // This is an enum:
-                             int i=0;
-                             QStringList list = f.attribute("values").split(",");
-                             foreach (QString element, list) {
-                                 uavfield->setValue(element,i++);
-                             }
-                         }
-                         error = false;
-                     } else {
-                         error = true;
-                     }
-                 }
-                 field = field.nextSibling();
-             }
-             obj->updated();
-             if (error) {
-                 swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
-             } else if (uavObjectID != obj->getObjID()) {
-                  qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
-                 swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
-              } else
-                 swui.addLine(uavObjectName, "OK", true);
-         }
-        }
-        node = node.nextSibling();
-    }
-    swui.exec();
-
-
-
-}
-
-// Create an XML document from UAVObject database
-QString UAVSettingsImportExportPlugin::createXMLDocument(
-        const QString docName, const bool isSettings, const bool fullExport)
-{
-    // generate an XML first (used for all export formats as a formatted data source)
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-
-    QDomDocument doc(docName);
-    QDomElement root = doc.createElement(isSettings ? "settings" : "data");
-    doc.appendChild(root);
-    QDomElement versionInfo =doc.createElement("versionInfo");
-    root.appendChild(versionInfo);
-    QDomElement fw=doc.createElement("Embedded");
-    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
-
-    fw.setAttribute("gitcommittag",utilMngr->getBoardDescriptionStruct().gitTag);
-    fw.setAttribute("fwtag",utilMngr->getBoardDescriptionStruct().description);
-    fw.setAttribute("cpuSerial",QString(utilMngr->getBoardCPUSerial().toHex()));
-
-    versionInfo.appendChild(fw);
-    QDomElement gcs=doc.createElement("GCS");
-    gcs.setAttribute("revision",QString::fromLatin1(Core::Constants::GCS_REVISION_STR));
-    versionInfo.appendChild(gcs);
-    // iterate over settings objects
-    QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
-    foreach (QList<UAVDataObject*> list, objList) {
-        foreach (UAVDataObject* obj, list) {
-            if (obj->isSettings() == isSettings) {
-
-                // add each object to the XML
-                QDomElement o = doc.createElement("object");
-                o.setAttribute("name", obj->getName());
-                o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
-                if (fullExport) {
-                    QDomElement d = doc.createElement("description");
-                    QDomText t = doc.createTextNode(obj->getDescription().remove("@Ref ", Qt::CaseInsensitive));
-                    d.appendChild(t);
-                    o.appendChild(d);
-                }
-
-                // iterate over fields
-                QList<UAVObjectField*> fieldList = obj->getFields();
-
-                foreach (UAVObjectField* field, fieldList) {
-                    QDomElement f = doc.createElement("field");
-
-                    // iterate over values
-                    QString vals;
-                    quint32 nelem = field->getNumElements();
-                    for (unsigned int n = 0; n < nelem; ++n) {
-                        vals.append(QString("%1,").arg(field->getValue(n).toString()));
-                    }
-                    vals.chop(1);
-
-                    f.setAttribute("name", field->getName());
-                    f.setAttribute("values", vals);
-                    if (fullExport) {
-                        f.setAttribute("type", field->getTypeAsString());
-                        f.setAttribute("units", field->getUnits());
-                        f.setAttribute("elements", nelem);
-                        if (field->getType() == UAVObjectField::ENUM) {
-                            f.setAttribute("options", field->getOptions().join(","));
-                        }
-                    }
-                    o.appendChild(f);
-                }
-                root.appendChild(o);
-            }
-        }
-    }
-
-    return doc.toString(4);
-}
-
-// Slot called by the menu manager on user action
-void UAVSettingsImportExportPlugin::exportUAVSettings()
-{
-    // ask for file name
-    QString fileName;
-    QString filters = tr("UAVSettings XML files (*.uav)");
-
-    fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Settings File As"), "", filters);
-    if (fileName.isEmpty()) {
-        return;
-    }
-
-    bool fullExport = false;
-    // If the filename ends with .xml, we will do a full export, otherwise, a simple export
-    if (fileName.endsWith(".xml")) {
-        fullExport = true;
-    } else if (!fileName.endsWith(".uav")) {
-        fileName.append(".uav");
-    }
-
-    // generate an XML first (used for all export formats as a formatted data source)
-    QString xml = createXMLDocument("UAVSettings", true, fullExport);
-
-    // save file
-    QFile file(fileName);
-    if (file.open(QIODevice::WriteOnly) &&
-            (file.write(xml.toAscii()) != -1)) {
-        file.close();
-    } else {
-        QMessageBox::critical(0,
-                              tr("UAV Settings Export"),
-                              tr("Unable to save settings: ") + fileName,
-                              QMessageBox::Ok);
-        return;
-    }
-
-    QMessageBox msgBox;
-    msgBox.setText(tr("Settings saved."));
-    msgBox.setStandardButtons(QMessageBox::Ok);
-    msgBox.exec();
-}
-
-// Slot called by the menu manager on user action
-void UAVSettingsImportExportPlugin::exportUAVData()
-{
-    if (QMessageBox::question(0, tr("Are you sure?"),
-        tr("This option is only useful for passing your current "
-           "system data to the technical support staff. "
-           "Do you really want to export?"),
-           QMessageBox::Ok | QMessageBox::Cancel,
-           QMessageBox::Ok) != QMessageBox::Ok) {
-        return;
-    }
-
-    // ask for file name
-    QString fileName;
-    QString filters = tr("UAVData XML files (*.uav)");
-
-    fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Data File As"), "", filters);
-    if (fileName.isEmpty()) {
-        return;
-    }
-
-    bool fullExport = false;
-    // If the filename ends with .xml, we will do a full export, otherwise, a simple export
-    if (fileName.endsWith(".xml")) {
-        fullExport = true;
-    } else if (!fileName.endsWith(".uav")) {
-        fileName.append(".uav");
-    }
-
-    // generate an XML first (used for all export formats as a formatted data source)
-    QString xml = createXMLDocument("UAVData", false, fullExport);
-
-    // save file
-    QFile file(fileName);
-    if (file.open(QIODevice::WriteOnly) &&
-            (file.write(xml.toAscii()) != -1)) {
-        file.close();
-    } else {
-        QMessageBox::critical(0,
-                              tr("UAV Data Export"),
-                              tr("Unable to save data: ") + fileName,
-                              QMessageBox::Ok);
-        return;
-    }
-
-    QMessageBox msgBox;
-    msgBox.setText(tr("Data saved."));
-    msgBox.setStandardButtons(QMessageBox::Ok);
-    msgBox.exec();
-}
-
 void UAVSettingsImportExportPlugin::shutdown()
 { 
    // Do nothing 
 }
+void UAVSettingsImportExportPlugin::extensionsInitialized()
+{
+}
 Q_EXPORT_PLUGIN(UAVSettingsImportExportPlugin)
+
+

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

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

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

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

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

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

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

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

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

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

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

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

ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp

@@ -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) {
            hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
         } else {
+            // 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;
             }
+        }
 
     }
 }

ground/openpilotgcs/src/plugins/uploader/op_dfu.h

@@ -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"

ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp

@@ -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...");
+        log("Detecting devices, please wait a few seconds...");
-        this->repaint();
-        delay::msleep(5100); // Required to let the board(s) settle
         if (!dfu) {
             if (dlj.startsWith("USB"))
                 dfu = new DFUObject(DFU_DEBUG, false, QString());

ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h

@@ -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);