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Merge pull request mavlink#4397 from DonLakeFlyer/MultiVehicleList
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Starting point for new MultiVehicle view [WIP]
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@DonLakeFlyer
DonLakeFlyer authored Jan 5, 2017
2 parents badcdb6 + 088c2d9 commit 360cc7c
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Showing 30 changed files with 1,016 additions and 109 deletions.
4 changes: 4 additions & 0 deletions qgroundcontrol.qrc
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Expand Up @@ -34,6 +34,7 @@
<file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
<file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
<file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
<file alias="MultiVehicleView.qml">src/MultiVehicle/MultiVehicleView.qml</file>
<file alias="MotorComponent.qml">src/AutoPilotPlugins/Common/MotorComponent.qml</file>
<file alias="OfflineMap.qml">src/QtLocationPlugin/QMLControl/OfflineMap.qml</file>
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
Expand All @@ -45,6 +46,8 @@
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
<file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
<file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
<file alias="QGroundControl/Controls/GuidedBar.qml">src/QmlControls/GuidedBar.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
<file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
Expand Down Expand Up @@ -104,6 +107,7 @@
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
<file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
<file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
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10 changes: 10 additions & 0 deletions src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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Expand Up @@ -762,3 +762,13 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
return QString();
}
}

QString APMFirmwarePlugin::missionFlightMode(void)
{
return QStringLiteral("Auto");
}

QString APMFirmwarePlugin::rtlFlightMode(void)
{
return QStringLiteral("RTL");
}
46 changes: 24 additions & 22 deletions src/FirmwarePlugin/APM/APMFirmwarePlugin.h
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Expand Up @@ -75,28 +75,30 @@ class APMFirmwarePlugin : public FirmwarePlugin
QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
QList<MAV_CMD> supportedMissionCommands(void) final;

AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final;
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final;
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QString missionFlightMode (void) final;
QString rtlFlightMode (void) final;

protected:
/// All access to singleton is through stack specific implementation
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5 changes: 5 additions & 0 deletions src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
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Expand Up @@ -204,3 +204,8 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
Q_UNUSED(vehicle);
return QStringLiteral("FENCE_RADIUS");
}

QString ArduCopterFirmwarePlugin::takeControlFlightMode(void)
{
return QStringLiteral("Stabilize");
}
1 change: 1 addition & 0 deletions src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
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Expand Up @@ -68,6 +68,7 @@ class ArduCopterFirmwarePlugin : public APMFirmwarePlugin
bool multiRotorXConfig(Vehicle* vehicle) final;
QString geoFenceRadiusParam(Vehicle* vehicle) final;
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
QString takeControlFlightMode(void) final;

private:
static bool _remapParamNameIntialized;
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5 changes: 5 additions & 0 deletions src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
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Expand Up @@ -64,3 +64,8 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL ,true);
setSupportedModes(supportedFlightModes);
}

QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
{
return QStringLiteral("Manual");
}
1 change: 1 addition & 0 deletions src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
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Expand Up @@ -57,6 +57,7 @@ class ArduPlaneFirmwarePlugin : public APMFirmwarePlugin

// Overrides from FirmwarePlugin
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
QString takeControlFlightMode(void) final;
};

#endif
15 changes: 15 additions & 0 deletions src/FirmwarePlugin/FirmwarePlugin.cc
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Expand Up @@ -282,3 +282,18 @@ int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumbe
Q_UNUSED(majorVersionNumber);
return 0;
}

QString FirmwarePlugin::missionFlightMode(void)
{
return QString();
}

QString FirmwarePlugin::rtlFlightMode(void)
{
return QString();
}

QString FirmwarePlugin::takeControlFlightMode(void)
{
return QString();
}
9 changes: 9 additions & 0 deletions src/FirmwarePlugin/FirmwarePlugin.h
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Expand Up @@ -125,6 +125,15 @@ class FirmwarePlugin : public QObject
/// Command vehicle to change to the specified relatice altitude
virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel);

/// Returns the flight mode for running missions
virtual QString missionFlightMode(void);

/// Returns the flight mode for RTL
virtual QString rtlFlightMode(void);

/// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
virtual QString takeControlFlightMode(void);

/// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
/// not just this. I'm going to try to change that. If not, this will need to be removed.
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
Expand Down
89 changes: 51 additions & 38 deletions src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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Expand Up @@ -35,44 +35,42 @@ struct Modes2Name {
bool multiRotor; /// multi rotor compatible
};

const char* PX4FirmwarePlugin::manualFlightMode = "Manual";
const char* PX4FirmwarePlugin::altCtlFlightMode = "Altitude";
const char* PX4FirmwarePlugin::posCtlFlightMode = "Position";
const char* PX4FirmwarePlugin::missionFlightMode = "Mission";
const char* PX4FirmwarePlugin::holdFlightMode = "Hold";
const char* PX4FirmwarePlugin::takeoffFlightMode = "Takeoff";
const char* PX4FirmwarePlugin::landingFlightMode = "Land";
const char* PX4FirmwarePlugin::rtlFlightMode = "Return";
const char* PX4FirmwarePlugin::acroFlightMode = "Acro";
const char* PX4FirmwarePlugin::offboardFlightMode = "Offboard";
const char* PX4FirmwarePlugin::stabilizedFlightMode = "Stabilized";
const char* PX4FirmwarePlugin::rattitudeFlightMode = "Rattitude";
const char* PX4FirmwarePlugin::followMeFlightMode = "Follow Me";

const char* PX4FirmwarePlugin::rtgsFlightMode = "Return to Groundstation";

const char* PX4FirmwarePlugin::readyFlightMode = "Ready"; // unused
const char* PX4FirmwarePlugin::_manualFlightMode = "Manual";
const char* PX4FirmwarePlugin::_altCtlFlightMode = "Altitude";
const char* PX4FirmwarePlugin::_posCtlFlightMode = "Position";
const char* PX4FirmwarePlugin::_missionFlightMode = "Mission";
const char* PX4FirmwarePlugin::_holdFlightMode = "Hold";
const char* PX4FirmwarePlugin::_takeoffFlightMode = "Takeoff";
const char* PX4FirmwarePlugin::_landingFlightMode = "Land";
const char* PX4FirmwarePlugin::_rtlFlightMode = "Return";
const char* PX4FirmwarePlugin::_acroFlightMode = "Acro";
const char* PX4FirmwarePlugin::_offboardFlightMode = "Offboard";
const char* PX4FirmwarePlugin::_stabilizedFlightMode = "Stabilized";
const char* PX4FirmwarePlugin::_rattitudeFlightMode = "Rattitude";
const char* PX4FirmwarePlugin::_followMeFlightMode = "Follow Me";
const char* PX4FirmwarePlugin::_rtgsFlightMode = "Return to Groundstation";
const char* PX4FirmwarePlugin::_readyFlightMode = "Ready";

/// Tranlates from PX4 custom modes to flight mode names

static const struct Modes2Name rgModes2Name[] = {
//main_mode sub_mode name canBeSet FW MC
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::manualFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::acroFlightMode, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::altCtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::posCtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::holdFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::missionFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::rtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::followMeFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true, true, true },
//main_mode sub_mode name canBeSet FW MC
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::_manualFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::_stabilizedFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::_acroFlightMode, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::_rattitudeFlightMode, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::_altCtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::_posCtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::_holdFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::_missionFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::_rtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::_followMeFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::_offboardFlightMode, true, true, true },
// modes that can't be directly set by the user
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::landingFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::readyFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::rtgsFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::takeoffFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::_landingFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::_readyFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::_rtgsFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::_takeoffFlightMode, false, true, true },
};

PX4FirmwarePlugin::PX4FirmwarePlugin(void)
Expand Down Expand Up @@ -297,12 +295,12 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)

void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
{
vehicle->setFlightMode(rtlFlightMode);
vehicle->setFlightMode(_rtlFlightMode);
}

void PX4FirmwarePlugin::guidedModeLand(Vehicle* vehicle)
{
vehicle->setFlightMode(landingFlightMode);
vehicle->setFlightMode(_landingFlightMode);
}

void PX4FirmwarePlugin::guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
Expand Down Expand Up @@ -388,7 +386,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
{
if (guidedMode) {
vehicle->setFlightMode(holdFlightMode);
vehicle->setFlightMode(_holdFlightMode);
} else {
pauseVehicle(vehicle);
}
Expand All @@ -397,8 +395,8 @@ void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
bool PX4FirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
{
// Not supported by generic vehicle
return (vehicle->flightMode() == holdFlightMode || vehicle->flightMode() == takeoffFlightMode
|| vehicle->flightMode() == landingFlightMode);
return (vehicle->flightMode() == _holdFlightMode || vehicle->flightMode() == _takeoffFlightMode
|| vehicle->flightMode() == _landingFlightMode);
}

bool PX4FirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
Expand Down Expand Up @@ -456,3 +454,18 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
}
}
}

QString PX4FirmwarePlugin::missionFlightMode(void)
{
return QString(_missionFlightMode);
}

QString PX4FirmwarePlugin::rtlFlightMode(void)
{
return QString(_rtlFlightMode);
}

QString PX4FirmwarePlugin::takeControlFlightMode(void)
{
return QString(_manualFlightMode);
}
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