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This commit is contained in:
hm
2020-11-12 22:02:58 +08:00
parent e838d5bf63
commit 32e83c5fe5
8 changed files with 202 additions and 1071 deletions
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App/MissionUI/propertyui.cpp
+193 -158
View File
@@ -227,213 +227,248 @@ void propertyui::rebuildUI(QString CMD)
ui->pushButton_Param6->setHidden(true);
ui->pushButton_Param7->setHidden(true);
for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
if(_paramInfoMap.size() > 0)
{
MissionCmdParamInfo* i = item.value();
switch(i->param())
{
case 1:
{
ui->label_Param1->show();
ui->pushButton_Param1->show();
ui->label_Param1->setText(i->label());
for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
{
MissionCmdParamInfo* i = item.value();
if(i->enumStrings().size() != 0)
switch(i->param())
{
param1_type = "QComboBox";
int index;
if(m_param1 > (i->enumValues().size() - 1))
case 1:
{
ui->label_Param1->show();
ui->pushButton_Param1->show();
ui->label_Param1->setText(i->label());
if(i->enumStrings().size() != 0)
{
//m_param1 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param1->text())).toDouble();
index = i->enumValues().indexOf(i->defaultValue());
}
else
{
index = i->enumValues().indexOf(m_param1);
if(index == -1)
param1_type = "QComboBox";
int index;
if(m_param1 > (i->enumValues().size() - 1))
{
index = 0;
//m_param1 = i->enumValues().at(i->enumStrings().indexOf(ui->pushButton_Param1->text())).toDouble();
index = i->enumValues().indexOf(i->defaultValue());
}
else
{
index = i->enumValues().indexOf(m_param1);
if(index == -1)
{
index = 0;
}
}
}
ui->pushButton_Param1->setText(i->enumStrings().at(index));//当前值大于index
}
else
{
param1_type = "QLineEdit";
ui->pushButton_Param1->setText(QString::number(m_param1,'f',i->decimalPlaces()));
}
}break;
case 2:
{
ui->label_Param2->show();
ui->pushButton_Param2->show();
ui->label_Param2->setText(i->label());
if(i->enumStrings().size() != 0)
{
param2_type = "QComboBox";
int index;
if(m_param2 > (i->enumValues().size() - 1))
{
index = i->defaultValue();
ui->pushButton_Param1->setText(i->enumStrings().at(index));//当前值大于index
}
else
{
index = m_param2;
param1_type = "QLineEdit";
ui->pushButton_Param1->setText(QString::number(m_param1,'f',i->decimalPlaces()));
}
ui->pushButton_Param2->setText(i->enumStrings().at(index));
}
else
}break;
case 2:
{
param2_type = "QLineEdit";
ui->pushButton_Param2->setText(QString::number(m_param2,'f',i->decimalPlaces()));
}
}break;
case 3:
{
ui->label_Param3->show();
ui->pushButton_Param3->show();
ui->label_Param3->setText(i->label());
ui->label_Param2->show();
ui->pushButton_Param2->show();
ui->label_Param2->setText(i->label());
if(i->enumStrings().size() != 0)
{
param3_type = "QComboBox";
int index;
if(m_param3 > (i->enumValues().size() - 1))
if(i->enumStrings().size() != 0)
{
index = i->defaultValue();
param2_type = "QComboBox";
int index;
if(m_param2 > (i->enumValues().size() - 1))
{
index = i->defaultValue();
}
else
{
index = m_param2;
}
ui->pushButton_Param2->setText(i->enumStrings().at(index));
}
else
{
index = m_param3;
param2_type = "QLineEdit";
ui->pushButton_Param2->setText(QString::number(m_param2,'f',i->decimalPlaces()));
}
ui->pushButton_Param3->setText(i->enumStrings().at(index));
}
else
}break;
case 3:
{
param3_type = "QLineEdit";
ui->pushButton_Param3->setText(QString::number(m_param3,'f',i->decimalPlaces()));
}
}break;
case 4:
{
ui->label_Param4->show();
ui->pushButton_Param4->show();
ui->label_Param4->setText(i->label());
ui->label_Param3->show();
ui->pushButton_Param3->show();
ui->label_Param3->setText(i->label());
if(i->enumStrings().size() != 0)
{
param4_type = "QComboBox";
int index;
if(m_param4 > (i->enumValues().size() - 1))
if(i->enumStrings().size() != 0)
{
index = i->defaultValue();
param3_type = "QComboBox";
int index;
if(m_param3 > (i->enumValues().size() - 1))
{
index = i->defaultValue();
}
else
{
index = m_param3;
}
ui->pushButton_Param3->setText(i->enumStrings().at(index));
}
else
{
index = m_param4;
param3_type = "QLineEdit";
ui->pushButton_Param3->setText(QString::number(m_param3,'f',i->decimalPlaces()));
}
ui->pushButton_Param4->setText(i->enumStrings().at(index));
}
else
}break;
case 4:
{
param4_type = "QLineEdit";
ui->pushButton_Param4->setText(QString::number(m_param4,'f',i->decimalPlaces()));
}
}break;
case 5:
{
ui->label_Param5->show();
ui->pushButton_Param5->show();
ui->label_Param5->setText(i->label());
ui->label_Param4->show();
ui->pushButton_Param4->show();
ui->label_Param4->setText(i->label());
if(i->enumStrings().size() != 0)
{
param5_type = "QComboBox";
int index;
if(m_x > (i->enumValues().size() - 1))
if(i->enumStrings().size() != 0)
{
index = i->defaultValue();
param4_type = "QComboBox";
int index;
if(m_param4 > (i->enumValues().size() - 1))
{
index = i->defaultValue();
}
else
{
index = m_param4;
}
ui->pushButton_Param4->setText(i->enumStrings().at(index));
}
else
{
index = m_x;
param4_type = "QLineEdit";
ui->pushButton_Param4->setText(QString::number(m_param4,'f',i->decimalPlaces()));
}
ui->pushButton_Param5->setText(i->enumStrings().at(index));
}
else
}break;
case 5:
{
param5_type = "QLineEdit";
ui->pushButton_Param5->setText(QString::number(m_x,'f',i->decimalPlaces()));
}
}break;
case 6:
{
ui->label_Param6->show();
ui->pushButton_Param6->show();
ui->label_Param6->setText(i->label());
ui->label_Param5->show();
ui->pushButton_Param5->show();
ui->label_Param5->setText(i->label());
if(i->enumStrings().size() != 0)
{
param6_type = "QComboBox";
int index;
if(m_y > (i->enumValues().size() - 1))
if(i->enumStrings().size() != 0)
{
index = i->defaultValue();
param5_type = "QComboBox";
int index;
if(m_x > (i->enumValues().size() - 1))
{
index = i->defaultValue();
}
else
{
index = m_x;
}
ui->pushButton_Param5->setText(i->enumStrings().at(index));
}
else
{
index = m_y;
param5_type = "QLineEdit";
ui->pushButton_Param5->setText(QString::number(m_x,'f',i->decimalPlaces()));
}
ui->pushButton_Param6->setText(i->enumStrings().at(index));
}
else
}break;
case 6:
{
param6_type = "QLineEdit";
ui->pushButton_Param6->setText(QString::number(m_y,'f',i->decimalPlaces()));
}
}break;
case 7:
{
ui->label_Param7->show();
ui->pushButton_Param7->show();
ui->label_Param7->setText(i->label());
ui->label_Param6->show();
ui->pushButton_Param6->show();
ui->label_Param6->setText(i->label());
if(i->enumStrings().size() != 0)
{
param7_type = "QComboBox";
int index;
if(m_z > (i->enumValues().size() - 1))
if(i->enumStrings().size() != 0)
{
index = i->defaultValue();
param6_type = "QComboBox";
int index;
if(m_y > (i->enumValues().size() - 1))
{
index = i->defaultValue();
}
else
{
index = m_y;
}
ui->pushButton_Param6->setText(i->enumStrings().at(index));
}
else
{
index = m_z;
param6_type = "QLineEdit";
ui->pushButton_Param6->setText(QString::number(m_y,'f',i->decimalPlaces()));
}
ui->pushButton_Param7->setText(i->enumStrings().at(index));
}
else
}break;
case 7:
{
param7_type = "QLineEdit";
ui->pushButton_Param7->setText(QString::number(m_z,'f',i->decimalPlaces()));
ui->label_Param7->show();
ui->pushButton_Param7->show();
ui->label_Param7->setText(i->label());
if(i->enumStrings().size() != 0)
{
param7_type = "QComboBox";
int index;
if(m_z > (i->enumValues().size() - 1))
{
index = i->defaultValue();
}
else
{
index = m_z;
}
ui->pushButton_Param7->setText(i->enumStrings().at(index));
}
else
{
param7_type = "QLineEdit";
ui->pushButton_Param7->setText(QString::number(m_z,'f',i->decimalPlaces()));
}
}break;
}
}break;
}
}//end for
}//end if
else
{
//一个一个设置
ui->label_Param1->setText(tr("param1"));
ui->label_Param2->setText(tr("param2"));
ui->label_Param3->setText(tr("param3"));
ui->label_Param4->setText(tr("param4"));
ui->label_Param5->setText(tr("param5"));
ui->label_Param6->setText(tr("param6"));
ui->label_Param7->setText(tr("param7"));
ui->label_Param1->show();
ui->label_Param2->show();
ui->label_Param3->show();
ui->label_Param4->show();
ui->label_Param5->show();
ui->label_Param6->show();
ui->label_Param7->show();
ui->pushButton_Param1->show();
ui->pushButton_Param2->show();
ui->pushButton_Param3->show();
ui->pushButton_Param4->show();
ui->pushButton_Param5->show();
ui->pushButton_Param6->show();
ui->pushButton_Param7->show();
}
}
App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
-2
View File
@@ -153,8 +153,6 @@ void ParameterInspector::appendParameter(mavlink_message_t msg)
//如果还没有这个设备，就添加一个
QMap<int, mavlink_param_value_t> param;
vehicles.insert(msg.sysid,param);
ui->pushButton_system->setText(tr("Vehicle %1").arg(msg.sysid));
}
//解码
App/Setting/Index1/ParameterInspector/ParameterInspector.cpp.autosave
-908
View File
@@ -1,908 +0,0 @@
#include "ParameterInspector.h"
#include "ui_ParameterInspector.h"
ParameterInspector::ParameterInspector(QWidget *parent) :
QWidget(parent),
ui(new Ui::ParameterInspector)
{
ui->setupUi(this);
//检测文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
QDir *Dir = new QDir;
if(!Dir->exists("./parameters"))
Dir->mkdir("./params");//如果文件夹不存在就新建
setWindowTitle(tr("ParameterInspector"));
// Set up the column headers for the message listing
QStringList header;
header << tr("Name");
header << tr("Value");
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
ui->treeWidget->header()->resizeSection(0,400);
ui->treeWidget->header()->resizeSection(1,150);
ui->treeWidget->header()->resizeSection(2,50);
ui->CancelpushButton->setEnabled(false);
ui->pushButton_id->setEnabled(false);
ui->pushButton_value->setEnabled(false);
ui->WriteButton->setEnabled(false);
TimerRunningFlag = true;
flushTimer = new QTimer(this);
connect(flushTimer,SIGNAL(timeout()),
this,SLOT(mReflush()));
flushTimer->start(50);
}
ParameterInspector::~ParameterInspector()
{
TimerRunningFlag = false;
//clear 那些消息
delete ui;
}
void ParameterInspector::keyPressEvent(QKeyEvent *event) //键盘按下事件
{
qDebug() << "keyPressEvent" << event;
}
void ParameterInspector::keyReleaseEvent(QKeyEvent *event) //键盘松开事件
{
switch (event->key()) {
case Qt::Key_Backspace:
fineItem = fineItem.mid(0,fineItem.size() - 1);
break;
case Qt::Key_Delete:
fineItem = fineItem.mid(0,fineItem.size() - 1);
break;
default:
fineItem.append(event->text());
break;
}
qDebug() << fineItem;
QTreeWidgetItemIterator I(ui->treeWidget);
//while(*Item)
if(*I)
{
QTreeWidgetItem *item = *I;
if(!item->parent())
{
qDebug() << "orphan" ;
//找到最顶的项
QList<QTreeWidgetItem *> childList = item->takeChildren();
for(QTreeWidgetItem * child:childList)
{
qDebug() << child->text(0);
}
}
}
//QTreeWidgetItem *item;
//item = ui->treeWidget
//parentItem = item->parent()->data(0,Qt::DisplayRole).toString();
//currentSelectType = param_gettype(item->data(2,Qt::DisplayRole));
//触发一次查询
}
void ParameterInspector::mReflush()
{
if(isReflush == true)
{
isReflush = false;
ui->progressBar->setValue(currentpersent);
refreshView();
}
}
void ParameterInspector::resizeEvent(QResizeEvent * event)
{
Q_UNUSED(event);
ui->treeWidget->header()->resizeSection(0,ui->treeWidget->width() * 0.5);
ui->treeWidget->header()->resizeSection(1,ui->treeWidget->width() * 0.20);
ui->treeWidget->header()->resizeSection(2,ui->treeWidget->width() * 0.20);
}
//添加一个设备，
void ParameterInspector::addVehicles(int sysid, int compid)
{
Q_UNUSED(compid)
if(!vehicles.keys().contains(sysid))
{
//如果还没有这个设备，就添加一个
QMap<int, mavlink_param_value_t> param;
vehicles.insert(sysid,param);
ui->pushButton_system->setText(tr("Vehicle %1").arg(sysid));
//发送一次读取
uint8_t m_type = 0;
emit ReadCmd(sysid,compid,m_type);
}
}
//直接接受整个msg，这个函数传来的只有param_value这一帧，因此不需要识别
void ParameterInspector::appendParameter(mavlink_message_t msg)
{
//查找这个消息归属的设备和部件
if(!vehicles.keys().contains(msg.sysid))
{
//如果还没有这个设备，就添加一个
QMap<int, mavlink_param_value_t> param;
vehicles.insert(msg.sysid,param);
}
//解码
mavlink_param_value_t param_value;//
mavlink_msg_param_value_decode(&msg,&param_value);
//如果当前是航点0，那么设置状态条
if(param_value.param_index == 0)
{
isNew = true;
ui->progressBar->setMaximum(0);
ui->progressBar->setMaximum(param_value.param_count - 1);
}
if(isNew)
{
currentpersent = param_value.param_index;
}
if(param_value.param_index == (param_value.param_count - 1))
{
isNew = false;
}
//这里可能有bug,程序会死机
//ui->progressBar->setValue((int)param_value.param_index);
//检查是否包含了该参数，如果没有，那么添加
QMap<int, mavlink_param_value_t> ParameterStorage;
ParameterStorage = vehicles.value(msg.sysid);
ParameterStorage.insert(param_value.param_index,param_value);
vehicles.insert(msg.sysid,ParameterStorage);
//需要刷新一次
isReflush = true;
}
void ParameterInspector::refreshView()//来一个参数更新一次
{
QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;
for(ite=vehicles.begin(); ite!=vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
{
//查找参数的index
QMap<int,mavlink_param_value_t> params = ite.value();//得到所有参数item
QMap<int,mavlink_param_value_t>::iterator param_ite;
QMap<int, QTreeWidgetItem* > widgetitems;//获取单独一个设备的参数显示条
widgetitems = uasParamTreeItems.value(ite.key());
for(param_ite=params.begin(); param_ite!=params.end();++param_ite)//历遍每一个参数
{
mavlink_param_value_t param = param_ite.value();//每一个value
QString paraName = param_id(param.param_id); //得到名称
//qDebug() << paraName;//ok
//查找这个value是不是已经存，存在更新，不存在则建立
bool paramFound = false;
foreach (QTreeWidgetItem* Item, widgetitems.values()) {
if(Item->data(0,Qt::DisplayRole) == param_id(param.param_id))
{
//这个设备已经存在
paramFound = true;
//更新该参数
Item->setData(1,Qt::DisplayRole,param_value(param));
widgetitems.insert(param.param_index,Item);
}
}
if(!paramFound)//没有找到
{
//没有找到，新建一个组
QTreeWidgetItem* paraItem = new QTreeWidgetItem();
paraItem->setData(0,Qt::DisplayRole,param_id(param.param_id));
paraItem->setData(1,Qt::DisplayRole,param_value(param));
paraItem->setData(2,Qt::DisplayRole,param_type(param));
widgetitems.insert(param.param_index,paraItem);
}
}
uasParamTreeItems.insert(ite.key(),widgetitems);//保存一整个设备的参数
//得到一个vehicle
bool VehicleFound = false;
foreach (QTreeWidgetItem* Item, uasTopLevelItems.values()) {
if(Item->data(0,Qt::DisplayRole) == tr("Vehicle %1").arg(ite.key()))
{
//这个设备已经存在
VehicleFound = true;
//存在测更新
Item->addChildren(uasParamTreeItems.value(ite.key()).values());
uasTopLevelItems.insert(ite.key(),Item);
}
}
if(!VehicleFound)//没有找到
{
//没有找到，新建一个组
QTreeWidgetItem* TopItem = new QTreeWidgetItem();
TopItem->setData(0,Qt::DisplayRole,tr("Vehicle %1").arg(ite.key()));
TopItem->addChildren(uasParamTreeItems.value(ite.key()).values());
uasTopLevelItems.insert(ite.key(),TopItem);
}
ui->treeWidget->addTopLevelItems(uasTopLevelItems.values());
ui->treeWidget->expandAll();
if(isNew)
{
ui->treeWidget->scrollToBottom();
}
}
}
void ParameterInspector::clearview(void)
{
QMap<int, QMap<int, QTreeWidgetItem*>>::iterator ite;
for (ite=uasParamTreeItems.begin(); ite!=uasParamTreeItems.end();++ite)
{
QMap<int, QTreeWidgetItem*> param_ite = ite.value();
QList<int> groupKeys = param_ite.uniqueKeys();
QList<int>::iterator listKeys;
for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
{
delete param_ite.take(*listKeys);
}
}
uasParamTreeItems.clear();
QMap<int, QTreeWidgetItem* >::iterator iteTree;
for(iteTree=uasTopLevelItems.begin(); iteTree!=uasTopLevelItems.end();++iteTree)
{
delete iteTree.value();
iteTree.value() = NULL;
}
uasTopLevelItems.clear();
QMap<int,QMap<int,mavlink_param_value_t>>::iterator vehicle_ite;//删除这个
for (vehicle_ite=vehicles.begin(); vehicle_ite!=vehicles.end();++vehicle_ite)
{
vehicle_ite.value().clear();
//delete vehicle_ite.value();
//vehicle_ite.value() = NULL;
}
vehicles.clear();
ui->treeWidget->clear();
}
QVariant ParameterInspector::param_value(mavlink_param_value_t param)
{
QVariant value;
switch (param.param_type)
{
case MAV_PARAM_TYPE_UINT8:
{
value = ((uint8_t *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_INT8:
{
value = ((int8_t *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_UINT16:
{
value = ((uint16_t *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_INT16:
{
value = ((int16_t *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_UINT32:
{
value = ((uint32_t *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_INT32:
{
value = ((int32_t *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_UINT64:
{
#ifdef unix
//value = ((ulong *)&param.param_value)[0];
#else
value = ((uint64_t *)&param.param_value)[0];
#endif
}break;
case MAV_PARAM_TYPE_INT64:
{
#ifdef unix
//value = ((long *)&param.param_value)[0];
#else
value = ((int64_t *)&param.param_value)[0];
#endif
}break;
case MAV_PARAM_TYPE_REAL32:
{
value = ((float *)&param.param_value)[0];
}break;
case MAV_PARAM_TYPE_REAL64:
{
value = ((double *)&param.param_value)[0];
}break;
default:
{
value = ((float *)&param.param_value)[0];
//qDebug() << "Unsupported type " << param.param_type;
}break;
}
return value;
}
float ParameterInspector::param_getvalue(QVariant param,uint8_t type)
{
float value;
union {
uint8_t u8[8];
int8_t i8[8];
uint16_t u16[4];
int16_t i16[4];
uint32_t u32[2];
int32_t i32[2];
uint64_t u64;
int64_t i64;
float f[2];
double d;
}src;
switch (type)
{
case MAV_PARAM_TYPE_UINT8:
{
src.u8[0] = param.toUInt();
((uint8_t *)&value)[0] = src.u8[0];
}break;
case MAV_PARAM_TYPE_INT8:
{
src.i8[0] = param.toUInt();
((int8_t *)&value)[0] = src.i8[0];
}break;
case MAV_PARAM_TYPE_UINT16:
{
src.u16[0] = param.toUInt();
((uint16_t *)&value)[0] = src.u16[0];
}break;
case MAV_PARAM_TYPE_INT16:
{
src.i16[0] = param.toUInt();
((int16_t *)&value)[0] = src.i16[0];
}break;
case MAV_PARAM_TYPE_UINT32:
{
src.u32[0] = param.toUInt();
((uint32_t *)&value)[0] = (uint32_t)src.u32[0];
}break;
case MAV_PARAM_TYPE_INT32:
{
src.i32[0] = param.toUInt();
((int32_t *)&value)[0] = (int32_t)src.i32[0];
}break;
case MAV_PARAM_TYPE_UINT64:
{
src.u64 = param.toUInt();
((uint64_t *)&value)[0] = (uint64_t )src.u64;
}break;
case MAV_PARAM_TYPE_INT64:
{
src.i64 = param.toUInt();
((int64_t *)&value)[0] = (int64_t)src.i64;
}break;
case MAV_PARAM_TYPE_REAL32:
{
src.f[0] = param.toFloat();
((float *)&value)[0] = (float)src.f[0];
}break;
case MAV_PARAM_TYPE_REAL64:
{
src.d = param.toDouble();
((double *)&value)[0]= (double)src.d;
}break;
default:
{
src.f[0] = param.toFloat();
((float *)&value)[0] = (float)src.i32[0];
}break;
}
return value;
}
QVariant ParameterInspector::param_type(mavlink_param_value_t param)
{
QVariant value;
switch (param.param_type)
{
case MAV_PARAM_TYPE_UINT8:
{
value = "uint8";
}break;
case MAV_PARAM_TYPE_INT8:
{
value = "int8";
}break;
case MAV_PARAM_TYPE_UINT16:
{
value = "uint16";
}break;
case MAV_PARAM_TYPE_INT16:
{
value = "int16";
}break;
case MAV_PARAM_TYPE_UINT32:
{
value = "uint32";
}break;
case MAV_PARAM_TYPE_INT32:
{
value = "int32";
}break;
case MAV_PARAM_TYPE_UINT64:
{
value = "uint64";
}break;
case MAV_PARAM_TYPE_INT64:
{
value = "int64";
}break;
case MAV_PARAM_TYPE_REAL32:
{
value = "float";
}break;
case MAV_PARAM_TYPE_REAL64:
{
value = "double";
}break;
default:
{
value = "unknow";
}break;
}
return value;
}
uint8_t ParameterInspector::param_gettype(QVariant type)
{
uint8_t value;
if(type.toString() == "uint8")
{
value = MAV_PARAM_TYPE_UINT8;
}
else if(type.toString() == "int8")
{
value = MAV_PARAM_TYPE_INT8;
}
else if(type.toString() == "uint16")
{
value = MAV_PARAM_TYPE_UINT16;
}
else if(type.toString() == "int16")
{
value = MAV_PARAM_TYPE_INT16;
}
else if(type.toString() == "uint32")
{
value = MAV_PARAM_TYPE_UINT32;
}
else if(type.toString() == "int32")
{
value = MAV_PARAM_TYPE_INT32;
}
else if(type.toString() == "uint64")
{
value = MAV_PARAM_TYPE_UINT64;
}
else if(type.toString() == "int64")
{
value = MAV_PARAM_TYPE_INT64;
}
else if(type.toString() == "float")
{
value = MAV_PARAM_TYPE_REAL32;
}
else if(type.toString() == "double")
{
value = MAV_PARAM_TYPE_REAL64;
}
else if(type.toString() == "unknow")
{
value = 0;
}
return value;
}
char* ParameterInspector::param_id(char *id)//设置id,如果id小于16，那么能够找到/0，如果等于或者大于，那么会找不到，因此乱码
{
uint8_t len = 0;
while(len < 16)
{
if(id[len] != '\0')
{
//continue;
}
else
{
return id;
}
len++;
}
id[16] = '\0';
return id;
}
void ParameterInspector::setsystem(QVariant vehicle)
{
qDebug() << "set vehicle" << vehicle;
ui->pushButton_system->setText(vehicle.toString());
}
void ParameterInspector::on_pushButton_system_clicked()
{
if(!ui->pushButton_system->text().isEmpty())
{
Selector *selector = new Selector(this);
selector->setGeometry(0,0,this->width(),this->height());
QStringList list;
list.clear();
QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;
for(ite=vehicles.begin(); ite!=vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
{
list.append(tr("Vehicle %1").arg(ite.key()));
}
selector->setList(list,ui->pushButton_system->text());
connect(selector,SIGNAL(confirmValue(QVariant)),
this,SLOT(setsystem(QVariant)));
selector->show();
}
}
void ParameterInspector::setvalue(QVariant value)
{
ui->pushButton_value->setText(value.toString());
}
void ParameterInspector::on_pushButton_value_clicked()
{
Inputter *inputter = new Inputter(this);
inputter->setGeometry(0,0,this->width(),this->height());
inputter->setInitValue(ui->pushButton_value->text());
connect(inputter,SIGNAL(confirmValue(QVariant)),
this,SLOT(setvalue(QVariant)));
inputter->show();
}
void ParameterInspector::on_ReadButton_clicked()
{
uint8_t m_sysid = 0;
uint8_t m_compid = 1;
uint8_t m_type = 0;
QString systemStr = ui->pushButton_system->text();
int index = systemStr.indexOf(' ');
QString selectid = ui->pushButton_system->text().mid(index);
m_sysid = selectid.toInt();
emit ReadCmd(m_sysid,m_compid,m_type);
}
QVariant ParameterInspector::getParameter(QVariant id)
{
QVariant value;
return value;
}
void ParameterInspector::on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item, int column)
{
if(item->parent())//不是根节点才可以把数据写入框内
{
ui->CancelpushButton->setEnabled(true);
ui->pushButton_id->setEnabled(true);
ui->pushButton_value->setEnabled(true);
ui->WriteButton->setEnabled(true);
ui->pushButton_id->setText(item->data(0,Qt::DisplayRole).toString());
ui->pushButton_value->setText(QString::number(item->data(1,Qt::DisplayRole).toFloat()));
parentItem = item->parent()->data(0,Qt::DisplayRole).toString();
currentSelectType = param_gettype(item->data(2,Qt::DisplayRole));
}
}
void ParameterInspector::on_clearButton_clicked()
{
//清除所有的存储数据，包括显示
clearview();
//vehicles.clear();
}
void ParameterInspector::on_WriteButton_clicked()
{
QString systemStr = parentItem;
int index = systemStr.indexOf(' ');
QString parentid = parentItem.mid(index);
uint8_t sysid = parentid.toInt();
float value = param_getvalue(ui->pushButton_value->text().toFloat(),currentSelectType);
emit WriteCmd(sysid,1,ui->pushButton_id->text().toLatin1().data(),currentSelectType,value);
//读取是哪设备，是哪个参数，然后发送出去
}
void ParameterInspector::on_CancelpushButton_clicked()
{
ui->pushButton_id->setText(tr(""));
ui->pushButton_value->setText(tr(""));
ui->CancelpushButton->setEnabled(false);
ui->pushButton_id->setEnabled(false);
ui->pushButton_value->setEnabled(false);
ui->WriteButton->setEnabled(false);
}
void ParameterInspector::on_pushButton_Save_clicked()
{
QDateTime Time = QDateTime::currentDateTime();
QString Vehicle = ui->pushButton_system->text();
//读取当前的参数，并且保存到文件
QFileDialog *dlg = new QFileDialog(this);
QString fileName = dlg->getSaveFileName(this, tr("Save Parameter File..."),
QString("./params/%1%2").arg(Vehicle).arg(Time.toString("yyyyMMddHHmmss")),
tr("parameters file (*.params)"));
if(!fileName.isEmpty())
{
ParamsEncode(fileName);
}
}
void ParameterInspector::on_pushButton_Load_clicked()
{
//载入参数，跟当前飞机内参数对比，不一样的就修改
QFileDialog *dlg = new QFileDialog(this);
QString fileName = dlg->getOpenFileName(this, tr("Selete Parameter File..."),
"./params/",
tr("parameters file (*.params)"));
if(!fileName.isEmpty())
{
ParamsDecode(fileName);
}
}
void ParameterInspector::ParamsEncode(QString fileName)
{
QString Vehicle_Id;
QByteArray ParamsString;
ParamsString.append("# Onboard parameters for Vehicle %1\r\n");
ParamsString.append("#\r\n");
ParamsString.append("# Stack: MAVLink 通用\r\n");
ParamsString.append("# Vehicle: VTOL\r\n");
ParamsString.append("# Version: 1.4.1 dev\r\n");
ParamsString.append("# Git Revision: \r\n");
ParamsString.append("#\r\n");
ParamsString.append("# Vehicle-Id Component-Id Name Value Type\r\n");
//读取当前按键的设备号
QTreeWidgetItem * p;
int Count = ui->treeWidget->topLevelItemCount();
qDebug() << Count;
for(int i = 0;i < Count; i++)
{
if(ui->treeWidget->topLevelItem(i)->text(0) == ui->pushButton_system->text())
{
p = ui->treeWidget->topLevelItem(i);
//break;
}
qDebug() << i << Count;
}
//读取参数
int childCount = p->childCount();
for (int i = 0; i < childCount; i++)
{
QTreeWidgetItem *childItem = p->child(i);
qDebug() << childItem->text(0) << childItem->text(1);
ParamsString.append("1\t");
ParamsString.append("1\t");
ParamsString.append(childItem->text(0) + "\t");
ParamsString.append(childItem->text(1) + "\t");
ParamsString.append(QString::number(param_gettype(childItem->data(2,Qt::DisplayRole)),'f',0) + "\r\n");
}
//文件读写
QFile file(fileName);
if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
qDebug() << "File open error";
}
file.write(ParamsString);
file.close();
}
void ParameterInspector::ParamsDecode(QString fileName)
{
QString systemStr = parentItem;
int index = systemStr.indexOf(' ');
QString parentid = parentItem.mid(index);
uint8_t sysid = parentid.toInt();
QByteArray ParamsString;
//文件读写
QFile file(fileName);
if(!file.open(QIODevice::ReadWrite| QIODevice::Text)) {
qDebug() << "File open error";
}
ParamsString = file.readAll();
file.close();
//参数解析
//解析每一行
QByteArrayList LineList = ParamsString.split('\n');
for(QByteArray item:LineList)
{
if(item.at(0) == '#')
{
LineList.removeAt(LineList.indexOf(item));
continue;
}
else
{
break;
}
}
for(QByteArray item:LineList)
{
QByteArrayList ItemList = item.split('\t');
//问题为ItemList 没有数据导致指针出现问题
if(ItemList.size() < 5)
{
qDebug() << ItemList.size();
break;
}
mavlink_message_t msg;
//解码
mavlink_param_value_t param_value;//
char *id = ItemList[2].data();
memcpy(param_value.param_id,param_id(id),16);
//param_value.param_id = param_id(id);
param_value.param_count = LineList.size();
param_value.param_index = LineList.indexOf(item);
param_value.param_type = ItemList.at(4).toInt();
param_value.param_value = param_getvalue(ItemList.at(3).toFloat(),param_value.param_type);
mavlink_msg_param_value_encode(ItemList.at(0).toInt(),ItemList.at(1).toInt(),&msg,&param_value);
appendParameter(msg);
qDebug() << param_value.param_id
<< param_value.param_count
<< param_value.param_index
<< param_value.param_type
<< ItemList.at(3)
<< ItemList.size()
<< ItemList[2].size();
}
}
MavLinkNode/commandprocess.cpp
+7 -1
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@@ -1,4 +1,4 @@
#include "commandprocess.h"
#include "commandprocess.h"
//留出一个接口给界面去注册指令
@@ -170,6 +170,12 @@ void commandprocess::Parse(mavlink_message_t msg)
//qDebug() << "command_ack.result" << command_ack.result;
qDebug() << "recieve cmd"
<< command_ack.target_system
<< command_ack.result
<< cmd_long.command
<< command_ack.command;
if(command_ack.result == MAV_RESULT_ACCEPTED)
{
if(cmd_long.command != command_ack.command)
MavLinkNode/mavlinknode.h
+2 -2
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@@ -30,8 +30,8 @@ class MavLinkNode : public QObject
typedef struct {
uint8_t sysid; /* ID of message sender system/aircraft */
uint8_t compid; /* ID of the message sender component */
int sysid; /* ID of message sender system/aircraft */
int compid; /* ID of the message sender component */
mavlink_autopilot_version_t autopilot_version;
mavlink_sys_status_t sys_status;
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