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添加copk的连接、

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Company
2020-06-05 18:05:16 +08:00
parent 2f0c9654b7
commit ca0f9363fd
16 changed files with 242 additions and 152 deletions
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App/CheckUI/CheckUI.ui
+12 -65
View File
@@ -13,71 +13,18 @@
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>20</x>
<y>340</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_3">
<property name="geometry">
<rect>
<x>20</x>
<y>260</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_4">
<property name="geometry">
<rect>
<x>20</x>
<y>100</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_5">
<property name="geometry">
<rect>
<x>20</x>
<y>180</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Seft Test</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
App/CommandUI/Command.json
+14
View File
@@ -21,6 +21,20 @@
"param6": 6,
"param7": 7
},
{
"Text" : "vvvv",
"row": 0,
"column": 2,
"command": 1,
"confirm": 0,
"param1": 7,
"param2": 6,
"param3": 5,
"param4": 4,
"param5": 3,
"param6": 2,
"param7": 1
},
{
"Text" : "降落",
"row": 0,
App/ToolsUI/tools_Index2/tools_Index2.ui
-26
View File
@@ -34,32 +34,6 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>320</x>
<y>80</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="geometry">
<rect>
<x>250</x>
<y>200</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
</widget>
</item>
</layout>
App/mainwindow.cpp
+21 -11
View File
@@ -193,7 +193,7 @@ MainWindow::MainWindow(QWidget *parent)
//刷新ui,以保证界面不卡
QTimer::singleShot(200,this,&MainWindow::updateUI);
//QTimer::singleShot(200,this,&MainWindow::updateUI);
qDebug() << "main window start";
@@ -551,21 +551,31 @@ void MainWindow::updateUI()//事件驱动式更新数据
dlink->mavlinknode->vehicle.attitude.roll * 57.3,
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
//copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
//copk->setAirSpeed(dlink->mavlinknode->vehicle.airspeed_autocal.vx);
copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
copk->setAirSpeed(dlink->mavlinknode->vehicle.global_position_int.vx,2);
copk->setVerticalSpeed(-dlink->mavlinknode->vehicle.global_position_int.vz);
//copk->setAOA(dlink->mavlinknode->vehicle.);
internals::PointLatLng LatLng;
LatLng.SetLat((double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8));
LatLng.SetLng((double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8));
//map->UAV->SetUAVPos(LatLng,dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);
//qDebug() << LatLng.Lat()
// << LatLng.Lng();
copk->setAlt_err(dlink->mavlinknode->vehicle.nav_controller_output.alt_error);
copk->setWP_dist(dlink->mavlinknode->vehicle.nav_controller_output.wp_dist);
//map->UAV->SetUAVHeading(dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
map->setUAVPos(dlink->mavlinknode->vehicle.sysid,
dlink->mavlinknode->vehicle.compid,
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8),
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8),
(double)(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4));
map->setUAVHeading(dlink->mavlinknode->vehicle.sysid,
dlink->mavlinknode->vehicle.compid,
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
update();
Cockpit/Cockpit.cpp
+28 -6
View File
@@ -317,6 +317,7 @@ void Cockpit::setAirSpeed(double speed,uint8_t flag)
m_State.AirspeedFlag = flag;
if(speed < 0) speed = 0;
else if(speed > 999) speed = 999;
m_State.airspeed = speed;
m_State.isUpdate = true;
}
@@ -326,10 +327,15 @@ void Cockpit::setAirSpeedTarget(double speed, uint8_t flag)
Q_UNUSED(flag)
if(speed < 0) speed = 0;
else if(speed > 999) speed = 999;
m_Target.airspeed = speed;
m_Target.isUpdate = true;
}
void Cockpit::setVerticalSpeed(double speed)
{
m_State.verticalspeed = speed;
@@ -342,7 +348,23 @@ void Cockpit::setVerticalSpeedTarget(double speed)
m_Target.isUpdate = true;
}
void Cockpit::setWP_dist(double value)
{
if(value > 9999) value = 9999;
else if(value < (-9999)) value = -9999;
m_State.wp_dist = value;
m_State.isUpdate = true;
}
void Cockpit::setAlt_err(double value)
{
if(value > 9999) value = 9999;
else if(value < (-9999)) value = -9999;
m_State.alt_err = value;
m_State.isUpdate = true;
}
void Cockpit::setGPS(QString str)
@@ -1627,13 +1649,13 @@ void Cockpit::drawYawScale(QPainter *painter)
//画竖条
painter->save();
if(abs(m_State.distofly) >= 10)//大于10，对数显示
if(abs(m_State.wp_dist) >= 10)//大于10，对数显示
{
painter->translate(((m_State.distofly >= 0)?(1.0):(-1.0))*log10(abs(m_State.distofly)) * 100,0);
painter->translate(((m_State.wp_dist >= 0)?(1.0):(-1.0))*log10(abs(m_State.wp_dist)) * 100,0);
}
else
{
painter->translate(m_State.distofly * 10.0,0);//小于10，线性 显示
painter->translate(m_State.wp_dist * 10.0,0);//小于10，线性 显示
}
ePen.setWidth(8);
@@ -1644,13 +1666,13 @@ void Cockpit::drawYawScale(QPainter *painter)
painter->save();//画横条开始
if(abs(m_State.distofly) >= 10)//大于10，对数显示
if(abs(m_State.alt_err) >= 10)//大于10，对数显示
{
painter->translate(0,((m_State.distofly >= 0)?(1.0):(-1.0))*log10(abs(m_State.distofly)) * 100);
painter->translate(0,((m_State.alt_err >= 0)?(1.0):(-1.0))*log10(abs(m_State.alt_err)) * 100);
}
else
{
painter->translate(0,m_State.distofly * 10.0);//小于10，线性 显示
painter->translate(0,m_State.alt_err * 10.0);//小于10，线性 显示
}
ePen.setWidth(8);
ePen.setColor(m_Color.TargetColor);
Cockpit/Cockpit.h
+9 -1
View File
@@ -75,7 +75,10 @@ typedef struct {
qreal distofly;
qreal wp_dist;
qreal alt_err;
quint8 AirspeedFlag;
@@ -161,6 +164,11 @@ public Q_SLOTS:
void setMode(QString str);
void setState(QString str);
void setAOA(qreal Value);
void setWP_dist(double value);
void setAlt_err(double value);
protected:
MavLinkNode/MAVLinkInspector/MAVLinkInspector.cc
+6
View File
@@ -31,6 +31,12 @@ MAVLinkInspector::MAVLinkInspector(const QString& title, QAction* action,QWidget
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
ui->treeWidget->header()->setStretchLastSection(true);
//ui->treeWidget->header()->resizeSection();
// Connect the UI
connect(ui->systemComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
this, &MAVLinkInspector::selectDropDownMenuSystem);
MavLinkNode/ParameterInspector/ParameterInspector.cpp
+70 -21
View File
@@ -17,6 +17,7 @@ ParameterInspector::ParameterInspector(QWidget *parent) :
QStringList header;
header << tr("Name");
header << tr("Value");
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
@@ -118,9 +119,6 @@ void ParameterInspector::appendParameter(mavlink_message_t msg)
currentpersent = param_value.param_index;
//qDebug() << QThread::currentThreadId();
//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);
@@ -132,6 +130,7 @@ void ParameterInspector::appendParameter(mavlink_message_t msg)
isReflush = true;
}
void ParameterInspector::refreshView()//来一个参数更新一次
{
QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;
@@ -151,7 +150,7 @@ void ParameterInspector::refreshView()//来一个参数更新一次
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
//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;
@@ -173,6 +172,7 @@ void ParameterInspector::refreshView()//来一个参数更新一次
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.param_type);
widgetitems.insert(param.param_index,paraItem);
}
}
@@ -249,14 +249,6 @@ void ParameterInspector::clearview(void)
}
QVariant ParameterInspector::param_value(mavlink_param_value_t param)
{
QVariant value;
@@ -306,7 +298,7 @@ QVariant ParameterInspector::param_value(mavlink_param_value_t param)
default:
{
value = ((int32_t *)&param.param_value)[0];
qDebug() << "Unsupported type " << param.param_type;
//qDebug() << "Unsupported type " << param.param_type;
}break;
}
@@ -348,13 +340,12 @@ void ParameterInspector::on_ReadButton_clicked()
void ParameterInspector::on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item, int column)
{
ui->SearchlineEdit->setText(item->data(0,Qt::DisplayRole).toString());
//根据type 设置这个value
ui->ValuelineEdit->setText(item->data(1,Qt::DisplayRole).toString());
if(item->parent())//不是根节点才可以把数据写入框内
{
ui->SearchlineEdit->setText(item->data(0,Qt::DisplayRole).toString());
parentItem = item->parent()->data(0,Qt::DisplayRole).toString();
ui->ValuelineEdit->setText(QString::number(item->data(1,Qt::DisplayRole).toFloat()));
}
}
void ParameterInspector::on_clearButton_clicked()
@@ -365,5 +356,63 @@ void ParameterInspector::on_clearButton_clicked()
void ParameterInspector::on_WriteButton_clicked()
{
//读取是哪设备，是哪个参数，然后发送出去
QString parentid = parentItem.mid(8);
uint8_t sysid = parentid.toInt();
char *id = ui->SearchlineEdit->text().toLatin1().data();
ui->treeWidget->takeTopLevelItem(0);
/*
foreach (QTreeWidgetItem* Item, uasTopLevelItems.values()) {
if(Item->data(0,Qt::DisplayRole) == parentItem)
{
QList<QTreeWidgetItem *> Itemlist = Item->takeChildren();
foreach (QTreeWidgetItem* item, Itemlist)
{
//if(Item->data(0,Qt::DisplayRole).toString() == ui->SearchlineEdit->text())
{
qDebug() << item->data(0,Qt::DisplayRole)
<< item->data(1,Qt::DisplayRole)
<< item->data(2,Qt::DisplayRole);
}
}
}
}
*/
//qDebug() << id << ui->SearchlineEdit->text().toLatin1();
uint8_t type = 9;
float value = ui->ValuelineEdit->text().toFloat();
//emit WriteCmd(sysid,1,id,type,value);
//读取是哪设备，是哪个参数，然后发送出去
}
void ParameterInspector::on_NextpushButton_clicked()
{
}
void ParameterInspector::on_SearchButton_clicked()
{
QString name = ui->SearchButton->text();
}
void ParameterInspector::on_CancelpushButton_clicked()
{
}
MavLinkNode/ParameterInspector/ParameterInspector.h
+14 -3
View File
@@ -113,10 +113,8 @@ public:
signals:
void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count);
void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);
public slots:
@@ -150,9 +148,22 @@ private slots:
void on_WriteButton_clicked();
void on_NextpushButton_clicked();
void on_SearchButton_clicked();
void on_CancelpushButton_clicked();
private:
QString parentItem;
//char * S
bool TimerRunningFlag = false;
bool isReflush = false;
uint16_t currentpersent;
MavLinkNode/mavlinknode.cpp
+4 -4
View File
@@ -312,6 +312,9 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
//qDebug() << "msg.sysid" <<msg.sysid << "msg.compid" << msg.compid;
CheckVehicle(msg.sysid,msg.compid);
vehicle.sysid = msg.sysid;
vehicle.compid = msg.compid;
switch (msg.msgid) {
//状态
case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
@@ -390,12 +393,9 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}break;
case MAVLINK_MSG_ID_ATTITUDE: {
mavlink_msg_attitude_decode(&msg,&vehicle.attitude);
emit state_updated();
}break;
case MAVLINK_MSG_ID_GPS_RAW_INT: {
mavlink_msg_gps_raw_int_decode(&msg,&vehicle.gps_raw_int);
//qDebug() << vehicle.gps_raw_int.lon
// << vehicle.gps_raw_int.lat;
}break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
mavlink_msg_global_position_int_decode(&msg,&vehicle.global_position_int);
@@ -436,7 +436,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}
emit state_updated();
}
MavLinkNode/mavlinknode.h
+7 -5
View File
@@ -52,11 +52,6 @@ class MavLinkNode : public QObject
mavlink_vibration_t vibration;
mavlink_enginestate_t enginestate;
mavlink_vfr_hud_t vfr_hud;
}_vehicle;
@@ -78,6 +73,7 @@ public:
signals:
void addVehicles(int sysid,int compid);
void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
@@ -89,6 +85,12 @@ signals:
void setCurrentID(int sysid,int compid);
void setAltitude(int sysid,int compid,double roll,double pitch,double yaw);
void setPos(int sysid,int compid,double x,double y,double z);
void setHeading(int sysid,int compid,double x,double y,double z);
public slots:
//线程对外接口
void setRunFrq(uint32_t frq);
MavLinkNode/missionprocess.cpp
+1 -1
View File
@@ -454,7 +454,7 @@ void MissionProcess::WriteStateMachine(void)
i = *items.find(mission_item_int.seq);
item_int(i.param1,i.param2,i.param3,i.param4,
i.x,i.y,i.z,
i.x*10,i.y*10,i.z,
i.seq,i.command,i.frame,
i.current,i.autocontinue,i.mission_type);//发送航点
MavLinkNode/parameterprocess.cpp
+12 -7
View File
@@ -17,8 +17,8 @@ ParameterProcess::ParameterProcess(QObject *parent) : QObject(parent)
connect(paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
this,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);//多线程连接方式
connect(paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,uint32_t)),
this,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t)),Qt::DirectConnection);
connect(paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
this,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
//隐藏
paramInspect->hide();
@@ -130,15 +130,20 @@ void ParameterProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,uint8_t type)
start();//开启线程
}
void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count )
void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *id,uint8_t type,float value)
{
Q_UNUSED(count);
//Q_UNUSED(count);
sysid = m_sysid;
compid = m_compid;
//mission_status.transmit.count = count;
status.m_Mode = TransmitMode;//发送模式
memcpy(param_set.param_id,id,16);
param_set.param_type = type;
param_set.param_value = value;
qDebug() << "sysid" << sysid << endl
<< "compid" << compid << endl
<< "Mode" << status.m_Mode << endl
@@ -156,7 +161,7 @@ void ParameterProcess::Parse(mavlink_message_t msg)
switch (msg.msgid) {
case MAVLINK_MSG_ID_PARAM_SET:{
mavlink_msg_param_set_decode(&msg,&param_set);
//mavlink_msg_param_set_decode(&msg,&param_set);
}break;
case MAVLINK_MSG_ID_PARAM_VALUE:{//
mavlink_msg_param_value_decode(&msg,&param_value);
@@ -291,7 +296,7 @@ void ParameterProcess::WriteStateMachine(void)
//向其他线程或者自己读取航点的数量
status.transmit.isWaitingforValue = true;
set("id",0,1);//发送一个参数
set(param_set.param_id,param_set.param_type,param_set.param_value);//发送一个参数
time = QTime::currentTime().msecsSinceStartOfDay();
step++;//下一个阶段
}
MavLinkNode/parameterprocess.h
+1 -1
View File
@@ -74,7 +74,7 @@ public slots:
//读取和写入指令
void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count);
void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);
opmap/mapwidget/opmapwidget.cpp
+40
View File
@@ -172,6 +172,42 @@ void OPMapWidget::addUAV(int sysid,int compid)
}
void OPMapWidget::setUAVPos(int sysid,int compid,double x,double y,double z)
{
//qDebug() << sysid << compid;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->SysID() == sysid)
{
internals::PointLatLng LatLng;
LatLng.SetLat(x);
LatLng.SetLng(y);
u->SetUAVPos(LatLng,z);
//qDebug() << x << y;
}
}
}
}
void OPMapWidget::setUAVHeading(int sysid,int compid,float Heading)
{
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->SysID() == sysid)
{
u->SetUAVHeading(Heading);
//qDebug() << Heading;
}
}
}
}
WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed, int width)
@@ -445,11 +481,15 @@ void OPMapWidget::WPInsert(const int &position)
if((item_old1)&&(item_old2))
{
WPLineDelete(item_old1,item_old2);
WPLineDelete(item_old1,item_old2);
WPLineDelete(item_old1,item_old2);
}
//删除连线
if((item_old1)&&(item_old0))
{
WPLineDelete(item_old0,item_old1);
WPLineDelete(item_old0,item_old1);
WPLineDelete(item_old0,item_old1);
internals::PointLatLng latlng1 = item_old0->Coord();
internals::PointLatLng latlng2 = item_old1->Coord();
opmap/mapwidget/opmapwidget.h
+3 -1
View File
@@ -419,7 +419,8 @@ public:
void setWPCreate(bool const & value);
void setUAVPos(int sysid,int compid,double x,double y,double z);
void setUAVHeading(int sysid,int compid,float Heading);
private:
internals::Core *core;
@@ -560,6 +561,7 @@ public slots:
void addUAV(int sysid, int compid);
void getMapTypes(void);
void setMapTypes(QVariant value);