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航点存储之前先排序

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hm
2022-03-09 14:02:49 +08:00
parent 263b1a83b3
commit f64dc7b7a5
12 changed files with 216 additions and 47 deletions
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App/GCS_zh_CN.qm
BIN
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Binary file not shown.
App/GCS_zh_CN.ts
+2 -2
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@@ -4484,7 +4484,7 @@
<message>
<location filename="ToolsUI/tools_Index2/tools_Index2.ui" line="155"/>
<source>setPercent</source>
<translation type="unfinished"></translation>
<translation>设置百分比</translation>
</message>
<message>
<location filename="ToolsUI/tools_Index2/tools_Index2.ui" line="162"/>
@@ -4504,7 +4504,7 @@
<message>
<location filename="ToolsUI/tools_Index2/tools_Index2.ui" line="183"/>
<source>Create CSV</source>
<translation type="unfinished"></translation>
<translation>生成CSV记录</translation>
</message>
<message>
<location filename="ToolsUI/tools_Index2/tools_Index2.ui" line="109"/>
App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
+28 -3
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@@ -197,6 +197,31 @@ void ParameterInspector::appendParameter(mavlink_message_t msg)
//如果收到特定的参数，就发出去。比如版本，HIL
if(param_id(param_value.param_id) == "ap_ver")
{
emit APversion(param_Value(param_value).toString());
}
else if(param_id(param_value.param_id) == "HIL_enabled")
{
emit HILMode(param_Value(param_value).toString());
}
//找到所有舵机参数，并发送出去
{
/*
* del0 der0 dr0 dal0 dar0
* k_dal k_dar k_del k_der k_dr
*
*
*
*/
}
isReflush = true;
@@ -232,7 +257,7 @@ void ParameterInspector::refreshView()//来一个参数更新一次
//这个设备已经存在
paramFound = true;
//更新该参数
Item->setData(1,Qt::DisplayRole,param_value(param));
Item->setData(1,Qt::DisplayRole,param_Value(param));
widgetitems.insert(param.param_index,Item);
}
}
@@ -242,7 +267,7 @@ void ParameterInspector::refreshView()//来一个参数更新一次
//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(1,Qt::DisplayRole,param_Value(param));
paraItem->setData(2,Qt::DisplayRole,param_type(param));
widgetitems.insert(param.param_index,paraItem);
}
@@ -329,7 +354,7 @@ void ParameterInspector::clearview(void)
}
QVariant ParameterInspector::param_value(mavlink_param_value_t param)
QVariant ParameterInspector::param_Value(mavlink_param_value_t param)
{
QVariant value;
App/Setting/Index1/ParameterInspector/ParameterInspector.h
+9 -1
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@@ -124,6 +124,14 @@ signals:
void showMessage(const QString &message,int TimeOut = 0);
void APversion(QString);
void HILMode(QString);
void ServoParameter(int type,int index, QVariant data);//
public slots:
void addVehicles(int sysid, int compid);
@@ -154,7 +162,7 @@ private slots:
void on_clearButton_clicked();
QVariant param_value(mavlink_param_value_t param);
QVariant param_Value(mavlink_param_value_t param);
float param_getvalue(QVariant param,uint8_t type);
App/ToolsUI/Senser/Senser.cpp
+23 -10
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@@ -17,12 +17,12 @@ Senser::Senser(QWidget *parent) :
this->setWindowTitle(tr("sensor"));
ui->frame_Attitude->resize(490,235);
ui->frame_Gyro->resize(490,235);
ui->frame_Accelerate->resize(490,235);
ui->frame_Servo->resize(490,235);
ui->frame_Altitude->resize(490,235);
ui->frame_Speed->resize(490,235);
ui->frame_Attitude->resize(384,234);
ui->frame_Gyro->resize(384,234);
ui->frame_Accelerate->resize(384,234);
ui->frame_Servo->resize(384,234);
ui->frame_Altitude->resize(384,234);
ui->frame_Speed->resize(384,234);
@@ -106,6 +106,23 @@ Senser::Senser(QWidget *parent) :
this,&Senser::chartSelect);
//StringModel = new QStringListModel(ui->listView_Data);
ItemModel = new QStandardItemModel(ui->listView_Data);
ui->listView_Data->setModel(ItemModel);
ui->listView_Data->scrollToBottom();
QStandardItem *item = new QStandardItem("item1");
ItemModel->appendRow(item);
item = new QStandardItem("item2");
ItemModel->appendRow(item);
ui->listView_Data->setModel(ItemModel);
}
Senser::~Senser()
@@ -273,10 +290,6 @@ void Senser::setValue(QLabel *w,QString s)
void Senser::resizeEvent(QResizeEvent *event)
{
qDebug() << "sensor resize";
qDebug() << ui->frame_Altitude->size();
attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());
App/ToolsUI/Senser/Senser.h
+7 -1
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@@ -15,7 +15,9 @@
#include "QScreen"
#include <QtGlobal>
#include <QAbstractItemModel>
#include <QStandardItemModel>
#include <QStringListModel>
#include "Chart.h"
#include "QCheckBox"
@@ -77,6 +79,10 @@ protected:
private:
Ui::Senser *ui;
QWidget *m_parent;
QStringListModel *StringModel;
QStandardItemModel *ItemModel;
};
#endif // SENSER_H
App/ToolsUI/Senser/Senser.ui
+47 -22
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@@ -26,10 +26,13 @@
<property name="bottomMargin">
<number>2</number>
</property>
<property name="spacing">
<property name="horizontalSpacing">
<number>5</number>
</property>
<property name="verticalSpacing">
<number>0</number>
</property>
<item row="0" column="1">
<item row="0" column="2">
<widget class="QFrame" name="frame_5">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
@@ -68,7 +71,7 @@
<property name="bottomMargin">
<number>0</number>
</property>
<item row="0" column="1">
<item row="0" column="2">
<widget class="QFrame" name="frame_Servo">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
@@ -78,17 +81,7 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QFrame" name="frame_Gyro">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="1" column="2">
<widget class="QFrame" name="frame_Altitude">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
@@ -98,7 +91,18 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="0" column="1">
<widget class="QFrame" name="frame_Attitude">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_7"/>
</widget>
</item>
<item row="2" column="1">
<widget class="QFrame" name="frame_Accelerate">
<property name="minimumSize">
<size>
@@ -114,7 +118,7 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="2" column="2">
<widget class="QFrame" name="frame_Speed">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
@@ -124,18 +128,39 @@
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QFrame" name="frame_Attitude">
<property name="styleSheet">
<string notr="true">background-color: rgb(0, 255, 0);</string>
</property>
<item row="1" column="1">
<widget class="QFrame" name="frame_Gyro">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_7"/>
</widget>
</item>
<item row="0" column="0" rowspan="3">
<widget class="QListView" name="listView_Data">
<property name="maximumSize">
<size>
<width>200</width>
<height>16777215</height>
</size>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
<property name="showDropIndicator" stdset="0">
<bool>false</bool>
</property>
<property name="defaultDropAction">
<enum>Qt::IgnoreAction</enum>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="selectionBehavior">
<enum>QAbstractItemView::SelectRows</enum>
</property>
</widget>
</item>
</layout>
App/ToolsUI/ServoSystem/ServoSystem.cpp
+13
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@@ -338,6 +338,19 @@ void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
}
void ServoSystem::setAPversion(QString ver)
{
ui->label_APVer->setText(ver);
}
void ServoSystem::setHILMode(QString mode)
{
ui->label_HILMode->setText(mode);
}
float ServoSystem::param_getvalue(QVariant param,uint8_t type)
{
float value;
App/ToolsUI/ServoSystem/ServoSystem.h
+2
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@@ -153,6 +153,8 @@ public slots:
void addVehicles(int sysid, int compid);
void setAPversion(QString ver);
void setHILMode(QString mode);
private:
QWidget *m_parent;
App/ToolsUI/ServoSystem/ServoSystem.ui
+2 -2
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@@ -762,7 +762,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<widget class="QLabel" name="label_APVer">
<property name="minimumSize">
<size>
<width>0</width>
@@ -797,7 +797,7 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_32">
<widget class="QLabel" name="label_HILMode">
<property name="minimumSize">
<size>
<width>0</width>
App/mainwindow.cpp
+6
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@@ -417,6 +417,12 @@ MainWindow::MainWindow(QWidget *parent)
toolsui->diagram,SLOT(setTargetPoint(int)));
*/
//=======setting=====tools====
connect(setting->index1->paramInspect,SIGNAL(APversion(QString)),
toolsui->servosystem,SLOT(setAPversion(QString)));
//==== showmessage=====
connect(toolsui->servosystem,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
connect(commandUI,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
opmap/mapwidget/opmapwidget.cpp
+77 -6
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@@ -1492,6 +1492,70 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
QJsonArray plannedHomePosition;
QMap<int,WayPointItem *> wlist;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {//逐渐往下增加
wlist.insert(w->Number(),w);
}
}
for (QMap<int,WayPointItem *>::iterator i = wlist.begin(); i != wlist.end(); ++i) {
WayPointItem *w = i.value();
qDebug() << w->Number();
if (w) {//逐渐往下增加
if(w->Number()>0)
{
//存到items
QJsonArray params;
params.append(w->Param1());
params.append(w->Param2());
params.append(w->Param3());
params.append(w->Param4());
params.append(w->Coord().Lat());
params.append(w->Coord().Lng());
params.append(w->Alt());
//可能有点问题
QJsonObject item;
//如果这个点是指令，那么不会有高度信息
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
item.insert("AMSLAltAboveTerrain",w->Alt());
item.insert("Altitude",w->Alt());
item.insert("AltitudeMode",2);
}
item.insert("autoContinue",w->AutoContinue()?true:false);
item.insert("command",w->Command());
item.insert("doJumpId",w->Number());
item.insert("frame",w->Frame());
item.insert("params",params);
item.insert("type","SimpleItem");
//这里有问题
items.append(item);
}
if(w->Number() == 1)
{
plannedHomePosition.append(w->Coord().Lat());
plannedHomePosition.append(w->Coord().Lng());
plannedHomePosition.append(w->Alt());
}
}
}
/*
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {//逐渐往下增加
@@ -1511,9 +1575,16 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
//可能有点问题
QJsonObject item;
item.insert("AMSLAltAboveTerrain",0);
item.insert("Altitude",w->Alt());
item.insert("AltitudeMode",1);
//如果这个点是指令，那么不会有高度信息
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
item.insert("AMSLAltAboveTerrain",w->Alt());
item.insert("Altitude",w->Alt());
item.insert("AltitudeMode",2);
}
item.insert("autoContinue",w->AutoContinue()?true:false);
item.insert("command",w->Command());
item.insert("doJumpId",w->Number());
@@ -1534,17 +1605,17 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
}
}
*/
mission.insert("cruiseSpeed",2);
mission.insert("firmwareType",2);
mission.insert("firmwareType",0);
mission.insert("hoverSpeed",2);
mission.insert("items",items);
mission.insert("plannedHomePosition",plannedHomePosition);
mission.insert("vehicleType",20);
mission.insert("vehicleType",1);
mission.insert("version",2);
}