969 lines
25 KiB
C++
969 lines
25 KiB
C++
#include "ParameterInspector.h"
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#include "ui_ParameterInspector.h"
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ParameterInspector::ParameterInspector(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::ParameterInspector)
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{
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ui->setupUi(this);
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//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
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QDir *Dir = new QDir;
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if(!Dir->exists("./parameters"))
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Dir->mkdir("./params");//如果文件夹不存在就新建
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setWindowTitle(tr("ParameterInspector"));
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// Set up the column headers for the message listing
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QStringList header;
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header << tr("Name");
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header << tr("Value");
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header << tr("Type");
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ui->treeWidget->setHeaderLabels(header);
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ui->treeWidget->header()->resizeSection(0,400);
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ui->treeWidget->header()->resizeSection(1,150);
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ui->treeWidget->header()->resizeSection(2,150);
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ui->CancelpushButton->setEnabled(false);
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ui->pushButton_id->setEnabled(false);
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ui->pushButton_value->setEnabled(false);
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ui->WriteButton->setEnabled(false);
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TimerRunningFlag = true;
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flushTimer = new QTimer(this);
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connect(flushTimer,SIGNAL(timeout()),
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this,SLOT(mReflush()));
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flushTimer->start(50);
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}
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ParameterInspector::~ParameterInspector()
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{
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TimerRunningFlag = false;
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//clear 那些消息
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delete ui;
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}
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void ParameterInspector::keyPressEvent(QKeyEvent *event) //键盘按下事件
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{
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qDebug() << "keyPressEvent" << event;
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}
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void ParameterInspector::keyReleaseEvent(QKeyEvent *event) //键盘松开事件
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{
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}
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void ParameterInspector::mReflush()
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{
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if(isReflush == true)
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{
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isReflush = false;
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ui->progressBar->setValue(currentpersent);
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refreshView();
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}
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}
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void ParameterInspector::resizeEvent(QResizeEvent * event)
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{
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Q_UNUSED(event);
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ui->treeWidget->header()->resizeSection(0,ui->treeWidget->width() * 0.5);
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ui->treeWidget->header()->resizeSection(1,ui->treeWidget->width() * 0.20);
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ui->treeWidget->header()->resizeSection(2,ui->treeWidget->width() * 0.20);
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}
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//添加一个设备，
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void ParameterInspector::addVehicles(int sysid, int compid)
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{
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Q_UNUSED(compid)
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if(!vehicles.keys().contains(sysid))
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{
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//如果还没有这个设备，就添加一个
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QMap<int, mavlink_param_value_t> param;
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vehicles.insert(sysid,param);
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ui->pushButton_system->setText(tr("Vehicle %1").arg(sysid));
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//发送一次读取
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uint8_t m_type = 0;
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//emit ReadCmd(sysid,compid,m_type);
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}
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}
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//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
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void ParameterInspector::appendParameter(mavlink_message_t msg)
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{
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//查找这个消息归属的设备和部件
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if(!vehicles.keys().contains(msg.sysid))
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{
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//如果还没有这个设备，就添加一个
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QMap<int, mavlink_param_value_t> param;
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vehicles.insert(msg.sysid,param);
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}
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//解码
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mavlink_param_value_t param_value;//
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mavlink_msg_param_value_decode(&msg,¶m_value);
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//如果当前是航点0，那么设置状态条
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if(param_value.param_index == 0)
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{
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isNew = true;
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ui->progressBar->setMaximum(0);
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ui->progressBar->setMaximum(param_value.param_count - 1);
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}
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if(isNew)
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{
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currentpersent = param_value.param_index;
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}
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if(param_value.param_index == (param_value.param_count - 1))
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{
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isNew = false;
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}
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//这里可能有bug,程序会死机
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//ui->progressBar->setValue((int)param_value.param_index);
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//检查是否包含了该参数，如果没有，那么添加
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QMap<int, mavlink_param_value_t> ParameterStorage;
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ParameterStorage = vehicles.value(msg.sysid);
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ParameterStorage.insert(param_value.param_index,param_value);
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vehicles.insert(msg.sysid,ParameterStorage);
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//需要刷新一次
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isReflush = true;
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}
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void ParameterInspector::refreshView()//来一个参数更新一次
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{
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QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;
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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
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{
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//查找参数的index
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QMap<int,mavlink_param_value_t> params = ite.value();//得到所有参数item
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QMap<int,mavlink_param_value_t>::iterator param_ite;
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QMap<int, QTreeWidgetItem* > widgetitems;//获取单独一个设备的参数显示条
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widgetitems = uasParamTreeItems.value(ite.key());
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for(param_ite=params.begin(); param_ite!=params.end();++param_ite)//历遍每一个参数
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{
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mavlink_param_value_t param = param_ite.value();//每一个value
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QString paraName = param_id(param.param_id); //得到名称
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//qDebug() << paraName;//ok
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//查找这个value是不是已经存，存在更新，不存在则建立
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bool paramFound = false;
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foreach (QTreeWidgetItem* Item, widgetitems.values()) {
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if(Item->data(0,Qt::DisplayRole) == param_id(param.param_id))
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{
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//这个设备已经存在
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paramFound = true;
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//更新该参数
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Item->setData(1,Qt::DisplayRole,param_value(param));
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widgetitems.insert(param.param_index,Item);
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}
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}
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if(!paramFound)//没有找到
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{
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//没有找到，新建一个组
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QTreeWidgetItem* paraItem = new QTreeWidgetItem();
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paraItem->setData(0,Qt::DisplayRole,param_id(param.param_id));
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paraItem->setData(1,Qt::DisplayRole,param_value(param));
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paraItem->setData(2,Qt::DisplayRole,param_type(param));
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widgetitems.insert(param.param_index,paraItem);
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}
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}
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uasParamTreeItems.insert(ite.key(),widgetitems);//保存一整个设备的参数
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//得到一个vehicle
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bool VehicleFound = false;
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foreach (QTreeWidgetItem* Item, uasTopLevelItems.values()) {
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if(Item->data(0,Qt::DisplayRole) == tr("Vehicle %1").arg(ite.key()))
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{
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//这个设备已经存在
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VehicleFound = true;
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//存在测更新
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Item->addChildren(uasParamTreeItems.value(ite.key()).values());
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uasTopLevelItems.insert(ite.key(),Item);
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}
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}
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if(!VehicleFound)//没有找到
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{
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//没有找到，新建一个组
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QTreeWidgetItem* TopItem = new QTreeWidgetItem();
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TopItem->setData(0,Qt::DisplayRole,tr("Vehicle %1").arg(ite.key()));
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TopItem->addChildren(uasParamTreeItems.value(ite.key()).values());
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uasTopLevelItems.insert(ite.key(),TopItem);
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}
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ui->treeWidget->addTopLevelItems(uasTopLevelItems.values());
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ui->treeWidget->expandAll();
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if(isNew)
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{
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ui->treeWidget->scrollToBottom();
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}
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}
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}
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void ParameterInspector::clearview(void)
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{
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/*
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QMap<int, QMap<int, QTreeWidgetItem*>>::iterator ite;
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for (ite=uasParamTreeItems.begin(); ite!=uasParamTreeItems.end();++ite)
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{
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QMap<int, QTreeWidgetItem*> param_ite = ite.value();
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QList<int> groupKeys = param_ite.uniqueKeys();
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QList<int>::iterator listKeys;
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for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
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{
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delete param_ite.take(*listKeys);
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}
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}
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*/
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uasParamTreeItems.clear();
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/*
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QMap<int, QTreeWidgetItem* >::iterator iteTree;
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for(iteTree=uasTopLevelItems.begin(); iteTree!=uasTopLevelItems.end();++iteTree)
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{
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delete iteTree.value();
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iteTree.value() = NULL;
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}
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*/
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uasTopLevelItems.clear();
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QMap<int,QMap<int,mavlink_param_value_t>>::iterator vehicle_ite;//删除这个
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for (vehicle_ite=vehicles.begin(); vehicle_ite!=vehicles.end();++vehicle_ite)
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{
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vehicle_ite.value().clear();
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//delete vehicle_ite.value();
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//vehicle_ite.value() = NULL;
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}
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//vehicles.clear();
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ui->treeWidget->clear();
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}
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QVariant ParameterInspector::param_value(mavlink_param_value_t param)
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{
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QVariant value;
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switch (param.param_type)
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{
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case MAV_PARAM_TYPE_UINT8:
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{
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value = ((uint8_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_INT8:
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{
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value = ((int8_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_UINT16:
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{
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value = ((uint16_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_INT16:
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{
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value = ((int16_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_UINT32:
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{
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value = ((uint32_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_INT32:
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{
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value = ((int32_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_UINT64:
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{
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#ifdef unix
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//value = ((ulong *)¶m.param_value)[0];
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#else
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value = ((uint64_t *)¶m.param_value)[0];
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#endif
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}break;
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case MAV_PARAM_TYPE_INT64:
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{
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#ifdef unix
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//value = ((long *)¶m.param_value)[0];
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#else
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value = ((int64_t *)¶m.param_value)[0];
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#endif
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}break;
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case MAV_PARAM_TYPE_REAL32:
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{
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value = ((float *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_REAL64:
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{
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value = ((double *)¶m.param_value)[0];
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}break;
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default:
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{
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value = ((float *)¶m.param_value)[0];
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}break;
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}
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return value;
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}
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float ParameterInspector::param_getvalue(QVariant param,uint8_t type)
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{
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float value;
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union {
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uint8_t u8[8];
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int8_t i8[8];
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uint16_t u16[4];
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int16_t i16[4];
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uint32_t u32[2];
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int32_t i32[2];
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uint64_t u64;
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int64_t i64;
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float f[2];
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double d;
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}src;
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switch (type)
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{
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case MAV_PARAM_TYPE_UINT8:
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{
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src.u8[0] = param.toUInt();
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((uint8_t *)&value)[0] = src.u8[0];
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}break;
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case MAV_PARAM_TYPE_INT8:
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{
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src.i8[0] = param.toUInt();
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((int8_t *)&value)[0] = src.i8[0];
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}break;
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case MAV_PARAM_TYPE_UINT16:
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{
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src.u16[0] = param.toUInt();
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((uint16_t *)&value)[0] = src.u16[0];
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}break;
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case MAV_PARAM_TYPE_INT16:
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{
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src.i16[0] = param.toUInt();
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((int16_t *)&value)[0] = src.i16[0];
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}break;
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case MAV_PARAM_TYPE_UINT32:
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{
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src.u32[0] = param.toUInt();
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((uint32_t *)&value)[0] = (uint32_t)src.u32[0];
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}break;
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case MAV_PARAM_TYPE_INT32:
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{
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src.i32[0] = param.toUInt();
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((int32_t *)&value)[0] = (int32_t)src.i32[0];
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}break;
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case MAV_PARAM_TYPE_UINT64:
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{
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src.u64 = param.toUInt();
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((uint64_t *)&value)[0] = (uint64_t )src.u64;
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}break;
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case MAV_PARAM_TYPE_INT64:
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{
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src.i64 = param.toUInt();
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((int64_t *)&value)[0] = (int64_t)src.i64;
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}break;
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case MAV_PARAM_TYPE_REAL32:
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{
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src.f[0] = param.toFloat();
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((float *)&value)[0] = (float)src.f[0];
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}break;
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case MAV_PARAM_TYPE_REAL64:
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{
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src.d = param.toDouble();
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((double *)&value)[0]= (double)src.d;
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}break;
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default:
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{
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src.f[0] = param.toFloat();
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((float *)&value)[0] = (float)src.i32[0];
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}break;
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}
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return value;
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}
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QVariant ParameterInspector::param_type(mavlink_param_value_t param)
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{
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QVariant value;
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switch (param.param_type)
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{
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case MAV_PARAM_TYPE_UINT8:
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{
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value = "uint8";
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}break;
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case MAV_PARAM_TYPE_INT8:
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{
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value = "int8";
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}break;
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case MAV_PARAM_TYPE_UINT16:
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{
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value = "uint16";
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}break;
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case MAV_PARAM_TYPE_INT16:
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{
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value = "int16";
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}break;
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case MAV_PARAM_TYPE_UINT32:
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{
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value = "uint32";
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}break;
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case MAV_PARAM_TYPE_INT32:
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{
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value = "int32";
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}break;
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case MAV_PARAM_TYPE_UINT64:
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{
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value = "uint64";
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}break;
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case MAV_PARAM_TYPE_INT64:
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{
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value = "int64";
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}break;
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case MAV_PARAM_TYPE_REAL32:
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{
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value = "float";
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}break;
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case MAV_PARAM_TYPE_REAL64:
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{
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value = "double";
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}break;
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default:
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{
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value = "unknow";
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}break;
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}
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return value;
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}
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uint8_t ParameterInspector::param_gettype(QVariant type)
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{
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uint8_t value;
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if(type.toString() == "uint8")
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{
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value = MAV_PARAM_TYPE_UINT8;
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}
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else if(type.toString() == "int8")
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{
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value = MAV_PARAM_TYPE_INT8;
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}
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else if(type.toString() == "uint16")
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{
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value = MAV_PARAM_TYPE_UINT16;
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}
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else if(type.toString() == "int16")
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{
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value = MAV_PARAM_TYPE_INT16;
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}
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else if(type.toString() == "uint32")
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{
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value = MAV_PARAM_TYPE_UINT32;
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}
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else if(type.toString() == "int32")
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{
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value = MAV_PARAM_TYPE_INT32;
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}
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else if(type.toString() == "uint64")
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{
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value = MAV_PARAM_TYPE_UINT64;
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}
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else if(type.toString() == "int64")
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{
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value = MAV_PARAM_TYPE_INT64;
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}
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else if(type.toString() == "float")
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{
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value = MAV_PARAM_TYPE_REAL32;
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}
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else if(type.toString() == "double")
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{
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value = MAV_PARAM_TYPE_REAL64;
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}
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else if(type.toString() == "unknow")
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{
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value = 0;
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}
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return value;
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}
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//使用QString
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QString 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
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{
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QString Name;
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Name.append(id);
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if(Name.size() >= 16)
|
|
{
|
|
Name = Name.left(16);
|
|
}
|
|
|
|
return Name;
|
|
}
|
|
|
|
|
|
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()
|
|
{
|
|
int Count = ui->treeWidget->topLevelItemCount();
|
|
|
|
if(Count == 0)
|
|
{
|
|
return;
|
|
}
|
|
|
|
|
|
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 = "1";
|
|
|
|
QByteArray ParamsString;
|
|
|
|
ParamsString.append("# Onboard parameters for Vehicle \r\n");
|
|
ParamsString.append("#\r\n");
|
|
ParamsString.append("# Stack: MAVLink General\r\n");
|
|
ParamsString.append("# Vehicle: \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++)
|
|
{
|
|
|
|
QString systemStr = ui->treeWidget->topLevelItem(i)->text(0);
|
|
int index = systemStr.indexOf(' ');
|
|
|
|
QString selectid = ui->treeWidget->topLevelItem(i)->text(0).mid(index);
|
|
Vehicle_Id = selectid;
|
|
|
|
p = ui->treeWidget->topLevelItem(i);
|
|
|
|
/*
|
|
if(ui->treeWidget->topLevelItem(i)->text(0) == ui->pushButton_system->text())
|
|
{
|
|
Vehicle_Id = QString::number(m_sysid);
|
|
p = ui->treeWidget->topLevelItem(i);
|
|
//break;
|
|
}
|
|
*/
|
|
|
|
//读取参数
|
|
|
|
int childCount = p->childCount();
|
|
for (int i = 0; i < childCount; i++)
|
|
{
|
|
QTreeWidgetItem *childItem = p->child(i);
|
|
|
|
ParamsString.append(Vehicle_Id + "\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");
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
//读取参数
|
|
|
|
int childCount = p->childCount();
|
|
for (int i = 0; i < childCount; i++)
|
|
{
|
|
QTreeWidgetItem *childItem = p->child(i);
|
|
|
|
ParamsString.append(Vehicle_Id + "\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;//
|
|
|
|
|
|
|
|
|
|
|
|
if(ItemList[2].size() < 16)
|
|
{
|
|
ItemList[2].append('\0');
|
|
}
|
|
|
|
char *id = ItemList[2].data();
|
|
|
|
memcpy(param_value.param_id,id,ItemList[2].size());
|
|
//memcpy(param_value.param_id,ItemList[2].data(),ItemList[2].size());
|
|
//memcpy(param_value.param_id,ItemList[2].data(),ItemList[2].size());
|
|
//memcpy(param_value.param_id+ItemList[2].size(),'\0',1);
|
|
|
|
//*param_value.param_id = *ItemList[2].data();
|
|
|
|
//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).toDouble(),param_value.param_type);
|
|
|
|
|
|
|
|
|
|
mavlink_msg_param_value_encode(ItemList.at(0).toInt(),ItemList.at(1).toInt(),&msg,¶m_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].data()
|
|
<< ItemList[2].size();
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
}
|
|
|
|
void ParameterInspector::on_lineEdit_textEdited(const QString &arg1)
|
|
{
|
|
//读取当前按键的设备号
|
|
QTreeWidgetItem * p;
|
|
int Count = ui->treeWidget->topLevelItemCount();
|
|
|
|
|
|
|
|
if(Count > 0)
|
|
{
|
|
|
|
for(int i = 0;i < Count; i++)
|
|
{
|
|
if(ui->treeWidget->topLevelItem(i)->text(0) == ui->pushButton_system->text())
|
|
{
|
|
p = ui->treeWidget->topLevelItem(i);
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
//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);
|
|
|
|
QString name = childItem->text(0).toLower();
|
|
|
|
if(name.contains(arg1.toLower()))
|
|
{
|
|
//qDebug() << childItem->text(0) << arg1;
|
|
|
|
childItem->setHidden(false);
|
|
|
|
}
|
|
else
|
|
{
|
|
childItem->setHidden(true);
|
|
}
|
|
}
|
|
}
|
|
}
|