644 lines
17 KiB
C++
644 lines
17 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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setWindowTitle(tr("ParameterInspector"));
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// Make sure "All" is an option for both the system and components
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//ui->systemComboBox->addItem(tr("All"), 0);
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//ui->componentComboBox->addItem(tr("All"), 0);
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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(2,50);
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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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QTimer::singleShot(1000,this,SLOT(mReflush()));
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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::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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if(TimerRunningFlag == true)
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{
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QTimer::singleShot(10,this,SLOT(mReflush()));
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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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}
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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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ui->progressBar->setMaximum(0);
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ui->progressBar->setMaximum(param_value.param_count - 1);
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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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currentpersent = 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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ui->treeWidget->scrollToBottom();
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}
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}
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void ParameterInspector::clearview(void)
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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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uasParamTreeItems.clear();
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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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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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value = ((uint64_t *)¶m.param_value)[0];
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}break;
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case MAV_PARAM_TYPE_INT64:
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{
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value = ((int64_t *)¶m.param_value)[0];
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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 = ((int32_t *)¶m.param_value)[0];
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//qDebug() << "Unsupported type " << param.param_type;
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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.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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}
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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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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
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{
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uint8_t len = 0;
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while(len < 16)
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{
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if(id[len] != '\0')
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{
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//continue;
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}
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else
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{
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return id;
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}
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len++;
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}
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id[16] = '\0';
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return id;
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}
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void ParameterInspector::setsystem(QVariant vehicle)
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{
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qDebug() << "set vehicle" << vehicle;
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ui->pushButton_system->setText(vehicle.toString());
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}
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void ParameterInspector::on_pushButton_system_clicked()
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{
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if(!ui->pushButton_system->text().isEmpty())
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{
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Selector *selector = new Selector(this);
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selector->setGeometry(0,0,this->width(),this->height());
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QStringList list;
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list.clear();
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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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list.append(tr("Vehicle %1").arg(ite.key()));
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}
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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);
|
|
}
|
|
|
|
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();
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
|