From 2542a28835e95e332bc2e585a6a21347bbd8066e Mon Sep 17 00:00:00 2001
From: Davide Rosato <73779437+DavideRosato99@users.noreply.github.com>
Date: Wed, 22 Mar 2023 01:09:33 +0100
Subject: [PATCH] [RefuelingButton] Simplified messages routines added
---
.vscode/settings.json | 6 +-
.../RefuelingButton/MessagesListRefButton.h | 55 +------------
.../RefuelingButton/RefuelingButton.cpp | 77 ++++++++++---------
3 files changed, 45 insertions(+), 93 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index ab0ffa7b..966b8195 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -166,7 +166,8 @@
"qtsvg": "cpp",
"qtvirtualkeyboard": "cpp",
"qabstractbutton": "cpp",
- "qmetatype": "cpp"
+ "qmetatype": "cpp",
+ "xlocmon": "cpp"
},
"editor.defaultFormatter": "ms-vscode.cpptools",
"[xml]": {
@@ -181,5 +182,6 @@
"qobject",
"qresource",
"replot"
- ]
+ ],
+ "C_Cpp.errorSquiggles": "enabled"
}
\ No newline at end of file
diff --git a/src/shared/Modules/RefuelingButton/MessagesListRefButton.h b/src/shared/Modules/RefuelingButton/MessagesListRefButton.h
index 7d4745ad..d67b73f0 100644
--- a/src/shared/Modules/RefuelingButton/MessagesListRefButton.h
+++ b/src/shared/Modules/RefuelingButton/MessagesListRefButton.h
@@ -29,65 +29,14 @@ namespace MessagesListRefButton
// Groundstation labels
static const QStringList messagesList{
- "MOTOR_TM_FLOAT",
- "MOTOR_TM_INTEGER",
- "GSE_TM_FLOAT",
- "GSE_TM_INTEGER",
-};
-
-static const QMap<QString, int> MOTORcommandFloat{
- {"top_tank_pressure", MAV_CMD_ARM},
- {"bottom_tank_pressure", MAV_CMD_DISARM},
- {"estimated_mass", MAV_CMD_FORCE_LAUNCH},
-};
-
-static const QMap<QString, int> MOTORcommandInteger{
- {"timestamp", MAV_CMD_ARM},
- {"floating_level", MAV_CMD_CALIBRATE},
- {"tank_temperature", MAV_CMD_FORCE_INIT},
-};
-
-static const QMap<QString, int> GSEcommandFloat{
- {"loadcell_tank", MAV_CMD_DISARM},
- {"loadcell_vessel", MAV_CMD_CALIBRATE},
- {"filling_pressure", MAV_CMD_FORCE_INIT},
- {"vessel_pressure ", MAV_CMD_STOP_LOGGING},
-};
-
-static const QMap<QString, int> GSEcommandInteger{
- {"timestamp", MAV_CMD_ARM},
- {"arming_state", MAV_CMD_FORCE_LAUNCH},
- {"filling_valve_state", MAV_CMD_FORCE_LANDING},
- {"venting_valve_state", MAV_CMD_FORCE_APOGEE},
- {"release_vlave_state", MAV_CMD_FORCE_EXPULSION},
- {"ignition_state", MAV_CMD_FORCE_MAIN},
- {"tars_state", MAV_CMD_START_LOGGING},
+ "MOTOR_TM",
+ "GSE_TM",
};
inline void fillMessagesMap(
QMap<QString, MessageFormElementRefButton *> &formElements)
{
MessageFormElementRefButton *element;
-
- element = new MessageFormElementRefButton();
- element->addComboBox("motor_id", "Command:", MOTORcommandFloat);
- element->addFloat("value", "Value:", 0, 180, 2);
- formElements["MOTOR_TM_FLOAT"] = element;
-
- element = new MessageFormElementRefButton();
- element->addComboBox("timestamp", "Command:", MOTORcommandInteger);
- element->addInteger("value", "Value:", 0, 180);
- formElements["MOTOR_TM_INTEGER"] = element;
-
- element = new MessageFormElementRefButton();
- element->addComboBox("gse_id", "Command:", GSEcommandFloat);
- element->addFloat("value", "Value:", 0, 180, 2);
- formElements["GSE_TM_FLOAT"] = element;
-
- element = new MessageFormElementRefButton();
- element->addComboBox("gse_id", "Command:", GSEcommandInteger);
- element->addInteger("value", "Value:", 0, 180);
- formElements["GSE_TM_INTEGER"] = element;
}
} // namespace MessagesListRefButton
diff --git a/src/shared/Modules/RefuelingButton/RefuelingButton.cpp b/src/shared/Modules/RefuelingButton/RefuelingButton.cpp
index 46a4c1b3..3ba7f23f 100644
--- a/src/shared/Modules/RefuelingButton/RefuelingButton.cpp
+++ b/src/shared/Modules/RefuelingButton/RefuelingButton.cpp
@@ -187,10 +187,8 @@ void RefuelingButton::setupUi()
setLayout(outerLayout);
- MessagesListRefButton::fillMessagesMap(formElements);
-
// NUOVO ----------------------------------------------------------
- currentMessage = "MOTOR_TM_FLOAT";
+ currentMessage = "MOTOR_TM";
messagesListComboBox->setCurrentText(currentMessage);
// PRECEDENTE -----------------------------------------------------
@@ -210,21 +208,10 @@ void RefuelingButton::setupUi()
connect(sendButton, &QPushButton::clicked,
[=]()
{
- auto key = messagesListComboBox->currentText();
+ mavlink_message_t msg;
- if (formElements.contains(key))
+ if (messagesListComboBox->currentIndex() == 0)
{
- // uint64_t keyN = messagesListComboBox->currentIndex();
- // auto message = formElements[key]->prepareMessage(key);
-
- // if (messagesListComboBox->currentIndex() == 0 ||
- // messagesListComboBox->currentIndex() == 1)
- // message.setTopic(Topic{"Mav/MOTOR_TM"});
-
- // if (messagesListComboBox->currentIndex() == 2 ||
- // messagesListComboBox->currentIndex() == 3)
- // message.setTopic(Topic{"Mav/GSE_TM"});
-
mavlink_motor_tm_t motor;
motor.bottom_tank_pressure = 0;
motor.combustion_chamber_pressure = 0;
@@ -234,30 +221,44 @@ void RefuelingButton::setupUi()
motor.timestamp = 0;
motor.top_tank_pressure = 0;
- mavlink_message_t msg;
- // TODO magic numbers to substitute with
- // MavlinkCommandAdapter ones
mavlink_msg_motor_tm_encode(171, 96, &msg, &motor);
+ }
+ if (messagesListComboBox->currentIndex() == 1)
+ {
+ mavlink_gse_tm_t gse;
+ gse.timestamp = 0;
+ gse.loadcell_tank = 0;
+ gse.loadcell_vessel = 0;
+ gse.filling_pressure = 0;
+ gse.vessel_pressure = 0;
+ gse.arming_state = 0;
+ gse.filling_valve_state = 0;
+ gse.venting_valve_state = 0;
+ gse.release_vlave_state = 0;
+ gse.ignition_state = 0;
+ gse.tars_state = 0;
+
+ mavlink_msg_gse_tm_encode(171, 96, &msg, &gse);
+ }
+
+ // Once the message is created we can fill the fields
+ // according to the struct defined before
+ mavlink_message_info_t infos[256] = MAVLINK_MESSAGE_INFO;
+ mavlink_message_info_t info = infos[msg.msgid];
- // Once the message is created we can fill the fields
- // according to the struct defined before
- mavlink_message_info_t infos[256] = MAVLINK_MESSAGE_INFO;
- mavlink_message_info_t info = infos[msg.msgid];
-
- QMap<QString, Field> fields;
- for (unsigned int i = 0; i < info.num_fields; i++)
- {
- fields[QString(info.fields[i].name)] =
- decodeField(msg, info.fields[i]);
- }
-
- Message output;
- output.setTopic(
- Topic(SkywardHubStrings::mavlink_received_msg_topic +
- "/" + info.name));
- output.setFields(std::move(fields));
-
- getCore()->getMessageBroker()->publish(output);
+ QMap<QString, Field> fields;
+ for (unsigned int i = 0; i < info.num_fields; i++)
+ {
+ fields[QString(info.fields[i].name)] =
+ decodeField(msg, info.fields[i]);
}
+
+ Message output;
+ output.setTopic(
+ Topic(SkywardHubStrings::mavlink_received_msg_topic + "/" +
+ info.name));
+ output.setFields(std::move(fields));
+
+ getCore()->getMessageBroker()->publish(output);
});
}
--
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