From c6f00571798dc530afe454577ab3736e13bdd2a1 Mon Sep 17 00:00:00 2001
From: Raul Radu <raul.radu@mail.polimi.it>
Date: Tue, 26 Nov 2024 18:40:12 +0100
Subject: [PATCH] [Mavlink] Updated mavlink for Orion Packets
- Minor change: Valves Basic stylesheet is applied when valves are first created to show text area boundaries (borders)
---
.vscode/settings.json | 3 +-
libs/mavlink-skyward-lib | 2 +-
src/shared/Modules/CommandPad/MessagesList.h | 30 +++++++++++------
src/shared/Modules/Mavlink/MavlinkCodec.cpp | 16 +++++++---
src/shared/Modules/Mavlink/MavlinkCodec.h | 12 ++++---
.../Modules/Mavlink/MavlinkVersionHeader.h | 2 +-
src/shared/Modules/ValvesViewer/ValvesList.h | 20 +++++++++---
.../Modules/ValvesViewer/ValvesViewer.cpp | 32 +++++++++++++------
.../Modules/ValvesViewer/ValvesViewer.h | 3 ++
9 files changed, 84 insertions(+), 36 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 9dcff53c..21ef00b6 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -167,7 +167,8 @@
"qtvirtualkeyboard": "cpp",
"qabstractbutton": "cpp",
"qmetatype": "cpp",
- "qmainwindow": "cpp"
+ "qmainwindow": "cpp",
+ "qapplication": "cpp"
},
"editor.defaultFormatter": "ms-vscode.cpptools",
"[xml]": {
diff --git a/libs/mavlink-skyward-lib b/libs/mavlink-skyward-lib
index 7abedf97..78a568f5 160000
--- a/libs/mavlink-skyward-lib
+++ b/libs/mavlink-skyward-lib
@@ -1 +1 @@
-Subproject commit 7abedf9773b3ebce9d14687d13544f40fad5577f
+Subproject commit 78a568f5e31fb9b50dbf8ec7d9af16261b364a8f
diff --git a/src/shared/Modules/CommandPad/MessagesList.h b/src/shared/Modules/CommandPad/MessagesList.h
index f7b71509..90e81636 100644
--- a/src/shared/Modules/CommandPad/MessagesList.h
+++ b/src/shared/Modules/CommandPad/MessagesList.h
@@ -171,11 +171,17 @@ const QMap<QString, int> servosList{
{"EXPULSION_SERVO", EXPULSION_SERVO},
{"PARAFOIL_LEFT_SERVO", PARAFOIL_LEFT_SERVO},
{"PARAFOIL_RIGHT_SERVO", PARAFOIL_RIGHT_SERVO},
+ {"N2O_FILLING_VALVE", N2O_FILLING_VALVE},
+ {"N2O_RELEASE_VALVE", N2O_RELEASE_VALVE},
+ {"N2O_DETATCH_SERVO", N2O_DETACH_SERVO},
+ {"N2O_VENTING_VALVE", N2O_VENTING_VALVE},
+ {"N2_FILLING_VALVE", N2_FILLING_VALVE},
+ {"N2_RELEASE_VALVE", N2_RELEASE_VALVE},
+ {"N2_DETACH_SERVO", N2_DETACH_SERVO},
+ {"N2_QUENCHING_VALVE", N2_QUENCHING_VALVE},
+ {"N2_3WAY_VALVE", N2_3WAY_VAVLE},
{"MAIN_VALVE", MAIN_VALVE},
- {"VENTING_VALVE", VENTING_VALVE},
- {"RELEASE_VALVE", RELEASE_VALVE},
- {"FILLING_VALVE", FILLING_VALVE},
- {"DISCONNECT_SERVO", DISCONNECT_SERVO}};
+ {"NITROGEN_VALVE", NITROGEN_VALVE}};
const QMap<QString, int> stepperList{{"STEPPER_X", STEPPER_X},
{"STEPPER_Y", STEPPER_Y}};
@@ -287,12 +293,18 @@ inline void fillMessagesMap(QMap<QString, MessageFormElement *> &formElements)
formElements["SET_COOLING_TIME_TC"] = element;
element = new MessageFormElement();
+ element->addInteger("n2o_filling_btn", "N2O Filling:", 0, 1);
+ element->addInteger("n2o_release_btn", "N2O Release:", 0, 1);
+ element->addInteger("n2o_detach_btn", "N2O Detatch:", 0, 1);
+ element->addInteger("n2o_venting_btn", "N2O Venting:", 0, 1);
+ element->addInteger("n2_filling_btn", "N2 Filling:", 0, 1);
+ element->addInteger("n2_release_btn", "N2 Release:", 0, 1);
+ element->addInteger("n2_detach_btn", "N2 Detach:", 0, 1);
+ element->addInteger("n2_quenching_btn", "N2 Quenching:", 0, 1);
+ element->addInteger("n2_3way_btn", "N2 3-Way Valve:", 0, 1);
+ element->addInteger("tars_btn", "TARS:", 0, 1);
+ element->addInteger("nitrogen_btn", "Nitrogen:", 0, 1);
element->addInteger("ignition_btn", "Ignition:", 0, 1);
- element->addInteger("filling_valve_btn", "Filling:", 0, 1);
- element->addInteger("venting_valve_btn", "Venting:", 0, 1);
- element->addInteger("release_pressure_btn", "Release:", 0, 1);
- element->addInteger("quick_connector_btn", "Quick connector:", 0, 1);
- element->addInteger("start_tars_btn", "Tars:", 0, 1);
element->addInteger("arm_switch", "Arm:", 0, 1);
formElements["CONRIG_STATE_TC"] = element;
diff --git a/src/shared/Modules/Mavlink/MavlinkCodec.cpp b/src/shared/Modules/Mavlink/MavlinkCodec.cpp
index 122c642f..529cc5c7 100644
--- a/src/shared/Modules/Mavlink/MavlinkCodec.cpp
+++ b/src/shared/Modules/Mavlink/MavlinkCodec.cpp
@@ -418,12 +418,18 @@ bool MavlinkCodec::encodeMessage(const Message& msg, SysId sysId, CompId compId,
{
mavlink_msg_conrig_state_tc_pack(
sysId, compId, &output,
+ msg.getField("n2o_filing_btn").getUnsignedInteger(),
+ msg.getField("n2o_release_btn").getUnsignedInteger(),
+ msg.getField("n2o_detach_btn").getUnsignedInteger(),
+ msg.getField("n2o_venting_btn").getUnsignedInteger(),
+ msg.getField("n2_filling_btn").getUnsignedInteger(),
+ msg.getField("n2_release_btn").getUnsignedInteger(),
+ msg.getField("n2_detach_btn").getUnsignedInteger(),
+ msg.getField("n2_quenching_btn").getUnsignedInteger(),
+ msg.getField("n2_3way_btn").getUnsignedInteger(),
+ msg.getField("tars_btn").getUnsignedInteger(),
+ msg.getField("nitrogen_btn").getUnsignedInteger(),
msg.getField("ignition_btn").getUnsignedInteger(),
- msg.getField("filling_valve_btn").getUnsignedInteger(),
- msg.getField("venting_valve_btn").getUnsignedInteger(),
- msg.getField("release_pressure_btn").getUnsignedInteger(),
- msg.getField("quick_connector_btn").getUnsignedInteger(),
- msg.getField("start_tars_btn").getUnsignedInteger(),
msg.getField("arm_switch").getUnsignedInteger());
return true;
}
diff --git a/src/shared/Modules/Mavlink/MavlinkCodec.h b/src/shared/Modules/Mavlink/MavlinkCodec.h
index c79a6262..456c9ac7 100644
--- a/src/shared/Modules/Mavlink/MavlinkCodec.h
+++ b/src/shared/Modules/Mavlink/MavlinkCodec.h
@@ -34,11 +34,13 @@ class MavlinkCodec : public QObject
public:
enum SysId
{
- SysIdMain = MAV_SYSID_MAIN,
- SysIdPayload = MAV_SYSID_PAYLOAD,
- SysIdRig = MAV_SYSID_RIG,
- SysIdGS = MAV_SYSID_GS,
- SysIdARP = MAV_SYSID_ARP,
+ SysIdMain = MAV_SYSID_MAIN,
+ SysIdPayload = MAV_SYSID_PAYLOAD,
+ SysIdRig = MAV_SYSID_RIG,
+ SysIdGS = MAV_SYSID_GS,
+ SysIdARP = MAV_SYSID_ARP,
+ SysIdGSBackup = MAV_SYSID_GS_BACKUP,
+ SysIdARRPBackup = MAV_SYSID_ARP_BACKUP
};
enum CompId
diff --git a/src/shared/Modules/Mavlink/MavlinkVersionHeader.h b/src/shared/Modules/Mavlink/MavlinkVersionHeader.h
index 69e6e2a6..b2138abc 100644
--- a/src/shared/Modules/Mavlink/MavlinkVersionHeader.h
+++ b/src/shared/Modules/Mavlink/MavlinkVersionHeader.h
@@ -23,7 +23,7 @@
#if __GNUC__ >= 9
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
#endif
-#include <mavlink_lib/lyra/mavlink.h>
+#include <mavlink_lib/orion/mavlink.h>
#pragma GCC diagnostic pop
// static __attribute__((unused)) uint8_t validSysid = 171;
diff --git a/src/shared/Modules/ValvesViewer/ValvesList.h b/src/shared/Modules/ValvesViewer/ValvesList.h
index be0077cb..0271a7a6 100644
--- a/src/shared/Modules/ValvesViewer/ValvesList.h
+++ b/src/shared/Modules/ValvesViewer/ValvesList.h
@@ -28,16 +28,26 @@ namespace ValvesList
// Valves
enum class Valve : int
{
- FILLING = 0,
- RELEASE,
- VENTING,
+ N2O_FILLING = 0,
+ N2O_RELEASE,
+ N2O_DETACH,
+ N2O_VENTING,
+ N2_FILLING,
+ N2_RELEASE,
+ N2_VENTING,
+ N2_DETACH,
+ N2_QUENCHING,
+ N2_3WAY,
MAIN,
NITROGEN,
TARS,
+ IGNITION
};
// Groundstation labels
-static const QList<QString> valvesLabels{"FILLING", "RELEASE", "VENTING",
- "MAIN", "NITROGEN", "TARS"};
+static const QList<QString> valvesLabels{
+ "N2O FILLING", "N2O RELEASE", "N2O DETACH", "N2O VENTING", "N2 FILLING",
+ "N2 RELEASE", "N2 VENTING", "N2 DETACH", "N2 QUENCHING", "N2 3WAY",
+ "MAIN", "NITROGEN", "TARS", "IGNITION"};
} // namespace ValvesList
\ No newline at end of file
diff --git a/src/shared/Modules/ValvesViewer/ValvesViewer.cpp b/src/shared/Modules/ValvesViewer/ValvesViewer.cpp
index 4889eb8c..4571e94c 100644
--- a/src/shared/Modules/ValvesViewer/ValvesViewer.cpp
+++ b/src/shared/Modules/ValvesViewer/ValvesViewer.cpp
@@ -59,6 +59,8 @@ void ValvesViewer::setupUi()
label->setText(labelText);
label->setAlignment(Qt::AlignCenter);
label->setContentsMargins(4, 4, 4, 4);
+ QString baseStyle{baseStylesheet};
+ label->setStyleSheet(baseStyle);
outerLayout->addWidget(label);
}
@@ -94,23 +96,35 @@ void ValvesViewer::onMsgReceived(const Message& msg)
{
// Couple the valves with their own state
QMap<ValvesList::Valve, uint64_t> map{
- {ValvesList::Valve::FILLING,
- msg.getField("filling_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2O_FILLING,
+ msg.getField("n2o_filling_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2O_RELEASE,
+ msg.getField("n2o_release_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2O_DETACH,
+ msg.getField("n2o_detach_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2O_VENTING,
+ msg.getField("n2o_venting_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2_FILLING,
+ msg.getField("n2_filling_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2_RELEASE,
+ msg.getField("n2_release_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2_DETACH,
+ msg.getField("n2_detach_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2_QUENCHING,
+ msg.getField("n2_quenching_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::N2_3WAY,
+ msg.getField("n2_3way_valve_state").getUnsignedInteger()},
{ValvesList::Valve::MAIN,
msg.getField("main_valve_state").getUnsignedInteger()},
- {ValvesList::Valve::RELEASE,
- msg.getField("release_valve_state").getUnsignedInteger()},
- {ValvesList::Valve::VENTING,
- msg.getField("venting_valve_state").getUnsignedInteger()},
{ValvesList::Valve::NITROGEN,
msg.getField("nitrogen_valve_state").getUnsignedInteger()},
+ {ValvesList::Valve::IGNITION,
+ msg.getField("ignition_state").getUnsignedInteger()},
{ValvesList::Valve::TARS,
msg.getField("tars_state").getUnsignedInteger()}};
// Define the "active" and the "not active" look
- QString baseStyle =
- "border-bottom-width:1px;border-left-width:1px;border-top-width:"
- "1px;border-radius:0;";
+ QString baseStyle{baseStylesheet};
QString completedStyle = "background-color:green;" + baseStyle;
QString errorStyle = "background-color:red;" + baseStyle;
diff --git a/src/shared/Modules/ValvesViewer/ValvesViewer.h b/src/shared/Modules/ValvesViewer/ValvesViewer.h
index 5c0b4efd..2a68dc10 100644
--- a/src/shared/Modules/ValvesViewer/ValvesViewer.h
+++ b/src/shared/Modules/ValvesViewer/ValvesViewer.h
@@ -49,4 +49,7 @@ private:
Filter filter;
ValvesList::Valve currentState;
+ static constexpr char* baseStylesheet =
+ "border-bottom-width:1px;border-left-width:1px;border-top-width:"
+ "1px;border-radius:0;";
};
--
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