机器人地面站-[QGroundControl源码解析]-[7]-[api]
目录
前言
一.QmlComponentInfo
二.QGCSettings
三.QGCOptions
四.QGCCorePlugin
总结
前言
上篇讲完了Analyize中内容，主要对应界面上AnalyzeTool模块的功能。本篇我们来过api文件夹下的代码。api下的代码主要实现了qgc的核心接口，应用所有的选项和设置。下面来分析代码。
一.QmlComponentInfo
该类表示在设置界面中左侧的按钮如图
代码也比较简单
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QUrl>
/// Represents a Qml component which can be loaded from a resource.
/// 表示可以从资源加载的Qml组件。
class QmlComponentInfo : public QObject
{
Q_OBJECT
public:
QmlComponentInfo(QString title, QUrl url, QUrl icon = QUrl(), QObject* parent = nullptr);
Q_PROPERTY(QString title READ title CONSTANT) ///< Title for page
Q_PROPERTY(QUrl url READ url CONSTANT) ///< Qml source code
Q_PROPERTY(QUrl icon READ icon CONSTANT) ///< Icon for page
virtual QString title () { return _title; }
virtual QUrl url () { return _url; }
virtual QUrl icon () { return _icon; }
protected:
QString _title; //标题
QUrl _url; //链接
QUrl _icon; //图表
};
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "QmlComponentInfo.h"
//构造函数
QmlComponentInfo::QmlComponentInfo(QString title, QUrl url, QUrl icon, QObject* parent)
: QObject (parent)
, _title (title)
, _url (url)
, _icon (icon)
{
}
二.QGCSettings
该类和QmlComponentInfo类似，也是用来指定某个设置的条目的。
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QUrl>
/// @file
/// @brief Core Plugin Interface for QGroundControl. Settings element.
/// QGroundControl的核心插件接口。 设置元素
/// @author Gus Grubba <gus@auterion.com>
class QGCSettings : public QObject
{
Q_OBJECT
public:
QGCSettings(QString title, QUrl url, QUrl icon = QUrl());
Q_PROPERTY(QString title READ title CONSTANT)
Q_PROPERTY(QUrl url READ url CONSTANT)
Q_PROPERTY(QUrl icon READ icon CONSTANT)
virtual QString title () { return _title; }
virtual QUrl url () { return _url; }
virtual QUrl icon () { return _icon; }
protected:
QString _title; //设置标题
QUrl _url; //设置路径
QUrl _icon; //设置图标
};
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "QGCSettings.h"
/// @file
/// @brief Core Plugin Interface for QGroundControl. Settings element.
/// @author Gus Grubba <gus@auterion.com>
QGCSettings::QGCSettings(QString title, QUrl url, QUrl icon)
: _title(title)
, _url(url)
, _icon(icon)
{
}
三.QGCOptions
此类用来保存QGC中的选项。里面包含了各种选项。
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QString>
#include <QUrl>
#include <QColor>
class QGCOptions;
class QGCFlyViewOptions : public QObject
{
Q_OBJECT
public:
QGCFlyViewOptions(QGCOptions* options, QObject* parent = nullptr);
Q_PROPERTY(bool showMultiVehicleList READ showMultiVehicleList CONSTANT)
Q_PROPERTY(bool showInstrumentPanel READ showInstrumentPanel CONSTANT)
Q_PROPERTY(bool showMapScale READ showMapScale CONSTANT)
Q_PROPERTY(bool guidedBarShowEmergencyStop READ guidedBarShowEmergencyStop NOTIFY guidedBarShowEmergencyStopChanged)
Q_PROPERTY(bool guidedBarShowOrbit READ guidedBarShowOrbit NOTIFY guidedBarShowOrbitChanged)
Q_PROPERTY(bool guidedBarShowROI READ guidedBarShowROI NOTIFY guidedBarShowROIChanged)
protected:
virtual bool showMultiVehicleList () const { return true; }
virtual bool showMapScale () const { return true; }
virtual bool showInstrumentPanel () const { return true; }
virtual bool guidedBarShowEmergencyStop () const { return true; }
virtual bool guidedBarShowOrbit () const { return true; }
virtual bool guidedBarShowROI () const { return true; }
QGCOptions* _options;
signals:
void guidedBarShowEmergencyStopChanged (bool show);
void guidedBarShowOrbitChanged (bool show);
void guidedBarShowROIChanged (bool show);
};
class QGCOptions : public QObject
{
Q_OBJECT
public:
QGCOptions(QObject* parent = nullptr);
Q_PROPERTY(bool combineSettingsAndSetup READ combineSettingsAndSetup CONSTANT)
Q_PROPERTY(double toolbarHeightMultiplier READ toolbarHeightMultiplier CONSTANT)
Q_PROPERTY(bool enablePlanViewSelector READ enablePlanViewSelector CONSTANT)
Q_PROPERTY(QUrl preFlightChecklistUrl READ preFlightChecklistUrl CONSTANT)
Q_PROPERTY(bool showSensorCalibrationCompass READ showSensorCalibrationCompass NOTIFY showSensorCalibrationCompassChanged)
Q_PROPERTY(bool showSensorCalibrationGyro READ showSensorCalibrationGyro NOTIFY showSensorCalibrationGyroChanged)
Q_PROPERTY(bool showSensorCalibrationAccel READ showSensorCalibrationAccel NOTIFY showSensorCalibrationAccelChanged)
Q_PROPERTY(bool showSensorCalibrationLevel READ showSensorCalibrationLevel NOTIFY showSensorCalibrationLevelChanged)
Q_PROPERTY(bool showSensorCalibrationAirspeed READ showSensorCalibrationAirspeed NOTIFY showSensorCalibrationAirspeedChanged)
Q_PROPERTY(bool sensorsHaveFixedOrientation READ sensorsHaveFixedOrientation CONSTANT)
Q_PROPERTY(bool wifiReliableForCalibration READ wifiReliableForCalibration CONSTANT)
Q_PROPERTY(bool showFirmwareUpgrade READ showFirmwareUpgrade NOTIFY showFirmwareUpgradeChanged)
Q_PROPERTY(QString firmwareUpgradeSingleURL READ firmwareUpgradeSingleURL CONSTANT)
Q_PROPERTY(bool missionWaypointsOnly READ missionWaypointsOnly NOTIFY missionWaypointsOnlyChanged)
Q_PROPERTY(bool multiVehicleEnabled READ multiVehicleEnabled NOTIFY multiVehicleEnabledChanged)
Q_PROPERTY(bool showOfflineMapExport READ showOfflineMapExport NOTIFY showOfflineMapExportChanged)
Q_PROPERTY(bool showOfflineMapImport READ showOfflineMapImport NOTIFY showOfflineMapImportChanged)
Q_PROPERTY(bool useMobileFileDialog READ useMobileFileDialog CONSTANT)
Q_PROPERTY(bool showMissionStatus READ showMissionStatus CONSTANT)
Q_PROPERTY(bool guidedActionsRequireRCRSSI READ guidedActionsRequireRCRSSI CONSTANT)
Q_PROPERTY(bool showMissionAbsoluteAltitude READ showMissionAbsoluteAltitude NOTIFY showMissionAbsoluteAltitudeChanged)
Q_PROPERTY(bool showSimpleMissionStart READ showSimpleMissionStart NOTIFY showSimpleMissionStartChanged)
Q_PROPERTY(bool disableVehicleConnection READ disableVehicleConnection CONSTANT)
Q_PROPERTY(float devicePixelRatio READ devicePixelRatio NOTIFY devicePixelRatioChanged)
Q_PROPERTY(float devicePixelDensity READ devicePixelDensity NOTIFY devicePixelDensityChanged)
Q_PROPERTY(bool checkFirmwareVersion READ checkFirmwareVersion CONSTANT)
Q_PROPERTY(bool showMavlinkLogOptions READ showMavlinkLogOptions CONSTANT)
Q_PROPERTY(bool enableSaveMainWindowPosition READ enableSaveMainWindowPosition CONSTANT)
Q_PROPERTY(QStringList surveyBuiltInPresetNames READ surveyBuiltInPresetNames CONSTANT)
Q_PROPERTY(QGCFlyViewOptions* flyView READ flyViewOptions CONSTANT)
/// Should QGC hide its settings menu and colapse it into one single menu (Settings and Vehicle Setup)?
/// QGC是否应该隐藏它的设置菜单，并将其折叠成一个单一的菜单(设置和车辆设置)?
/// @return true if QGC should consolidate both menus into one.
virtual bool combineSettingsAndSetup () { return false; }
/// Main ToolBar Multiplier.主工具栏乘数。
/// @return Factor to use when computing toolbar height
virtual double toolbarHeightMultiplier () { return 1.0; }
/// Enable Plan View Selector (Mission, Fence or Rally)
/// 启用计划视图选择器(任务，栅栏或拉力赛)
/// @return True or false
virtual bool enablePlanViewSelector () { return true; }
/// Should the mission status indicator (Plan View) be shown?
/// 是否应显示任务状态指示器(计划视图)?
/// @return Yes or no
virtual bool showMissionStatus () { return true; }
/// Provides an optional, custom preflight checklist
/// 提供可选的自定义飞行前检查清单
virtual QUrl preFlightChecklistUrl () const { return QUrl::fromUserInput("qrc:/qml/PreFlightCheckList.qml"); }
/// Allows replacing the toolbar Light Theme color
/// 允许替换工具栏的光主题颜色
virtual QColor toolbarBackgroundLight () const;
/// Allows replacing the toolbar Dark Theme color
/// 允许替换工具栏的暗主题颜色
virtual QColor toolbarBackgroundDark () const;
/// By returning false you can hide the following sensor calibration pages
/// 通过返回false，您可以隐藏以下传感器校准页面
virtual bool showSensorCalibrationCompass () const { return true; }
virtual bool showSensorCalibrationGyro () const { return true; }
virtual bool showSensorCalibrationAccel () const { return true; }
virtual bool showSensorCalibrationLevel () const { return true; }
virtual bool showSensorCalibrationAirspeed () const { return true; }
virtual bool wifiReliableForCalibration () const { return false; }
virtual bool sensorsHaveFixedOrientation () const { return false; }
virtual bool showFirmwareUpgrade () const { return true; }
virtual bool missionWaypointsOnly () const { return false; } ///< true: Only allow waypoints and complex items in Plan 计划中只允许路径点和复杂项目
virtual bool multiVehicleEnabled () const { return true; } ///< false: multi vehicle support is disabled 多设备支持被禁用
virtual bool guidedActionsRequireRCRSSI () const { return false; } ///< true: Guided actions will be disabled is there is no RC RSSI 如果没有RC RSSI，引导动作将被禁用
virtual bool showOfflineMapExport () const { return true; }
virtual bool showOfflineMapImport () const { return true; }
virtual bool showMissionAbsoluteAltitude () const { return true; }
virtual bool showSimpleMissionStart () const { return false; }
virtual bool disableVehicleConnection () const { return false; } ///< true: vehicle connection is disabled
virtual bool checkFirmwareVersion () const { return true; }
virtual bool showMavlinkLogOptions () const { return true; }
/// Desktop builds save the main application size and position on close (and restore it on open)
/// 桌面构建在关闭时保存主应用程序的大小和位置(并在打开时恢复)
virtual bool enableSaveMainWindowPosition () const { return true; }
virtual QStringList surveyBuiltInPresetNames () const { return QStringList(); } // Built in presets cannot be deleted
#if defined(__mobile__)
virtual bool useMobileFileDialog () const { return true;}
#else
virtual bool useMobileFileDialog () const { return false;}
#endif
/// If returned QString in non-empty it means that firmware upgrade will run in a mode which only
/// supports downloading a single firmware file from the URL. It also supports custom install through
/// the Advanced options.
/// 如果返回的QString不为空，这意味着固件升级将以只支持从URL下载单个固件文件的模式运行。 它还支持通过高级选项自定义安装。
virtual QString firmwareUpgradeSingleURL () const { return QString(); }
/// Device specific pixel ratio/density (for when Qt doesn't properly read it from the hardware)
/// 特定于设备的像素比/密度(当Qt不能正确地从硬件读取它时)
virtual float devicePixelRatio () const { return 0.0f; }
virtual float devicePixelDensity () const { return 0.0f; }
virtual QGCFlyViewOptions* flyViewOptions ();
signals:
void showSensorCalibrationCompassChanged (bool show);
void showSensorCalibrationGyroChanged (bool show);
void showSensorCalibrationAccelChanged (bool show);
void showSensorCalibrationLevelChanged (bool show);
void showSensorCalibrationAirspeedChanged (bool show);
void showFirmwareUpgradeChanged (bool show);
void missionWaypointsOnlyChanged (bool missionWaypointsOnly);
void multiVehicleEnabledChanged (bool multiVehicleEnabled);
void showOfflineMapExportChanged ();
void showOfflineMapImportChanged ();
void showMissionAbsoluteAltitudeChanged ();
void showSimpleMissionStartChanged ();
void devicePixelRatioChanged ();
void devicePixelDensityChanged ();
protected:
QGCFlyViewOptions* _defaultFlyViewOptions = nullptr;
};
cc文件
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "QGCOptions.h"
#include <QtQml>
/// @file
/// @brief Core Plugin Interface for QGroundControl - Application Options
/// QGroundControl的核心插件接口-应用程序选项
/// @author Gus Grubba <gus@auterion.com>
QGCOptions::QGCOptions(QObject* parent)
: QObject(parent)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
}
QColor QGCOptions::toolbarBackgroundLight() const
{
return QColor(255,255,255);
}
QColor QGCOptions::toolbarBackgroundDark() const
{
return QColor(0,0,0);
}
QGCFlyViewOptions* QGCOptions::flyViewOptions(void)
{
if (!_defaultFlyViewOptions) {
_defaultFlyViewOptions = new QGCFlyViewOptions(this);
}
return _defaultFlyViewOptions;
}
QGCFlyViewOptions::QGCFlyViewOptions(QGCOptions* options, QObject* parent)
: QObject (parent)
, _options (options)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
}
四.QGCCorePlugin
该类提供了QGroundControl的核心插件接口。控制各个界面按钮显示。
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "QGCToolbox.h"
#include "QGCPalette.h"
#include "QGCMAVLink.h"
#include "QmlObjectListModel.h"
#include <QObject>
#include <QVariantList>
/// @file
/// @brief Core Plugin Interface for QGroundControl
/// @author Gus Grubba <gus@auterion.com>
class QGCApplication;
class QGCOptions;
class QGCSettings;
class QGCCorePlugin_p;
class FactMetaData;
class QGeoPositionInfoSource;
class QQmlApplicationEngine;
class Vehicle;
class LinkInterface;
class QmlObjectListModel;
class VideoReceiver;
class VideoSink;
class PlanMasterController;
class QGCCameraManager;
class QGCCameraControl;
class QQuickItem;
class InstrumentValueAreaController;
//核心插件类 继承自qgctool
class QGCCorePlugin : public QGCTool
{
Q_OBJECT
public:
QGCCorePlugin(QGCApplication* app, QGCToolbox* toolbox);
~QGCCorePlugin();
Q_PROPERTY(QVariantList settingsPages READ settingsPages NOTIFY settingsPagesChanged) //设置界面
Q_PROPERTY(QVariantList analyzePages READ analyzePages NOTIFY analyzePagesChanged) //分析界面
Q_PROPERTY(int defaultSettings READ defaultSettings CONSTANT) //默认设置
Q_PROPERTY(QGCOptions* options READ options CONSTANT) //选项
Q_PROPERTY(bool showTouchAreas READ showTouchAreas WRITE setShowTouchAreas NOTIFY showTouchAreasChanged) //显示触控区域
Q_PROPERTY(bool showAdvancedUI READ showAdvancedUI WRITE setShowAdvancedUI NOTIFY showAdvancedUIChanged) //显示高级ui
Q_PROPERTY(QString showAdvancedUIMessage READ showAdvancedUIMessage CONSTANT) //显示高级ui信息
Q_PROPERTY(QString brandImageIndoor READ brandImageIndoor CONSTANT) //
Q_PROPERTY(QString brandImageOutdoor READ brandImageOutdoor CONSTANT)
Q_PROPERTY(QmlObjectListModel* customMapItems READ customMapItems CONSTANT)
Q_PROPERTY(QVariantList toolBarIndicators READ toolBarIndicators NOTIFY toolBarIndicatorsChanged) //工具栏指示器
Q_PROPERTY(int unitsFirstRunPromptId MEMBER unitsFirstRunPromptId CONSTANT)
Q_PROPERTY(int offlineVehicleFirstRunPromptId MEMBER offlineVehicleFirstRunPromptId CONSTANT)
Q_INVOKABLE bool guidedActionsControllerLogging() const;
/// The list of settings under the Settings Menu
/// 设置菜单下的设置列表
/// @return A list of QGCSettings
virtual QVariantList& settingsPages();
/// The list of pages/buttons under the Analyze Menu
/// Analyze菜单下的页面/按钮列表
/// @return A list of QmlPageInfo
virtual QVariantList& analyzePages();
/// The default settings panel to show
/// 显示的默认设置面板
/// @return The settings index
virtual int defaultSettings();
/// Global options
/// @return An instance of QGCOptions 全局选项
virtual QGCOptions* options();
/// Allows the core plugin to override the visibility for a settings group
/// 允许核心插件覆盖设置组的可见性
/// @param name - SettingsGroup name
/// @return true: Show settings ui, false: Hide settings ui
virtual bool overrideSettingsGroupVisibility(QString name);
/// Allows the core plugin to override the setting meta data before the setting fact is created.
/// 允许核心插件在创建设置事实之前覆盖设置元数据。
/// @param settingsGroup - QSettings group which contains this item
/// @param metaData - MetaData for setting fact
/// @return true: Setting should be visible in ui, false: Setting should not be shown in ui
virtual bool adjustSettingMetaData(const QString& settingsGroup, FactMetaData& metaData);
/// Return the resource file which contains the brand image for for Indoor theme.
/// 返回包含室内主题的品牌形象的资源文件。
virtual QString brandImageIndoor() const { return QString(); }
/// Return the resource file which contains the brand image for for Outdoor theme.
virtual QString brandImageOutdoor() const { return QString(); }
/// @return The message to show to the user when they a re prompted to confirm turning on advanced ui.
/// 当用户被提示确认打开高级ui时显示给用户的消息。
virtual QString showAdvancedUIMessage() const;
/// @return An instance of an alternate position source (or NULL if not available)
/// 备用位置源的实例(如果不可用则为NULL)
virtual QGeoPositionInfoSource* createPositionSource(QObject* /*parent*/) { return nullptr; }
/// Allows a plugin to override the specified color name from the palette
/// 允许插件覆盖调色板中指定的颜色名称
virtual void paletteOverride(QString colorName, QGCPalette::PaletteColorInfo_t& colorInfo);
virtual void factValueGridCreateDefaultSettings(const QString& defaultSettingsGroup);
/// Allows the plugin to override or get access to the QmlApplicationEngine to do things like add import
/// path or stuff things into the context prior to window creation.
/// 允许插件覆盖或访问QmlApplicationEngine来做一些事情，如添加导入路径或在创建窗口之前将东西放入上下文。
virtual QQmlApplicationEngine* createQmlApplicationEngine(QObject* parent);
/// Allows the plugin to override the creation of the root (native) window.
/// 允许插件覆盖根(本机)窗口的创建。
virtual void createRootWindow(QQmlApplicationEngine* qmlEngine);
/// Allows the plugin to override the creation of VideoManager.
/// 允许插件覆盖VideoManager的创建。
virtual VideoManager* createVideoManager(QGCApplication* app, QGCToolbox* toolbox);
/// Allows the plugin to override the creation of VideoReceiver.
/// 允许插件覆盖VideoReceiver的创建
virtual VideoReceiver* createVideoReceiver(QObject* parent);
/// Allows the plugin to override the creation of VideoSink.
/// 允许插件覆盖VideoSink的创建。
virtual void* createVideoSink(QObject* parent, QQuickItem* widget);
/// Allows the plugin to override the release of VideoSink.
/// 允许插件覆盖VideoSink的释放
virtual void releaseVideoSink(void* sink);
/// Allows the plugin to see all mavlink traffic to a vehicle
/// 允许插件看到所有mavlink流量到车辆
/// @return true: Allow vehicle to continue processing, false: Vehicle should not process message
virtual bool mavlinkMessage(Vehicle* vehicle, LinkInterface* link, mavlink_message_t message);
/// Allows custom builds to add custom items to the FlightMap. Objects put into QmlObjectListModel should derive from QmlComponentInfo and set the url property.
/// 允许自定义构建向FlightMap添加自定义项目。 放在QmlObjectListModel中的对象应该派生自QmlComponentInfo并设置url属性。
virtual QmlObjectListModel* customMapItems();
/// Allows custom builds to add custom items to the plan file before the document is created.
/// 允许自定义构建在创建文档之前向计划文件添加自定义项。
virtual void preSaveToJson (PlanMasterController* /*pController*/, QJsonObject& /*json*/) {}
/// Allows custom builds to add custom items to the plan file after the document is created.
/// 允许自定义构建在创建文档后向计划文件添加自定义项。
virtual void postSaveToJson (PlanMasterController* /*pController*/, QJsonObject& /*json*/) {}
/// Allows custom builds to add custom items to the mission section of the plan file before the item is created.
/// 允许自定义构建在项目创建之前将自定义项目添加到计划文件的任务部分。
virtual void preSaveToMissionJson (PlanMasterController* /*pController*/, QJsonObject& /*missionJson*/) {}
/// Allows custom builds to add custom items to the mission section of the plan file after the item is created.
/// 允许自定义构建在项目创建后将自定义项目添加到计划文件的任务部分。
virtual void postSaveToMissionJson (PlanMasterController* /*pController*/, QJsonObject& /*missionJson*/) {}
/// Allows custom builds to load custom items from the plan file before the document is parsed.
/// 允许自定义构建在解析文档之前从计划文件加载自定义项。
virtual void preLoadFromJson (PlanMasterController* /*pController*/, QJsonObject& /*json*/) {}
/// Allows custom builds to load custom items from the plan file after the document is parsed.
/// 允许自定义构建在文档解析后从计划文件加载自定义项。
virtual void postLoadFromJson (PlanMasterController* /*pController*/, QJsonObject& /*json*/) {}
/// Returns the url to download the stable version check file. Return QString() to indicate no version check should be performed.
/// Default QGC mainline implemenentation returns QGC Stable file location. Default QGC custom build code returns QString().
/// Custom builds can override to turn on and provide their own location.
/// The contents of this file should be a single line in the form:
/// v3.4.4
/// This indicates the latest stable version number.
/// 返回下载稳定版本检查文件的url，返回QString()表示不应执行版本检查。默认的QGC主线实现返回QGC稳定的文件位置。默认QGC自定义构建代码返回QString()。 该文件的内容应该是表单中的一行:
virtual QString stableVersionCheckFileUrl() const;
/// Returns the user visible url to show user where to download new stable builds from.
/// 返回用户可见的url，以显示用户从哪里下载新的稳定构建。
/// Custom builds must override to provide their own location.
/// 自定义构建必须重写以提供它们自己的位置。
virtual QString stableDownloadLocation() const { return QString("qgroundcontrol.com"); }
/// Returns the complex mission items to display in the Plan UI
/// 返回要在Plan UI中显示的复杂任务项
/// @param complexMissionItemNames Default set of complex items 复杂项目的默认集合
/// @return Complex items to be made available to user
virtual QStringList complexMissionItemNames(Vehicle* /*vehicle*/, const QStringList& complexMissionItemNames) { return complexMissionItemNames; }
/// Returns the standard list of first run prompt ids for possible display. Actual display is based on the
/// current AppSettings::firstRunPromptIds value. The order of this list also determines the order the prompts
/// will be displayed in.
virtual QList<int> firstRunPromptStdIds(void);
/// Returns the custom build list of first run prompt ids for possible display. Actual display is based on the
/// current AppSettings::firstRunPromptIds value. The order of this list also determines the order the prompts
/// will be displayed in.
virtual QList<int> firstRunPromptCustomIds(void);
/// Returns the resource which contains the specified first run prompt for display
///返回包含指定的第一次运行提示符的资源
Q_INVOKABLE virtual QString firstRunPromptResource(int id);
/// Returns the list of toolbar indicators which are not related to a vehicle
/// signals toolbarIndicatorsChanged
/// 返回与车辆信号toolbarIndicatorsChanged无关的工具栏指示器列表
/// @return A list of QUrl with the indicators
virtual const QVariantList& toolBarIndicators(void);
/// Returns the list of first run prompt ids which need to be displayed according to current settings
/// 返回根据当前设置需要显示的第一次运行提示符id的列表
Q_INVOKABLE QVariantList firstRunPromptsToShow(void);
bool showTouchAreas() const { return _showTouchAreas; }
bool showAdvancedUI() const { return _showAdvancedUI; }
void setShowTouchAreas(bool show);
void setShowAdvancedUI(bool show);
// Override from QGCTool
void setToolbox (QGCToolbox* toolbox);
// Standard first run prompt ids 标准的第一次运行提示id
static const int unitsFirstRunPromptId = 1;
static const int offlineVehicleFirstRunPromptId = 2;
// Custom builds can start there first run prompt ids from here 自定义构建可以从那里开始，然后从这里运行提示id
static const int firstRunPromptIdsFirstCustomId = 10000;
signals:
void settingsPagesChanged ();
void analyzePagesChanged ();
void showTouchAreasChanged (bool showTouchAreas);
void showAdvancedUIChanged (bool showAdvancedUI);
void toolBarIndicatorsChanged ();
protected:
bool _showTouchAreas;
bool _showAdvancedUI;
Vehicle* _activeVehicle = nullptr;
QGCCameraManager* _cameraManager = nullptr;
QGCCameraControl* _currentCamera = nullptr;
QVariantList _toolBarIndicatorList;
private:
QGCCorePlugin_p* _p;
};
cc文件
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "QGCApplication.h"
#include "QGCCorePlugin.h"
#include "QGCOptions.h"
#include "QmlComponentInfo.h"
#include "FactMetaData.h"
#include "SettingsManager.h"
#include "AppMessages.h"
#include "QmlObjectListModel.h"
#include "VideoManager.h"
#if defined(QGC_GST_STREAMING)
#include "GStreamer.h"
#include "VideoReceiver.h"
#endif
#include "QGCLoggingCategory.h"
#include "QGCCameraManager.h"
#include "HorizontalFactValueGrid.h"
#include "InstrumentValueData.h"
#include <QtQml>
#include <QQmlEngine>
/// @file
/// @brief Core Plugin Interface for QGroundControl - Default Implementation
/// QGroundControl的核心插件接口-默认实现
/// @author Gus Grubba <gus@auterion.com>
class QGCCorePlugin_p
{
public:
QGCCorePlugin_p()
{
}
~QGCCorePlugin_p()
{
if(pGeneral)
delete pGeneral;
if(pCommLinks)
delete pCommLinks;
if(pOfflineMaps)
delete pOfflineMaps;
#if defined(QGC_GST_TAISYNC_ENABLED)
if(pTaisync)
delete pTaisync;
#endif
#if defined(QGC_GST_MICROHARD_ENABLED)
if(pMicrohard)
delete pMicrohard;
#endif
#if defined(QGC_AIRMAP_ENABLED)
if(pAirmap)
delete pAirmap;
#endif
if(pMAVLink)
delete pMAVLink;
if(pConsole)
delete pConsole;
#if defined(QT_DEBUG)
if(pMockLink)
delete pMockLink;
if(pDebug)
delete pDebug;
if(pQmlTest)
delete pQmlTest;
#endif
if(defaultOptions)
delete defaultOptions;
}
//对应application setting界面上左侧的按钮
QmlComponentInfo* pGeneral = nullptr; //常规
QmlComponentInfo* pCommLinks = nullptr; //通信连接
QmlComponentInfo* pOfflineMaps = nullptr; //离线地图
#if defined(QGC_GST_TAISYNC_ENABLED)
QmlComponentInfo* pTaisync = nullptr;
#endif
#if defined(QGC_GST_MICROHARD_ENABLED)
QmlComponentInfo* pMicrohard = nullptr;
#endif
#if defined(QGC_AIRMAP_ENABLED)
QmlComponentInfo* pAirmap = nullptr;
#endif
QmlComponentInfo* pMAVLink = nullptr; //mavlink
QmlComponentInfo* pConsole = nullptr; //控制台
QmlComponentInfo* pHelp = nullptr; //帮助
#if defined(QT_DEBUG)
QmlComponentInfo* pMockLink = nullptr; //模拟链接
QmlComponentInfo* pDebug = nullptr; //调试
QmlComponentInfo* pQmlTest = nullptr; //调色板测试
#endif
QGCOptions* defaultOptions = nullptr; //默认选项
QVariantList settingsList; //设置列表
QVariantList analyzeList; //分析列表
QmlObjectListModel _emptyCustomMapItems;
};
QGCCorePlugin::~QGCCorePlugin()
{
if(_p) {
delete _p;
}
}
QGCCorePlugin::QGCCorePlugin(QGCApplication *app, QGCToolbox* toolbox)
: QGCTool(app, toolbox)
, _showTouchAreas(false)
, _showAdvancedUI(true)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
_p = new QGCCorePlugin_p;
}
void QGCCorePlugin::setToolbox(QGCToolbox *toolbox)
{
QGCTool::setToolbox(toolbox);
//qmlRegisterUncreatableType()将c++类(派生自QObject)注册到QML系统(注册为非实例化类型)
qmlRegisterUncreatableType<QGCCorePlugin> ("QGroundControl", 1, 0, "QGCCorePlugin", "Reference only");
qmlRegisterUncreatableType<QGCOptions> ("QGroundControl", 1, 0, "QGCOptions", "Reference only");
qmlRegisterUncreatableType<QGCFlyViewOptions> ("QGroundControl", 1, 0, "QGCFlyViewOptions", "Reference only");
}
//构建application setting界面上左侧的按钮
QVariantList &QGCCorePlugin::settingsPages()
{
if(!_p->pGeneral) {
//构建常规按钮
_p->pGeneral = new QmlComponentInfo(tr("General"),
QUrl::fromUserInput("qrc:/qml/GeneralSettings.qml"),
QUrl::fromUserInput("qrc:/res/gear-white.svg"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pGeneral)));
//构建通讯连接按钮
_p->pCommLinks = new QmlComponentInfo(tr("Comm Links"),
QUrl::fromUserInput("qrc:/qml/LinkSettings.qml"),
QUrl::fromUserInput("qrc:/res/waves.svg"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pCommLinks)));
//构建离线地图按钮
_p->pOfflineMaps = new QmlComponentInfo(tr("Offline Maps"),
QUrl::fromUserInput("qrc:/qml/OfflineMap.qml"),
QUrl::fromUserInput("qrc:/res/waves.svg"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pOfflineMaps)));
#if defined(QGC_GST_TAISYNC_ENABLED)
_p->pTaisync = new QmlComponentInfo(tr("Taisync"),
QUrl::fromUserInput("qrc:/qml/TaisyncSettings.qml"),
QUrl::fromUserInput(""));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pTaisync)));
#endif
#if defined(QGC_GST_MICROHARD_ENABLED)
_p->pMicrohard = new QmlComponentInfo(tr("Microhard"),
QUrl::fromUserInput("qrc:/qml/MicrohardSettings.qml"),
QUrl::fromUserInput(""));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pMicrohard)));
#endif
#if defined(QGC_AIRMAP_ENABLED)
_p->pAirmap = new QmlComponentInfo(tr("AirMap"),
QUrl::fromUserInput("qrc:/qml/AirmapSettings.qml"),
QUrl::fromUserInput(""));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pAirmap)));
#endif
//构建mavlink按钮
_p->pMAVLink = new QmlComponentInfo(tr("MAVLink"),
QUrl::fromUserInput("qrc:/qml/MavlinkSettings.qml"),
QUrl::fromUserInput("qrc:/res/waves.svg"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pMAVLink)));
//构建控制台按钮
_p->pConsole = new QmlComponentInfo(tr("Console"),
QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/AppMessages.qml"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pConsole)));
//构建帮助按钮
_p->pHelp = new QmlComponentInfo(tr("Help"),
QUrl::fromUserInput("qrc:/qml/HelpSettings.qml"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pHelp)));
#if defined(QT_DEBUG)
//-- These are always present on Debug builds
//构建模拟连接按钮
_p->pMockLink = new QmlComponentInfo(tr("Mock Link"),
QUrl::fromUserInput("qrc:/qml/MockLink.qml"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pMockLink)));
//构建调试按钮
_p->pDebug = new QmlComponentInfo(tr("Debug"),
QUrl::fromUserInput("qrc:/qml/DebugWindow.qml"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pDebug)));
//构建调色板测试按钮
_p->pQmlTest = new QmlComponentInfo(tr("Palette Test"),
QUrl::fromUserInput("qrc:/qml/QmlTest.qml"));
_p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pQmlTest)));
#endif
}
return _p->settingsList;
}
//构建analyize tool界面上左侧的按钮
QVariantList& QGCCorePlugin::analyzePages()
{
if (!_p->analyzeList.count()) {
//日志下载
_p->analyzeList.append(QVariant::fromValue(new QmlComponentInfo(tr("Log Download"), QUrl::fromUserInput("qrc:/qml/LogDownloadPage.qml"), QUrl::fromUserInput("qrc:/qmlimages/LogDownloadIcon"))));
#if !defined(__mobile__)
//地理图像标记
_p->analyzeList.append(QVariant::fromValue(new QmlComponentInfo(tr("GeoTag Images"), QUrl::fromUserInput("qrc:/qml/GeoTagPage.qml"), QUrl::fromUserInput("qrc:/qmlimages/GeoTagIcon"))));
#endif
//mavlink控制台
_p->analyzeList.append(QVariant::fromValue(new QmlComponentInfo(tr("MAVLink Console"), QUrl::fromUserInput("qrc:/qml/MavlinkConsolePage.qml"), QUrl::fromUserInput("qrc:/qmlimages/MavlinkConsoleIcon"))));
#if !defined(QGC_DISABLE_MAVLINK_INSPECTOR)
//mavlink检测
_p->analyzeList.append(QVariant::fromValue(new QmlComponentInfo(tr("MAVLink Inspector"),QUrl::fromUserInput("qrc:/qml/MAVLinkInspectorPage.qml"), QUrl::fromUserInput("qrc:/qmlimages/MAVLinkInspector"))));
#endif
//振动
_p->analyzeList.append(QVariant::fromValue(new QmlComponentInfo(tr("Vibration"), QUrl::fromUserInput("qrc:/qml/VibrationPage.qml"), QUrl::fromUserInput("qrc:/qmlimages/VibrationPageIcon"))));
}
return _p->analyzeList;
}
int QGCCorePlugin::defaultSettings()
{
return 0;
}
QGCOptions* QGCCorePlugin::options()
{
if (!_p->defaultOptions) {
//构建QGC中的选项
_p->defaultOptions = new QGCOptions(this);
}
return _p->defaultOptions;
}
bool QGCCorePlugin::overrideSettingsGroupVisibility(QString name)
{
Q_UNUSED(name);
// Always show all
return true;
}
bool QGCCorePlugin::adjustSettingMetaData(const QString& settingsGroup, FactMetaData& metaData)
{
if (settingsGroup == AppSettings::settingsGroup) {
#if !defined(QGC_ENABLE_PAIRING)
//-- If we don't support pairing, disable it.
if (metaData.name() == AppSettings::usePairingName) {
metaData.setRawDefaultValue(false);
//-- And hide the option
return false;
}
#endif
//-- Default Palette
if (metaData.name() == AppSettings::indoorPaletteName) {
QVariant outdoorPalette;
#if defined (__mobile__)
outdoorPalette = 0;
#else
outdoorPalette = 1;
#endif
metaData.setRawDefaultValue(outdoorPalette);
return true;
}
#if defined (__mobile__)
if (metaData.name() == AppSettings::telemetrySaveName) {
// Mobile devices have limited storage so don't turn on telemtry saving by default
metaData.setRawDefaultValue(false);
return true;
}
#endif
}
return true; // Show setting in ui
}
void QGCCorePlugin::setShowTouchAreas(bool show)
{
if (show != _showTouchAreas) {
_showTouchAreas = show;
emit showTouchAreasChanged(show);
}
}
void QGCCorePlugin::setShowAdvancedUI(bool show)
{
if (show != _showAdvancedUI) {
_showAdvancedUI = show;
emit showAdvancedUIChanged(show);
}
}
void QGCCorePlugin::paletteOverride(QString /*colorName*/, QGCPalette::PaletteColorInfo_t& /*colorInfo*/)
{
}
/**
警告:您即将进入高级模式。”
“如果使用不当，这可能会导致您的车辆发生故障，从而使您的保修失效。”
“只有在客户支持部门的指示下，您才应该这样做。”
“您确定要启用高级模式吗?”
*/
QString QGCCorePlugin::showAdvancedUIMessage() const
{
return tr("WARNING: You are about to enter Advanced Mode. "
"If used incorrectly, this may cause your vehicle to malfunction thus voiding your warranty. "
"You should do so only if instructed by customer support. "
"Are you sure you want to enable Advanced Mode?");
}
void QGCCorePlugin::factValueGridCreateDefaultSettings(const QString& defaultSettingsGroup)
{
//factValueGrid设置
HorizontalFactValueGrid factValueGrid(defaultSettingsGroup);
bool includeFWValues = factValueGrid.vehicleClass() == QGCMAVLink::VehicleClassFixedWing || factValueGrid.vehicleClass() == QGCMAVLink::VehicleClassVTOL || factValueGrid.vehicleClass() == QGCMAVLink::VehicleClassAirship;
factValueGrid.setFontSize(FactValueGrid::LargeFontSize);
factValueGrid.appendColumn();
factValueGrid.appendColumn();
factValueGrid.appendColumn();
if (includeFWValues) {
factValueGrid.appendColumn();
}
factValueGrid.appendRow();
int rowIndex = 0;
QmlObjectListModel* column = factValueGrid.columns()->value<QmlObjectListModel*>(0);
InstrumentValueData* value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "AltitudeRelative");
value->setIcon("arrow-thick-up.svg");
value->setText(value->fact()->shortDescription());
value->setShowUnits(true);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "DistanceToHome");
value->setIcon("bookmark copy 3.svg");
value->setText(value->fact()->shortDescription());
value->setShowUnits(true);
rowIndex = 0;
column = factValueGrid.columns()->value<QmlObjectListModel*>(1);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "ClimbRate");
value->setIcon("arrow-simple-up.svg");
value->setText(value->fact()->shortDescription());
value->setShowUnits(true);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "GroundSpeed");
value->setIcon("arrow-simple-right.svg");
value->setText(value->fact()->shortDescription());
value->setShowUnits(true);
if (includeFWValues) {
rowIndex = 0;
column = factValueGrid.columns()->value<QmlObjectListModel*>(2);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "AirSpeed");
value->setText("AirSpd");
value->setShowUnits(true);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "ThrottlePct");
value->setText("Thr");
value->setShowUnits(true);
}
rowIndex = 0;
column = factValueGrid.columns()->value<QmlObjectListModel*>(includeFWValues ? 3 : 2);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "FlightTime");
value->setIcon("timer.svg");
value->setText(value->fact()->shortDescription());
value->setShowUnits(false);
value = column->value<InstrumentValueData*>(rowIndex++);
value->setFact("Vehicle", "FlightDistance");
value->setIcon("travel-walk.svg");
value->setText(value->fact()->shortDescription());
value->setShowUnits(true);
}
QQmlApplicationEngine* QGCCorePlugin::createQmlApplicationEngine(QObject* parent)
{
QQmlApplicationEngine* qmlEngine = new QQmlApplicationEngine(parent);
qmlEngine->addImportPath("qrc:/qml");
qmlEngine->rootContext()->setContextProperty("joystickManager", qgcApp()->toolbox()->joystickManager());
qmlEngine->rootContext()->setContextProperty("debugMessageModel", AppMessages::getModel());
return qmlEngine;
}
void QGCCorePlugin::createRootWindow(QQmlApplicationEngine* qmlEngine)
{
qmlEngine->load(QUrl(QStringLiteral("qrc:/qml/MainRootWindow.qml")));
}
bool QGCCorePlugin::mavlinkMessage(Vehicle* vehicle, LinkInterface* link, mavlink_message_t message)
{
Q_UNUSED(vehicle);
Q_UNUSED(link);
Q_UNUSED(message);
return true;
}
QmlObjectListModel* QGCCorePlugin::customMapItems()
{
return &_p->_emptyCustomMapItems;
}
VideoManager* QGCCorePlugin::createVideoManager(QGCApplication *app, QGCToolbox *toolbox)
{
return new VideoManager(app, toolbox);
}
VideoReceiver* QGCCorePlugin::createVideoReceiver(QObject* parent)
{
#if defined(QGC_GST_STREAMING)
return GStreamer::createVideoReceiver(parent);
#else
Q_UNUSED(parent)
return nullptr;
#endif
}
void* QGCCorePlugin::createVideoSink(QObject* parent, QQuickItem* widget)
{
#if defined(QGC_GST_STREAMING)
return GStreamer::createVideoSink(parent, widget);
#else
Q_UNUSED(parent)
Q_UNUSED(widget)
return nullptr;
#endif
}
void QGCCorePlugin::releaseVideoSink(void* sink)
{
#if defined(QGC_GST_STREAMING)
GStreamer::releaseVideoSink(sink);
#else
Q_UNUSED(sink)
#endif
}
bool QGCCorePlugin::guidedActionsControllerLogging() const
{
return GuidedActionsControllerLog().isDebugEnabled();
}
QString QGCCorePlugin::stableVersionCheckFileUrl() const
{
#ifdef QGC_CUSTOM_BUILD
// Custom builds must override to turn on and provide their own location
return QString();
#else
return QString("https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGC.version.txt");
#endif
}
const QVariantList& QGCCorePlugin::toolBarIndicators(void)
{
//-- Default list of indicators for all vehicles.
if(_toolBarIndicatorList.size() == 0) {
_toolBarIndicatorList = QVariantList({
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSRTKIndicator.qml")),
});
}
return _toolBarIndicatorList;
}
QList<int> QGCCorePlugin::firstRunPromptStdIds(void)
{
QList<int> rgStdIds = { unitsFirstRunPromptId, offlineVehicleFirstRunPromptId };
return rgStdIds;
}
QList<int> QGCCorePlugin::firstRunPromptCustomIds(void)
{
return QList<int>();
}
QVariantList QGCCorePlugin::firstRunPromptsToShow(void)
{
QList<int> rgIdsToShow;
rgIdsToShow.append(firstRunPromptStdIds());
rgIdsToShow.append(firstRunPromptCustomIds());
QList<int> rgAlreadyShownIds = AppSettings::firstRunPromptsIdsVariantToList(_toolbox->settingsManager()->appSettings()->firstRunPromptIdsShown()->rawValue());
for (int idToRemove: rgAlreadyShownIds) {
rgIdsToShow.removeOne(idToRemove);
}
QVariantList rgVarIdsToShow;
for (int id: rgIdsToShow) {
rgVarIdsToShow.append(id);
}
return rgVarIdsToShow;
}
QString QGCCorePlugin::firstRunPromptResource(int id)
{
switch (id) {
case unitsFirstRunPromptId:
return "/FirstRunPromptDialogs/UnitsFirstRunPrompt.qml";
case offlineVehicleFirstRunPromptId:
return "/FirstRunPromptDialogs/OfflineVehicleFirstRunPrompt.qml";
break;
}
return QString();
}
总结
又水了一篇，其实不是想水，是自己都没理清楚，这些类的作用，估计要到后面过qml的时候再来理顺了，所以这几个类只是先翻译了一遍，加了点自己的理解。