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gui: add support for specifying the mavlink source system address #108

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gui: add support for specifying the mavlink source system address #108

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4 changes: 3 additions & 1 deletion dronecan_gui_tool/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
parser.add_argument("--bus", help="set the CAN Bus number", type=int, default=1)
parser.add_argument("--filtered", action='store_true', help="enable filtering of DroneCAN traffic")
parser.add_argument("--target-system", help="set the targetted system", type=int, default=0)
parser.add_argument("--source-system", help="set the source system", type=int, default=250)

args = parser.parse_args()

Expand Down Expand Up @@ -593,11 +594,12 @@ def main():
iface_kwargs['bitrate'] = int(args.bitrate)
iface_kwargs['bus_number'] = int(args.bus)
iface_kwargs['filtered'] = bool(args.filtered)
iface_kwargs['mavlink_source_system'] = int(args.source_system)
iface_kwargs['mavlink_target_system'] = int(args.target_system)
iface_kwargs['mavlink_signing_key'] = str(args.signing_passphrase if args.signing_passphrase is not None else '')
dsdl_directory = args.dsdl
else:
iface, iface_kwargs, dsdl_directory = run_setup_window(get_app_icon(), args.dsdl, args.baudrate, args.bitrate, args.bus, args.filtered, args.target_system, args.signing_passphrase)
iface, iface_kwargs, dsdl_directory = run_setup_window(get_app_icon(), args.dsdl, args.baudrate, args.bitrate, args.bus, args.filtered, args.target_system, args.signing_passphrase, args.source_system)
if not iface:
sys.exit(0)
except Exception as ex:
Expand Down
21 changes: 15 additions & 6 deletions dronecan_gui_tool/setup_window.py
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@ def get_list(self):
return copy.copy(self._ifaces)


def run_setup_window(icon, dsdl_path=None, config_baudrate=DEFAULT_BAUD_RATE, config_bitrate=1000000, config_can_bus=1, enable_filtering=False, mavlink_target_system=0, mavlink_signing_key=''):
def run_setup_window(icon, dsdl_path=None, config_baudrate=DEFAULT_BAUD_RATE, config_bitrate=1000000, config_can_bus=1, enable_filtering=False, mavlink_target_system=0, mavlink_signing_key='', mavlink_source_system=250):
win = QDialog()
win.setWindowTitle('Application Setup')
win.setWindowIcon(icon)
Expand Down Expand Up @@ -208,6 +208,11 @@ def run_setup_window(icon, dsdl_path=None, config_baudrate=DEFAULT_BAUD_RATE, co
filtered = QCheckBox('Enable Filtering')
filtered.setChecked(enable_filtering)

source_system = QSpinBox(win)
source_system.setMaximum(255)
source_system.setMinimum(1)
source_system.setValue(mavlink_source_system)

target_system = QSpinBox(win)
target_system.setMaximum(255)
target_system.setMinimum(0)
Expand Down Expand Up @@ -270,6 +275,7 @@ def on_ok():
kwargs['bitrate'] = int(bitrate.value())
kwargs['bus_number'] = int(bus_number.value())
kwargs['filtered'] = filtered.checkState()
kwargs['mavlink_source_system'] = int(source_system.value())
kwargs['mavlink_target_system'] = int(target_system.value())
kwargs['mavlink_signing_key'] = signing_key.text()
result_key = str(combo.currentText()).strip()
Expand Down Expand Up @@ -300,10 +306,12 @@ def on_ok():
adapter_layout.addWidget(baudrate, 2, 1)
adapter_layout.addWidget(QLabel('Filter for low bandwidth:'), 3, 0)
adapter_layout.addWidget(filtered, 3, 1)
adapter_layout.addWidget(QLabel('MAVLink target system (0 for auto):'), 4, 0)
adapter_layout.addWidget(target_system, 4, 1)
adapter_layout.addWidget(QLabel('MAVLink signing key:'), 5, 0)
adapter_layout.addWidget(signing_key, 5, 1)
adapter_layout.addWidget(QLabel('MAVLink source system:'), 4, 0)
adapter_layout.addWidget(source_system, 4, 1)
adapter_layout.addWidget(QLabel('MAVLink target system (0 for auto):'), 5, 0)
adapter_layout.addWidget(target_system, 5, 1)
adapter_layout.addWidget(QLabel('MAVLink signing key:'), 6, 0)
adapter_layout.addWidget(signing_key, 6, 1)

adapter_group.setLayout(adapter_layout)

Expand All @@ -321,7 +329,8 @@ def on_ok():
QWidget.setTabOrder(bus_number, bitrate)
QWidget.setTabOrder(bitrate, baudrate)
QWidget.setTabOrder(baudrate, filtered)
QWidget.setTabOrder(filtered, target_system)
QWidget.setTabOrder(filtered, source_system)
QWidget.setTabOrder(source_system, target_system)
QWidget.setTabOrder(target_system, signing_key)
QWidget.setTabOrder(signing_key, dir_selection)
QWidget.setTabOrder(dir_selection, ok)
Expand Down