zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Minor UI improvements, pushed implementation of some UI elements

QGC4.4
pixhawk 15 years ago
parent
dfae554be4
commit
124997d0b5
7 changed files with 40 additions and 134 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 39
      images/style-mission.css
  2. 6
      src/comm/MAVLinkSimulationLink.cc
  3. 86
      src/uas/UAS.cc
  4. 2
      src/ui/HUD.cc
  5. 10
      src/ui/UASControl.ui
  6. 28
      src/ui/uas/UASControlWidget.cc
  7. 3
      src/ui/uas/UASControlWidget.h

39
images/style-mission.css
Unescape View File

@ -88,7 +88,8 @@ QDockWidget::close-button, QDockWidget::float-button { @@ -88,7 +88,8 @@ QDockWidget::close-button, QDockWidget::float-button {
QDockWidget::title {
text-align: left;
background: #222224;
background: #121214;
color: #4A4A4F;
padding-left: 5px;
height: 10px;
border-bottom: 1px solid #555555;
@ -194,24 +195,24 @@ QPushButton:checked#controlButton { @@ -194,24 +195,24 @@ QPushButton:checked#controlButton {
}
QProgressBar {
border: 1px solid #EEEEEE;
border: 1px solid #4A4A4F;
border-radius: 4px;
text-align: center;
padding: 2px;
color: white;
color: #DDDDDF;
background-color: #111118;
}
QProgressBar:horizontal {
height 12px;
height: 9px;
}
QProgressBar:vertical {
width 12px;
width: 9px;
}
QProgressBar::chunk {
background-color: #656565;
background-color: #3C7B9E;
}
QProgressBar::chunk#batteryBar {
@ -224,28 +225,4 @@ QProgressBar::chunk#speedBar { @@ -224,28 +225,4 @@ QProgressBar::chunk#speedBar {
QProgressBar::chunk#thrustBar {
background-color: orange;
}
QProgressBar::chunk#bandwidthBar {
background-color: orange;
}
QProgressBar::chunk#loadBar {
background-color: yellow;
}
QProgressBar::chunk#topRotorBar {
background-color: yellow;
}
QProgressBar::chunk#botRotorBar {
background-color: yellow;
}
QProgressBar::chunk#leftServoBar {
background-color: #99BFDD;
}
QProgressBar::chunk#rightServoBar
{
background-color: blue;
}
}

6
src/comm/MAVLinkSimulationLink.cc
Unescape View File

@ -484,7 +484,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) @@ -484,7 +484,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
status.mode = MAV_MODE_AUTO;
break;
case MAV_ACTION_RETURN:
status.status = MAV_STATE_LANDING;
break;
case MAV_ACTION_MOTORS_START:
status.status = MAV_STATE_ACTIVE;
@ -498,6 +498,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) @@ -498,6 +498,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
status.status = MAV_STATE_EMERGENCY;
status.mode = MAV_MODE_MANUAL;
break;
case MAV_ACTION_SHUTDOWN:
status.status = MAV_STATE_POWEROFF;
status.mode = MAV_MODE_LOCKED;
break;
}
}
break;

86
src/uas/UAS.cc
Unescape View File

@ -157,92 +157,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -157,92 +157,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit voltageChanged(message.sysid, state.vbat/1000.0f);
}
break;
/*
case MAVLINK_MSG_ID_SYSTEM:
// std::cerr << std::endl;
// std::cerr << "System Message received" << std::endl;
currentVoltage = message_system_get_voltage(message.payload)/1000.0f;
filterVoltage(currentVoltage);
if (startVoltage == 0) startVoltage = currentVoltage;
timeRemaining = calculateTimeRemaining();
//qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
emit batteryChanged(this, filterVoltage(), getChargeLevel(), timeRemaining);
emit voltageChanged(message.acid, message_system_get_voltage(message.payload)/1000.0f);
emit loadChanged(this, message_system_get_cpu_usage(message.payload)/100.0f);
emit valueChanged(uasId, "Battery", message_system_get_voltage(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "CPU Load", message_system_get_cpu_usage(message.payload), MG::TIME::getGroundTimeNow());
break;
case MAVLINK_MSG_ID_ACTUATORS:
emit actuatorChanged(this, 0, message_actuator_get_act1(message.payload));
emit valueChanged(this->getUASID(), "Top Rotor", message_actuator_get_act1(message.payload), MG::TIME::getGroundTimeNow());
emit actuatorChanged(this, 1, message_actuator_get_act2(message.payload));
emit valueChanged(this->getUASID(), "Bottom Rotor", message_actuator_get_act2(message.payload), MG::TIME::getGroundTimeNow());
emit actuatorChanged(this, 2, message_actuator_get_act3(message.payload));
emit valueChanged(this->getUASID(), "Left Servo", message_actuator_get_act3(message.payload), MG::TIME::getGroundTimeNow());
emit actuatorChanged(this, 3, message_actuator_get_act4(message.payload));
emit valueChanged(this->getUASID(), "Right Servo", message_actuator_get_act4(message.payload), MG::TIME::getGroundTimeNow());
// Calculate thrust sum
thrustSum = (message_actuator_get_act1(message.payload) + message_actuator_get_act2(message.payload)) / 2;
emit thrustChanged(this, thrustSum);
break;
case MAVLINK_MSG_ID_STATE:
emit valueChanged(uasId, "State", message_state_get_state(message.payload), MG::TIME::getGroundTimeNow());
getStatusForCode(message_state_get_state(message.payload), uasState, stateDescription);
emit statusChanged(this, uasState, stateDescription);
break;
case MAVLINK_MSG_ID_POSITION:
// Position message is displayed in meters and degrees
{
quint64 time = MG::TIME::getGroundTimeNow();//message_position_get_msec(message.payload);
emit valueChanged(this, "x", message_position_get_posX(message.payload), time);
emit valueChanged(this, "y", message_position_get_posY(message.payload), time);
emit valueChanged(this, "z", message_position_get_posZ(message.payload), time);
emit valueChanged(this, "roll", message_position_get_roll(message.payload), time);
emit valueChanged(this, "pitch", message_position_get_pitch(message.payload), time);
emit valueChanged(this, "yaw", message_position_get_yaw(message.payload), time);
emit valueChanged(this, "x speed", message_position_get_speedX(message.payload), time);
emit valueChanged(this, "y speed", message_position_get_speedY(message.payload), time);
emit valueChanged(this, "z speed", message_position_get_speedZ(message.payload), time);
emit valueChanged(this, "roll speed", message_position_get_speedRoll(message.payload), time);
emit valueChanged(this, "pitch speed", message_position_get_speedPitch(message.payload), time);
emit valueChanged(this, "yaw speed", message_position_get_speedYaw(message.payload), time);
emit localPositionChanged(this, message_position_get_posX(message.payload), message_position_get_posY(message.payload), message_position_get_posZ(message.payload), time);
emit valueChanged(uasId, "x", message_position_get_posX(message.payload), time);
emit valueChanged(uasId, "y", message_position_get_posY(message.payload), time);
emit valueChanged(uasId, "z", message_position_get_posZ(message.payload), time);
emit valueChanged(uasId, "roll", message_position_get_roll(message.payload), time);
emit valueChanged(uasId, "pitch", message_position_get_pitch(message.payload), time);
emit valueChanged(uasId, "yaw", message_position_get_yaw(message.payload), time);
emit valueChanged(uasId, "x speed", message_position_get_speedX(message.payload), time);
emit valueChanged(uasId, "y speed", message_position_get_speedY(message.payload), time);
emit valueChanged(uasId, "z speed", message_position_get_speedZ(message.payload), time);
emit valueChanged(uasId, "roll speed", message_position_get_speedRoll(message.payload), time);
emit valueChanged(uasId, "pitch speed", message_position_get_speedPitch(message.payload), time);
emit valueChanged(uasId, "yaw speed", message_position_get_speedYaw(message.payload), time);
}
break;
case MAVLINK_MSG_ID_MARKER:
emit valueChanged(uasId, "marker confidence", message_marker_get_confidence(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker x", message_marker_get_posX(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker y", message_marker_get_posY(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker z", message_marker_get_posZ(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker roll", message_marker_get_roll(message.payload)/M_PI*180.0f, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker pitch", message_marker_get_pitch(message.payload)/M_PI*180.0f, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker yaw", message_marker_get_yaw(message.payload)/M_PI*180.0f, MG::TIME::getGroundTimeNow());
break;
case MAVLINK_MSG_ID_IMAGE:
//std::cerr << std::endl;
//std::cerr << "IMAGE DATA RECEIVED" << std::endl;
emit imageStarted(message_image_get_rid(message.payload), message_image_get_width(message.payload), message_image_get_height(message.payload), message_image_get_depth(message.payload), message_image_get_channels(message.payload));
break;
case MAVLINK_MSG_ID_BYTES:
//std::cerr << std::endl;
//std::cerr << "BYTES RESSOURCE RECEIVED" << std::endl;
emit imageDataReceived(message_bytestream_get_rid(message.payload), message_bytestream_get_data(message.payload), message_bytestream_get_length(message.payload), message_bytestream_get_index(message.payload));
break;
*/
case MAVLINK_MSG_ID_RAW_IMU:
{
raw_imu_t raw;

2
src/ui/HUD.cc
Unescape View File

@ -190,7 +190,7 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse @@ -190,7 +190,7 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
lastUpdate.insert(name, msec);
//}
qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
//qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
}
}

10
src/ui/UASControl.ui
Unescape View File

@ -6,8 +6,8 @@ @@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>395</width>
<height>215</height>
<width>387</width>
<height>212</height>
</rect>
</property>
<property name="windowTitle">
@ -17,6 +17,9 @@ @@ -17,6 +17,9 @@
<property name="margin">
<number>20</number>
</property>
<property name="spacing">
<number>6</number>
</property>
<item row="0" column="0" colspan="4">
<widget class="QLabel" name="controlStatusLabel">
<property name="text">
@ -128,6 +131,9 @@ @@ -128,6 +131,9 @@
<property name="text">
<string>No actions executed so far</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
</layout>

28
src/ui/uas/UASControlWidget.cc
Unescape View File

@ -64,13 +64,9 @@ void UASControlWidget::setUAS(UASInterface* uas) @@ -64,13 +64,9 @@ void UASControlWidget::setUAS(UASInterface* uas)
disconnect(ui.controlButton, SIGNAL(clicked()), uas, SLOT(enable_motors()));
disconnect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
disconnect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
//disconnect(ui.haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
//disconnect(ui.continueButton, SIGNAL(clicked()), uas, SLOT(go()));
//disconnect(ui.forceLandButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
disconnect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
//disconnect(uas, SIGNAL(autoModeChanged(bool)), ui.autoButton, SLOT(setChecked(bool)));
//disconnect(ui.autoButton, SIGNAL(clicked(bool)), uas, SLOT(setAutoMode(bool)));
//disconnect(ui.motorsStopButton, SIGNAL(clicked()), uas, SLOT(disable_motors()));
disconnect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
disconnect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
}
else
{
@ -78,14 +74,9 @@ void UASControlWidget::setUAS(UASInterface* uas) @@ -78,14 +74,9 @@ void UASControlWidget::setUAS(UASInterface* uas)
connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
//connect(ui.haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
//connect(ui.continueButton, SIGNAL(clicked()), uas, SLOT(go()));
//connect(ui.forceLandButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
//connect(ui.autoButton, SIGNAL(clicked(bool)), uas, SLOT(setAutoMode(bool)));
//connect(uas, SIGNAL(autoModeChanged(bool)), ui.autoButton, SLOT(setChecked(bool)));
//connect(ui.motorsStopButton, SIGNAL(clicked()), uas, SLOT(disable_motors()));
connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
ui.modeComboBox->insertItem(0, "Select..");
ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
@ -100,6 +91,7 @@ UASControlWidget::~UASControlWidget() { @@ -100,6 +91,7 @@ UASControlWidget::~UASControlWidget() {
void UASControlWidget::setMode(int mode)
{
// Adapt context button mode
switch (mode)
{
case MAV_MODE_LOCKED:
@ -119,7 +111,17 @@ void UASControlWidget::setMode(int mode) @@ -119,7 +111,17 @@ void UASControlWidget::setMode(int mode)
}
// Set mode on system
if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3) this->uas->setMode(mode);
if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3)
{
uasMode = mode;
ui.modeComboBox->setCurrentIndex(mode);
}
qDebug() << "SET MODE REQUESTED" << mode;
}
void UASControlWidget::transmitMode()
{
this->uas->setMode(uasMode);
}
void UASControlWidget::cycleContextButton()

3
src/ui/uas/UASControlWidget.h
Unescape View File

@ -53,9 +53,12 @@ public slots: @@ -53,9 +53,12 @@ public slots:
void cycleContextButton();
/** @brief Set the operation mode of the MAV */
void setMode(int mode);
/** @brief Transmit the operation mode **/
void transmitMode();
protected:
UASInterface* uas;
int uasMode;
private:
Ui::uasControl ui;

Write Preview
Loading…
Cancel
Save