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QGC4.4
pixhawk 15 years ago
parent
6e5626f991 1b2b89a59b
commit
1d560d9c44
34 changed files with 1011 additions and 611 deletions
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  1. 112
      images/earth.html
  2. 4
      qgroundcontrol.pri
  3. 12
      qgroundcontrol.pro
  4. 2
      src/QGC.h
  5. 80
      src/comm/MAVLinkSimulationLink.cc
  6. 4
      src/comm/MAVLinkSimulationLink.h
  7. 4
      src/configuration.h
  8. 26
      src/uas/ArduPilotMegaMAV.cc
  9. 108
      src/uas/SlugsMAV.cc
  10. 2
      src/uas/UAS.h
  11. 32
      src/ui/HDDisplay.cc
  12. 1
      src/ui/HDDisplay.h
  13. 119
      src/ui/HSIDisplay.cc
  14. 1
      src/ui/HSIDisplay.h
  15. 26
      src/ui/HUD.cc
  16. 4
      src/ui/HUD.h
  17. 440
      src/ui/MainWindow.cc
  18. 4
      src/ui/MainWindow.h
  19. 9
      src/ui/ObjectDetectionView.cc
  20. 9
      src/ui/QGCDataPlot2D.cc
  21. 12
      src/ui/QGCParamWidget.cc
  22. 4
      src/ui/SerialConfigurationWindow.h
  23. 75
      src/ui/linechart/LinechartPlot.cc
  24. 15
      src/ui/linechart/LinechartPlot.h
  25. 158
      src/ui/linechart/LinechartWidget.cc
  26. 8
      src/ui/linechart/LinechartWidget.h
  27. 61
      src/ui/linechart/Linecharts.cc
  28. 4
      src/ui/linechart/Linecharts.h
  29. 27
      src/ui/map3D/Q3DWidget.cc
  30. 4
      src/ui/map3D/Q3DWidget.h
  31. 30
      src/ui/map3D/QGCGoogleEarthView.cc
  32. 4
      src/ui/map3D/QGCGoogleEarthView.h
  33. 217
      src/ui/uas/UASView.cc
  34. 4
      src/ui/uas/UASView.h

112
images/earth.html
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@ -13,6 +13,7 @@ google.load("earth", "1", { 'language': 'en'}); @@ -13,6 +13,7 @@ google.load("earth", "1", { 'language': 'en'});
var ge = null;
var initialized = false;
var aircraft = new Array();
var currAircraft = 220;
var followAircraft = false;
@ -37,6 +38,9 @@ var currView = null; @@ -37,6 +38,9 @@ var currView = null;
var planeOrient;
var planeLoc;
var trail;
var lineStringPlacemark;
var lineStyle;
// Aircraft class
@ -95,27 +99,9 @@ function setGCSHome(lat, lon, alt) @@ -95,27 +99,9 @@ function setGCSHome(lat, lon, alt)
goHome();
}
function initCallback(object)
function createAircraft(id, type, color)
{
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
// Now after the Google Earth initialization, initialize the GCS view
setGCSHome(currLat, currLon, currAlt);
// Create the first aircraft model
// Load 3D model
var planePlacemark = ge.createPlacemark('');
planePlacemark = ge.createPlacemark('');
planePlacemark.setName('aircraft');
planeModel = ge.createModel('');
ge.getFeatures().appendChild(planePlacemark);
@ -135,9 +121,77 @@ function initCallback(object) @@ -135,9 +121,77 @@ function initCallback(object)
planePlacemark.setGeometry(planeModel);
setAircraftPositionAttitude(220, 47.3772, currLon, currAlt+50, 20, 15, 50);
enableFollowing(true);
updateFollowAircraft();
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
locations[id] = planeLoc;
//createTrail(id, color);
}
function createTrail(id, color)
{
lineStringPlacemark = ge.createPlacemark('');
// Create the placemark
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
trail = ge.createLineString('');
lineStringPlacemark.setGeometry(trail);
trail.setExtrude(true);
trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
// Create a style and set width and color of line
lineStringPlacemark.setStyleSelector(ge.createStyle(''));
lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(color);
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
ge.getFeatures().appendChild(lineStringPlacemark);
}
function addTrailPosition(id, lat, lon, alt)
{
trail.setExtrude(true);
trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
trail.getCoordinates().pushLatLngAlt(currLat, currLon, currAlt);
// Create a style and set width and color of line
lineStringPlacemark.setStyleSelector(ge.createStyle(''));
lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set('99bbaaff');
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
ge.getFeatures().replaceChild(lineStringPlacemark, lineStringPlacemark);
}
function initCallback(object)
{
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
createTrail(220, 'bb2222ff');
createAircraft(220);
initialized = true;
@ -164,6 +218,18 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw) @@ -164,6 +218,18 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
}
function enableDaylight(enabled)
{
if(enabled)
{
ge.getSun().setVisibility(true);
}
else
{
ge.getSun().setVisibility(false);
}
}
function goHome()
{
var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);

4
qgroundcontrol.pri
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@ -154,6 +154,7 @@ linux-g++ { @@ -154,6 +154,7 @@ linux-g++ {
release {
DESTDIR = $$TARGETDIR/release
DEFINES += QT_NO_DEBUG
}
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@ -223,6 +224,7 @@ linux-g++-64 { @@ -223,6 +224,7 @@ linux-g++-64 {
release {
DESTDIR = $$TARGETDIR/release
DEFINES += QT_NO_DEBUG
}
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@ -295,6 +297,7 @@ win32-msvc2008 { @@ -295,6 +297,7 @@ win32-msvc2008 {
release {
CONFIG -= console
DEFINES += QT_NO_DEBUG
}
debug {
@ -382,6 +385,7 @@ win32-g++ { @@ -382,6 +385,7 @@ win32-g++ {
release {
CONFIG -= console
DEFINES += QT_NO_DEBUG
#DESTDIR = $$BUILDDIR/release
}

12
qgroundcontrol.pro
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@ -245,7 +245,6 @@ HEADERS += src/MG.h \ @@ -245,7 +245,6 @@ HEADERS += src/MG.h \
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \
src/ui/map3D/QGCGoogleEarthView.h\
src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPIDControl.h \
@ -255,6 +254,11 @@ HEADERS += src/MG.h \ @@ -255,6 +254,11 @@ HEADERS += src/MG.h \
src/comm/MAVLinkSwarmSimulationLink.h \
src/ui/uas/QGCUnconnectedInfoWidget.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008: {
HEADERS += src/ui/map3D/QGCGoogleEarthView.h
}
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
@ -357,7 +361,6 @@ SOURCES += src/main.cc \ @@ -357,7 +361,6 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \
src/ui/map3D/QGCGoogleEarthView.cc \
src/ui/map3D/QGCWebPage.cc \
src/ui/SlugsDataSensorView.cc \
src/ui/SlugsHilSim.cc \
@ -367,6 +370,11 @@ SOURCES += src/main.cc \ @@ -367,6 +370,11 @@ SOURCES += src/main.cc \
src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc
macx|win32-msvc2008: {
SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
}
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")

2
src/QGC.h
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@ -19,4 +19,6 @@ namespace QGC @@ -19,4 +19,6 @@ namespace QGC
const QString COMPANYNAME = "OPENMAV";
}
#define QGC_EVENTLOOP_DEBUG 0
#endif // QGC_H

80
src/comm/MAVLinkSimulationLink.cc
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@ -192,6 +192,7 @@ void MAVLinkSimulationLink::mainloop() @@ -192,6 +192,7 @@ void MAVLinkSimulationLink::mainloop()
static unsigned int rate1hzCounter = 1;
static unsigned int rate10hzCounter = 1;
static unsigned int rate50hzCounter = 1;
static unsigned int circleCounter = 0;
// Vary values
@ -374,17 +375,20 @@ void MAVLinkSimulationLink::mainloop() @@ -374,17 +375,20 @@ void MAVLinkSimulationLink::mainloop()
// Move X Position
x = x*0.93f + 0.07f*(x+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.08f));
y = y*0.93f + 0.07f*(y+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.5f));
z = z*0.93f + 0.07f*(z+sin(static_cast<float>(QGC::groundTimeUsecs()*0.001f)) * 0.1f);
x = 8.0*sin((double)circleCounter/50.0);
y = 3.0*cos((double)circleCounter/40.0);
z = 1.8 + 1.2*sin((double)circleCounter/60.0);
x = (x > 5.0f) ? 5.0f : x;
y = (y > 5.0f) ? 5.0f : y;
z = (z > 3.0f) ? 3.0f : z;
circleCounter++;
x = (x < -5.0f) ? -5.0f : x;
y = (y < -5.0f) ? -5.0f : y;
z = (z < -3.0f) ? -3.0f : z;
// x = (x > 5.0f) ? 5.0f : x;
// y = (y > 5.0f) ? 5.0f : y;
// z = (z > 3.0f) ? 3.0f : z;
// x = (x < -5.0f) ? -5.0f : x;
// y = (y < -5.0f) ? -5.0f : y;
// z = (z < -3.0f) ? -3.0f : z;
// Send back new setpoint
mavlink_message_t ret;
@ -401,15 +405,15 @@ void MAVLinkSimulationLink::mainloop() @@ -401,15 +405,15 @@ void MAVLinkSimulationLink::mainloop()
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// GPS RAW
mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.00001), 8.548103+(y*0.00001), z, 0, 0, 2.5f, 0.1f);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// // GPS RAW
// mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.00001), 8.548103+(y*0.00001), z, 0, 0, 2.5f, 0.1f);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
// //add data into datastream
// memcpy(stream+streampointer,buffer, bufferlength);
// streampointer += bufferlength;
// GLOBAL POSITION
mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.00001), 8.54899892510421+(y*0.00001), z, 0, 0, 0);
mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.001), 8.54899892510421+(y*0.001), z+25.0, 0, 0, 0);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
@ -508,6 +512,7 @@ void MAVLinkSimulationLink::mainloop() @@ -508,6 +512,7 @@ void MAVLinkSimulationLink::mainloop()
detectionCounter++;
status.vbat = voltage * 1000; // millivolts
status.load = 33 * detectionCounter % 1000;
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status);
@ -520,7 +525,7 @@ void MAVLinkSimulationLink::mainloop() @@ -520,7 +525,7 @@ void MAVLinkSimulationLink::mainloop()
// Pack debug text message
mavlink_statustext_t text;
text.severity = 0;
strcpy((char*)(text.text), "DEBUG MESSAGE TEXT");
strcpy((char*)(text.text), "Text message from system 32");
mavlink_msg_statustext_encode(systemId, componentId, &msg, &text);
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
memcpy(stream+streampointer, buffer, bufferlength);
@ -578,11 +583,11 @@ void MAVLinkSimulationLink::mainloop() @@ -578,11 +583,11 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength;
/*
// HEARTBEAT VEHICLE 2
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_heartbeat_pack(42, componentId, &msg, MAV_FIXED_WING);
messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
@ -590,25 +595,19 @@ void MAVLinkSimulationLink::mainloop() @@ -590,25 +595,19 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength;
// STATUS VEHICLE 2
sys_status_t status2;
mavlink_sys_status_t status2;
status2.mode = MAV_MODE_LOCKED;
status2.vbat = voltage;
status2.load = 120;
status2.status = MAV_STATE_STANDBY;
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status);
messageSize = mavlink_msg_sys_status_encode(54, componentId, &msg, &status);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
*/
//qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
// AUX STATUS
#ifdef MAVLINK_ENABLED_PIXHAWK
rawAuxValues.vbat = voltage;
#endif
rate1hzCounter = 1;
}
@ -780,31 +779,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) @@ -780,31 +779,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
j++;
}
/*
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"ROLL_K_P", 0.5f);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"PITCH_K_P", 0.6f);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"YAW_K_P", 0.8f);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;*/
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
}
}

4
src/comm/MAVLinkSimulationLink.h
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@ -94,8 +94,8 @@ protected: @@ -94,8 +94,8 @@ protected:
// UAS properties
float roll, pitch, yaw;
float x, y, z;
float spX, spY, spZ, spYaw;
double x, y, z;
double spX, spY, spZ, spYaw;
int battery;
QTimer* timer;

4
src/configuration.h
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@ -7,7 +7,7 @@ @@ -7,7 +7,7 @@
#ifdef MAVLINK_ENABLED_SLUGS
#define SERIAL_POLL_INTERVAL 7
#else
#define SERIAL_POLL_INTERVAL 2
#define SERIAL_POLL_INTERVAL 7
#endif
/** @brief Heartbeat emission rate, in Hertz (times per second) */
@ -16,6 +16,6 @@ @@ -16,6 +16,6 @@
#define WITH_TEXT_TO_SPEECH 1
#define QGC_APPLICATION_NAME "QGroundControl"
#define QGC_APPLICATION_VERSION "v. 0.7.7 (Beta)"
#define QGC_APPLICATION_VERSION "v. 0.8.0 (Beta)"
#endif // CONFIGURATION_H

26
src/uas/ArduPilotMegaMAV.cc
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@ -1,5 +1,4 @@ @@ -1,5 +1,4 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project @@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
@ -47,17 +46,20 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes @@ -47,17 +46,20 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
// Handle your special messages
switch (message.msgid)
if (message.sysid == uasId)
{
case MAVLINK_MSG_ID_HEARTBEAT:
// Handle your special messages
switch (message.msgid)
{
qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
case MAVLINK_MSG_ID_HEARTBEAT:
{
qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
break;
}
default:
qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
default:
qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
}

108
src/uas/SlugsMAV.cc
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@ -60,100 +60,102 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) : @@ -60,100 +60,102 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
UAS::receiveMessage(link, message);
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
if (message.sysid == uasId)
{
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
{
#ifdef MAVLINK_ENABLED_SLUGS
case MAVLINK_MSG_ID_BOOT:
mavlink_msg_boot_decode(&message,&mlBoot);
emit slugsBootMsg(uasId, mlBoot);
break;
case MAVLINK_MSG_ID_BOOT:
mavlink_msg_boot_decode(&message,&mlBoot);
emit slugsBootMsg(uasId, mlBoot);
break;
case MAVLINK_MSG_ID_ATTITUDE:
mavlink_msg_attitude_decode(&message, &mlAttitude);
break;
case MAVLINK_MSG_ID_ATTITUDE:
mavlink_msg_attitude_decode(&message, &mlAttitude);
break;
case MAVLINK_MSG_ID_GPS_RAW:
mavlink_msg_gps_raw_decode(&message, &mlGpsData);
case MAVLINK_MSG_ID_GPS_RAW:
mavlink_msg_gps_raw_decode(&message, &mlGpsData);
break;
case MAVLINK_MSG_ID_ACTION_ACK: // 62
mavlink_msg_action_ack_decode(&message,&mlActionAck);
case MAVLINK_MSG_ID_ACTION_ACK: // 62
mavlink_msg_action_ack_decode(&message,&mlActionAck);
break;
case MAVLINK_MSG_ID_CPU_LOAD: //170
mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
case MAVLINK_MSG_ID_CPU_LOAD: //170
mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
break;
case MAVLINK_MSG_ID_AIR_DATA: //171
mavlink_msg_air_data_decode(&message,&mlAirData);
case MAVLINK_MSG_ID_AIR_DATA: //171
mavlink_msg_air_data_decode(&message,&mlAirData);
break;
case MAVLINK_MSG_ID_SENSOR_BIAS: //172
mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
break;
case MAVLINK_MSG_ID_SENSOR_BIAS: //172
mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
break;
case MAVLINK_MSG_ID_DIAGNOSTIC: //173
mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
break;
case MAVLINK_MSG_ID_DIAGNOSTIC: //173
mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
break;
case MAVLINK_MSG_ID_PILOT_CONSOLE: //174
mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
case MAVLINK_MSG_ID_PILOT_CONSOLE: //174
mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
break;
case MAVLINK_MSG_ID_PWM_COMMANDS: //175
mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
break;
case MAVLINK_MSG_ID_PWM_COMMANDS: //175
mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
break;
case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
break;
case MAVLINK_MSG_ID_DATA_LOG: //177
mavlink_msg_data_log_decode(&message,&mlDataLog);
break;
case MAVLINK_MSG_ID_DATA_LOG: //177
mavlink_msg_data_log_decode(&message,&mlDataLog);
break;
case MAVLINK_MSG_ID_FILTERED_DATA: //178
mavlink_msg_filtered_data_decode(&message,&mlFilteredData);
break;
case MAVLINK_MSG_ID_FILTERED_DATA: //178
mavlink_msg_filtered_data_decode(&message,&mlFilteredData);
break;
case MAVLINK_MSG_ID_GPS_DATE_TIME: //179
mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
case MAVLINK_MSG_ID_GPS_DATE_TIME: //179
mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
break;
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
break;
break;
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
break;
case MAVLINK_MSG_ID_PID: //182
memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
mavlink_msg_pid_decode(&message, &mlSinglePid);
qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
case MAVLINK_MSG_ID_PID: //182
memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
mavlink_msg_pid_decode(&message, &mlSinglePid);
qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
emit slugsPidValues(uasId, mlSinglePid);
emit slugsPidValues(uasId, mlSinglePid);
break;
break;
case MAVLINK_MSG_ID_SLUGS_ACTION: //183
case MAVLINK_MSG_ID_SLUGS_ACTION: //183
break;
break;
#endif
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
}
}

2
src/uas/UAS.h
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@ -211,7 +211,7 @@ public slots: @@ -211,7 +211,7 @@ public slots:
void addLink(LinkInterface* link);
/** @brief Receive a message from one of the communication links. */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send a message over this link (to this or to all UAS on this link) */
void sendMessage(LinkInterface* link, mavlink_message_t message);

32
src/ui/HDDisplay.cc
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@ -38,6 +38,7 @@ This file is part of the PIXHAWK project @@ -38,6 +38,7 @@ This file is part of the PIXHAWK project
#include "HDDisplay.h"
#include "ui_HDDisplay.h"
#include "MG.h"
#include "QGC.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
@ -171,6 +172,9 @@ void HDDisplay::paintEvent(QPaintEvent * event) @@ -171,6 +172,9 @@ void HDDisplay::paintEvent(QPaintEvent * event)
void HDDisplay::renderOverlay()
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
quint64 refreshInterval = 100;
quint64 currTime = MG::TIME::getGroundTimeNow();
if (currTime - lastPaintTime < refreshInterval)
@ -227,20 +231,17 @@ void HDDisplay::renderOverlay() @@ -227,20 +231,17 @@ void HDDisplay::renderOverlay()
void HDDisplay::setActiveUAS(UASInterface* uas)
{
//qDebug() << "ATTEMPTING TO SET UAS";
if (this->uas != NULL && this->uas != uas)
if (this->uas != NULL)
{
// Disconnect any previously connected active MAV
disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
disconnect(this->uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
}
// Now connect the new UAS
//if (this->uas != uas)
// {
//qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
// Setup communication
connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
//}
this->uas = uas;
}
@ -663,16 +664,19 @@ void HDDisplay::showEvent(QShowEvent* event) @@ -663,16 +664,19 @@ void HDDisplay::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
if (!event->spontaneous())
Q_UNUSED(event)
{
if (event->type() == QEvent::Hide)
{
refreshTimer->stop();
}
else if (event->type() == QEvent::Show)
{
refreshTimer->start(updateInterval);
}
refreshTimer->start(updateInterval);
}
}
void HDDisplay::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
refreshTimer->stop();
}
}

1
src/ui/HDDisplay.h
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@ -76,6 +76,7 @@ protected: @@ -76,6 +76,7 @@ protected:
void changeEvent(QEvent *e);
void paintEvent(QPaintEvent * event);
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
float refLineWidthToPen(float line);
float refToScreenX(float x);
float refToScreenY(float y);

119
src/ui/HSIDisplay.cc
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@ -103,7 +103,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) : @@ -103,7 +103,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
refreshTimer->setInterval(updateInterval);
// this->setScene(new QGraphicsScene(-metricWidth/2.0f, -metricWidth/2.0f, metricWidth, metricWidth, this));
// this->setScene(new QGraphicsScene(-metricWidth/2.0f, -metricWidth/2.0f, metricWidth, metricWidth, this));
xCenterPos = vwidth/2.0f;
yCenterPos = vheight/2.0f + topMargin - bottomMargin;
@ -138,6 +138,9 @@ void HSIDisplay::paintEvent(QPaintEvent * event) @@ -138,6 +138,9 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
void HSIDisplay::renderOverlay()
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
// Center location of the HSI gauge items
float bottomMargin = 3.0f;
@ -432,43 +435,46 @@ void HSIDisplay::setMetricWidth(double width) @@ -432,43 +435,46 @@ void HSIDisplay::setMetricWidth(double width)
*/
void HSIDisplay::setActiveUAS(UASInterface* uas)
{
if (this->uas != NULL && this->uas != uas)
{
// Disconnect any previously connected active MAV
//disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
}
HDDisplay::setActiveUAS(uas);
//qDebug() << "ATTEMPTING TO SET UAS";
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
if (this->uas != NULL)
{
disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
disconnect(this->uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
disconnect(this->uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
disconnect(this->uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
disconnect(this->uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
}
connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
// Now connect the new UAS
connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
//if (this->uas != uas)
// {
//qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
// Setup communication
//connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
//}
this->uas = uas;
}
void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time)
@ -667,18 +673,18 @@ void HSIDisplay::drawWaypoints(QPainter& painter) @@ -667,18 +673,18 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
if (uas)
{
const QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
// for (int i = 0; i < list.size(); i++)
// {
// QPointF in(list.at(i)->getX(), list.at(i)->getY());
// // Transform from world to body coordinates
// in = metricWorldToBody(in);
// // Scale from metric to screen reference coordinates
// QPointF p = metricBodyToRef(in);
// Waypoint2DIcon* wp = new Waypoint2DIcon();
// wp->setLocalPosition(list.at(i)->getX(), list.at(i)->getY());
// wp->setPos(0, 0);
// scene()->addItem(wp);
// }
// for (int i = 0; i < list.size(); i++)
// {
// QPointF in(list.at(i)->getX(), list.at(i)->getY());
// // Transform from world to body coordinates
// in = metricWorldToBody(in);
// // Scale from metric to screen reference coordinates
// QPointF p = metricBodyToRef(in);
// Waypoint2DIcon* wp = new Waypoint2DIcon();
// wp->setLocalPosition(list.at(i)->getX(), list.at(i)->getY());
// wp->setPos(0, 0);
// scene()->addItem(wp);
// }
QColor color;
painter.setBrush(Qt::NoBrush);
@ -929,16 +935,19 @@ void HSIDisplay::showEvent(QShowEvent* event) @@ -929,16 +935,19 @@ void HSIDisplay::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
if (!event->spontaneous())
Q_UNUSED(event)
{
if (event->type() == QEvent::Hide)
{
refreshTimer->stop();
}
else if (event->type() == QEvent::Show)
{
refreshTimer->start(updateInterval);
}
refreshTimer->start(updateInterval);
}
}
void HSIDisplay::hideEvent(QHideEvent* event)
{
// React only to internal (post-display)
// events
Q_UNUSED(event)
{
refreshTimer->stop();
}
}

1
src/ui/HSIDisplay.h
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@ -112,6 +112,7 @@ protected slots: @@ -112,6 +112,7 @@ protected slots:
protected:
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
/** @brief Get color from GPS signal-to-noise colormap */
static QColor getColorForSNR(float snr);
/** @brief Metric world coordinates to metric body coordinates */

26
src/ui/HUD.cc
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@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project @@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASManager.h"
#include "HUD.h"
#include "MG.h"
#include "QGC.h"
// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
@ -179,16 +180,19 @@ void HUD::showEvent(QShowEvent* event) @@ -179,16 +180,19 @@ void HUD::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
if (!event->spontaneous())
Q_UNUSED(event)
{
if (event->type() == QEvent::Hide)
{
refreshTimer->stop();
}
else if (event->type() == QEvent::Show)
{
refreshTimer->start(updateInterval);
}
refreshTimer->start(updateInterval);
}
}
void HUD::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
refreshTimer->stop();
}
}
@ -561,6 +565,10 @@ void HUD::paintHUD() @@ -561,6 +565,10 @@ void HUD::paintHUD()
// qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
// Read out most important values to limit hash table lookups
static float roll = 0.0f;
static float pitch = 0.0f;

4
src/ui/HUD.h
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@ -118,8 +118,10 @@ protected: @@ -118,8 +118,10 @@ protected:
float refLineWidthToPen(float line);
/** @brief Rotate a polygon around a point clockwise */
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
/** @brief Override base class show */
/** @brief Start updating widget */
void showEvent(QShowEvent* event);
/** @brief Stop updating widget */
void hideEvent(QHideEvent* event);
static const int updateInterval = 50;

440
src/ui/MainWindow.cc
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@ -40,16 +40,16 @@ @@ -40,16 +40,16 @@
MainWindow* MainWindow::instance()
{
static MainWindow* _instance = 0;
if(_instance == 0)
{
_instance = new MainWindow();
static MainWindow* _instance = 0;
if(_instance == 0)
{
_instance = new MainWindow();
/* Set the application as parent to ensure that this object
/* Set the application as parent to ensure that this object
* will be destroyed when the main application exits */
//_instance->setParent(qApp);
}
return _instance;
//_instance->setParent(qApp);
}
return _instance;
}
/**
@ -74,9 +74,14 @@ MainWindow::MainWindow(QWidget *parent): @@ -74,9 +74,14 @@ MainWindow::MainWindow(QWidget *parent):
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
QString listKey = buildMenuKey(SUB_SECTION_CHECKED, MENU_UAS_LIST, currentView);
}
QString listKey = buildMenuKey(SUB_SECTION_CHECKED, MENU_UAS_LIST, currentView);
if (!settings.contains(listKey))
{
settings.setValue(listKey, true);
}
settings.sync();
// Setup user interface
@ -103,11 +108,22 @@ MainWindow::MainWindow(QWidget *parent): @@ -103,11 +108,22 @@ MainWindow::MainWindow(QWidget *parent):
// Create actions
connectCommonActions();
// Set dock options
setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
// Load mavlink view as default widget set
//loadMAVLinkView();
// Adjust the size
adjustSize();
if (settings.contains("geometry"))
{
// Restore the window geometry
restoreGeometry(settings.value("geometry").toByteArray());
}
else
{
// Adjust the size
adjustSize();
}
// Populate link menu
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
@ -132,32 +148,53 @@ void MainWindow::buildCommonWidgets() @@ -132,32 +148,53 @@ void MainWindow::buildCommonWidgets()
mavlink = new MAVLinkProtocol();
// Dock widgets
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setWidget( new UASControlWidget(this) );
addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
if (!controlDockWidget)
{
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setWidget( new UASControlWidget(this) );
addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
}
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);
if (!listDockWidget)
{
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);
}
waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
if (!waypointsDockWidget)
{
waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
}
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);
if (!infoDockWidget)
{
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);
}
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
if (!debugConsoleDockWidget)
{
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
}
// Center widgets
mapWidget = new MapWidget(this);
addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
if (!mapWidget)
{
mapWidget = new MapWidget(this);
addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
}
protocolWidget = new XMLCommProtocolWidget(this);
addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
if (!protocolWidget)
{
protocolWidget = new XMLCommProtocolWidget(this);
addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
}
}
void MainWindow::buildPxWidgets()
@ -176,109 +213,169 @@ void MainWindow::buildPxWidgets() @@ -176,109 +213,169 @@ void MainWindow::buildPxWidgets()
acceptList2->append("Battery");
acceptList2->append("Pressure");
// Center widgets
linechartWidget = new Linecharts(this);
addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);
if (!linechartWidget)
{
// Center widgets
linechartWidget = new Linecharts(this);
addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);
}
hudWidget = new HUD(320, 240, this);
addToCentralWidgetsMenu(hudWidget, "HUD", SLOT(showCentralWidget()), CENTRAL_HUD);
if (!hudWidget)
{
hudWidget = new HUD(320, 240, this);
addToCentralWidgetsMenu(hudWidget, "HUD", SLOT(showCentralWidget()), CENTRAL_HUD);
}
dataplotWidget = new QGCDataPlot2D(this);
addToCentralWidgetsMenu(dataplotWidget, "Data Plots", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
if (!dataplotWidget)
{
dataplotWidget = new QGCDataPlot2D(this);
addToCentralWidgetsMenu(dataplotWidget, "Data Plots", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
}
#ifdef QGC_OSG_ENABLED
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
if (!_3DWidget)
{
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
}
#endif
#ifdef QGC_OSGEARTH_ENABLED
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
if (!_3DMapWidget)
{
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
}
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
gEarthWidget = new QGCGoogleEarthView(this);
addToCentralWidgetsMenu(gEarthWidget, "Google Earth", SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
if (!gEarthWidget)
{
gEarthWidget = new QGCGoogleEarthView(this);
addToCentralWidgetsMenu(gEarthWidget, "Google Earth", SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
}
#endif
// Dock widgets
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
addToToolsMenu (parametersDockWidget, tr("Onboard Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
if (!detectionDockWidget)
{
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
}
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget()), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
if (!parametersDockWidget)
{
parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
addToToolsMenu (parametersDockWidget, tr("Onboard Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
}
if (!watchdogControlDockWidget)
{
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget()), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
}
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
if (!hsiDockWidget)
{
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
}
headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
if (!headDown1DockWidget)
{
headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
}
headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
if (!headDown2DockWidget)
{
headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
}
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
if (!rcViewDockWidget)
{
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
if (!headUpDockWidget)
{
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
}
// Dialogue widgets
//FIXME: free memory in destructor
joystick = new JoystickInput();
if (!joystick)
{
joystick = new JoystickInput();
}
}
void MainWindow::buildSlugsWidgets()
{
// Center widgets
linechartWidget = new Linecharts(this);
// Dock widgets
headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
if (!linechartWidget)
{
// Center widgets
linechartWidget = new Linecharts(this);
}
if (!headUpDockWidget)
{
// Dock widgets
headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
}
// Dialog widgets
slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
slugsDataWidget->setWidget( new SlugsDataSensorView(this));
addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
if (!rcViewDockWidget)
{
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
if (!slugsDataWidget)
{
// Dialog widgets
slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
slugsDataWidget->setWidget( new SlugsDataSensorView(this));
addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
}
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
if (!slugsPIDControlWidget)
{
slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
}
slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
if (!slugsHilSimWidget)
{
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
}
if (!slugsCamControlWidget)
{
slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
}
}
@ -486,13 +583,13 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view) @@ -486,13 +583,13 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt());
// if (widget == MainWindow::MENU_UAS_LIST)
// {
// if (!settings.contains(buildMenuKey (SUB_SECTION_LOCATION,widget, view)))
// {
// tempLocation = Qt::RightDockWidgetArea;
// }
// }
// if (widget == MainWindow::MENU_UAS_LIST)
// {
// if (!settings.contains(buildMenuKey (SUB_SECTION_LOCATION,widget, view)))
// {
// tempLocation = Qt::RightDockWidgetArea;
// }
// }
if ((tempWidget != NULL) && tempVisible)
{
@ -520,7 +617,7 @@ QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES t @@ -520,7 +617,7 @@ QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES t
void MainWindow::closeEvent(QCloseEvent *event)
{
//settings.setValue("geometry", saveGeometry());
settings.setValue("geometry", saveGeometry());
//settings.setValue("windowState", saveState());
aboutToCloseFlag = true;
settings.setValue("VIEW_ON_APPLICATION_CLOSE", currentView);
@ -528,14 +625,13 @@ void MainWindow::closeEvent(QCloseEvent *event) @@ -528,14 +625,13 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMainWindow::closeEvent(event);
}
/**
* Stores the visibility setting of each widget. This method
* will only change the settings if the application is not
* about to close.
*/
void MainWindow::updateVisibilitySettings (bool vis)
{
// This is commented since when the application closes
// sets the visibility to false.
// TODO: A workaround is needed. The QApplication::aboutToQuit
// did not work
if (!aboutToCloseFlag)
{
@ -549,10 +645,9 @@ void MainWindow::updateVisibilitySettings (bool vis) @@ -549,10 +645,9 @@ void MainWindow::updateVisibilitySettings (bool vis)
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp)
{
// QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
// qDebug() << "Key in visibility changed" << chKey;
// settings.setValue(chKey,vis);
// settings.sync();
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,vis);
settings.sync();
toolsMenuActions[i.key()]->setChecked(vis);
break;
}
@ -628,8 +723,8 @@ void MainWindow::arrangeCommonCenterStack() @@ -628,8 +723,8 @@ void MainWindow::arrangeCommonCenterStack()
if (!centerStack) return;
if (mapWidget) centerStack->addWidget(mapWidget);
if (protocolWidget) centerStack->addWidget(protocolWidget);
if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget);
if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget);
setCentralWidget(centerStack);
}
@ -642,20 +737,20 @@ void MainWindow::arrangePxCenterStack() @@ -642,20 +737,20 @@ void MainWindow::arrangePxCenterStack()
return;
}
if (linechartWidget) centerStack->addWidget(linechartWidget);
if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
#ifdef QGC_OSG_ENABLED
if (_3DWidget) centerStack->addWidget(_3DWidget);
if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget);
#endif
#ifdef QGC_OSGEARTH_ENABLED
if (_3DMapWidget) centerStack->addWidget(_3DMapWidget);
if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget);
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
if (gEarthWidget) centerStack->addWidget(gEarthWidget);
if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
#endif
if (hudWidget) centerStack->addWidget(hudWidget);
if (dataplotWidget) centerStack->addWidget(dataplotWidget);
if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
}
void MainWindow::arrangeSlugsCenterStack()
@ -666,8 +761,8 @@ void MainWindow::arrangeSlugsCenterStack() @@ -666,8 +761,8 @@ void MainWindow::arrangeSlugsCenterStack()
return;
}
if (linechartWidget) centerStack->addWidget(linechartWidget);
if (hudWidget) centerStack->addWidget(hudWidget);
if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
}
@ -1204,52 +1299,52 @@ void MainWindow::presentView() @@ -1204,52 +1299,52 @@ void MainWindow::presentView()
// HORIZONTAL SITUATION INDICATOR
showTheWidget(MENU_HSI, currentView);
// if (hsiDockWidget)
// {
// HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
// if (hsi){
// if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HSI,currentView)).toBool()){
// addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HSI, currentView)).toInt()),
// hsiDockWidget);
// }
// }
// }
// if (hsiDockWidget)
// {
// HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
// if (hsi){
// if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HSI,currentView)).toBool()){
// addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HSI, currentView)).toInt()),
// hsiDockWidget);
// }
// }
// }
// HEAD DOWN 1
showTheWidget(MENU_HDD_1, currentView);
// if (headDown1DockWidget)
// {
// HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
// if (hdd) {
// if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HDD_1,currentView)).toBool()) {
// addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HDD_1, currentView)).toInt()),
// headDown1DockWidget);
// headDown1DockWidget->show();
// hdd->start();
// } else {
// headDown1DockWidget->hide();;
// hdd->stop();
// }
// }
// }
// if (headDown1DockWidget)
// {
// HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
// if (hdd) {
// if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HDD_1,currentView)).toBool()) {
// addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HDD_1, currentView)).toInt()),
// headDown1DockWidget);
// headDown1DockWidget->show();
// hdd->start();
// } else {
// headDown1DockWidget->hide();;
// hdd->stop();
// }
// }
// }
// HEAD DOWN 2
showTheWidget(MENU_HDD_2, currentView);
// if (headDown2DockWidget)
// {
// HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
// if (hdd){
// if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HDD_2,currentView)).toBool()){
// addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HDD_2, currentView)).toInt()),
// headDown2DockWidget);
// headDown2DockWidget->show();
// hdd->start();
// } else {
// headDown2DockWidget->hide();
// hdd->stop();
// }
// }
// }
// if (headDown2DockWidget)
// {
// HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
// if (hdd){
// if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HDD_2,currentView)).toBool()){
// addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HDD_2, currentView)).toInt()),
// headDown2DockWidget);
// headDown2DockWidget->show();
// hdd->start();
// } else {
// headDown2DockWidget->hide();
// hdd->stop();
// }
// }
// }
this->show();
@ -1280,23 +1375,8 @@ void MainWindow::loadWidgets() @@ -1280,23 +1375,8 @@ void MainWindow::loadWidgets()
//loadPilotView();
}
void MainWindow::loadDataView()
{
clearView();
// DATAPLOT
if (dataplotWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
centerStack->setCurrentWidget(dataplotWidget);
}
}
void MainWindow::loadDataView(QString fileName)
{
clearView();
// DATAPLOT
if (dataplotWidget)
{

4
src/ui/MainWindow.h
Unescape View File

@ -63,7 +63,9 @@ This file is part of the QGROUNDCONTROL project @@ -63,7 +63,9 @@ This file is part of the QGROUNDCONTROL project
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
//#include "QMap3DWidget.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
@ -149,8 +151,6 @@ public slots: @@ -149,8 +151,6 @@ public slots:
void loadWidgets();
/** @brief Load data view, allowing to plot flight data */
void loadDataView();
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/** @brief Load 3D map view */

9
src/ui/ObjectDetectionView.cc
Unescape View File

@ -77,12 +77,15 @@ void ObjectDetectionView::changeEvent(QEvent *e) @@ -77,12 +77,15 @@ void ObjectDetectionView::changeEvent(QEvent *e)
void ObjectDetectionView::setUAS(UASInterface* uas)
{
//if (this->uas == NULL && uas != NULL)
//{
if (this->uas != NULL)
{
disconnect(this->uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
disconnect(this->uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
}
this->uas = uas;
connect(uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
connect(uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
//}
}
void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confidence, bool detected)

9
src/ui/QGCDataPlot2D.cc
Unescape View File

@ -126,6 +126,13 @@ void QGCDataPlot2D::savePlot() @@ -126,6 +126,13 @@ void QGCDataPlot2D::savePlot()
fileName = QFileDialog::getSaveFileName(
this, "Export File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
"PDF Documents (*.pdf);;SVG Images (*.svg)");
if (!fileName.contains("."))
{
// .csv is default extension
fileName.append(".pdf");
}
while(!(fileName.endsWith(".svg") || fileName.endsWith(".pdf")))
{
QMessageBox msgBox;
@ -262,7 +269,7 @@ void QGCDataPlot2D::selectFile() @@ -262,7 +269,7 @@ void QGCDataPlot2D::selectFile()
// Let user select the log file name
//QDate date(QDate::currentDate());
// QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), tr("."), tr("Logfile (*.txt)"));
fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), QString(), "Logfile (*.csv *.txt *.log)");
// Store reference to file
QFileInfo fileInfo(fileName);

12
src/ui/QGCParamWidget.cc
Unescape View File

@ -62,26 +62,38 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : @@ -62,26 +62,38 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
horizontalLayout->addWidget(tree, 0, 0, 1, 3);
QPushButton* refreshButton = new QPushButton(tr("Refresh"));
refreshButton->setToolTip(tr("Load parameters currently in non-permanent memory of aircraft."));
refreshButton->setWhatsThis(tr("Load parameters currently in non-permanent memory of aircraft."));
connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(refreshButton, 1, 0);
QPushButton* setButton = new QPushButton(tr("Transmit"));
setButton->setToolTip(tr("Set current parameters in non-permanent onboard memory"));
setButton->setWhatsThis(tr("Set current parameters in non-permanent onboard memory"));
connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
horizontalLayout->addWidget(setButton, 1, 1);
QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
writeButton->setToolTip(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
writeButton->setWhatsThis(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
horizontalLayout->addWidget(writeButton, 1, 2);
QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
readButton->setToolTip(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
readButton->setWhatsThis(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
horizontalLayout->addWidget(readButton, 2, 2);
QPushButton* loadFileButton = new QPushButton(tr("Load File"));
loadFileButton->setToolTip(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
loadFileButton->setWhatsThis(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
horizontalLayout->addWidget(loadFileButton, 2, 0);
QPushButton* saveFileButton = new QPushButton(tr("Save File"));
saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer."));
saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer."));
connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters()));
horizontalLayout->addWidget(saveFileButton, 2, 1);

4
src/ui/SerialConfigurationWindow.h
Unescape View File

@ -62,11 +62,9 @@ public slots: @@ -62,11 +62,9 @@ public slots:
void setLinkName(QString name);
void setupPortList();
protected slots:
protected:
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
protected:
bool userConfigured; ///< Switch to detect if current values are user-selected and shouldn't be overriden
private:

75
src/ui/linechart/LinechartPlot.cc
Unescape View File

@ -43,6 +43,8 @@ This file is part of the PIXHAWK project @@ -43,6 +43,8 @@ This file is part of the PIXHAWK project
#include <MG.h>
#include <QPaintEngine>
#include "QGC.h"
/**
* @brief The default constructor
*
@ -55,7 +57,7 @@ maxTime(QUINT64_MIN), @@ -55,7 +57,7 @@ maxTime(QUINT64_MIN),
maxInterval(MAX_STORAGE_INTERVAL),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false),
m_active(true),
m_active(false),
m_groundTime(true),
d_data(NULL),
d_curve(NULL)
@ -142,7 +144,7 @@ d_curve(NULL) @@ -142,7 +144,7 @@ d_curve(NULL)
// Start QTimer for plot update
updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(paintRealtime()));
updateTimer->start(DEFAULT_REFRESH_RATE);
//updateTimer->start(DEFAULT_REFRESH_RATE);
// QwtPlot::setAutoReplot();
@ -155,6 +157,18 @@ LinechartPlot::~LinechartPlot() @@ -155,6 +157,18 @@ LinechartPlot::~LinechartPlot()
removeAllData();
}
void LinechartPlot::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
updateTimer->start(DEFAULT_REFRESH_RATE);
}
void LinechartPlot::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
updateTimer->stop();
}
int LinechartPlot::getPlotId()
{
return this->plotid;
@ -184,6 +198,14 @@ double LinechartPlot::getMedian(QString id) @@ -184,6 +198,14 @@ double LinechartPlot::getMedian(QString id)
return data.value(id)->getMedian();
}
/**
* @param id curve identifier
*/
double LinechartPlot::getVariance(QString id)
{
return data.value(id)->getVariance();
}
int LinechartPlot::getAverageWindow()
{
return averageWindowSize;
@ -272,6 +294,14 @@ void LinechartPlot::enforceGroundTime(bool enforce) @@ -272,6 +294,14 @@ void LinechartPlot::enforceGroundTime(bool enforce)
m_groundTime = enforce;
}
/**
* @return True if the data points are stamped with the packet receive time
*/
bool LinechartPlot::groundTime()
{
return m_groundTime;
}
void LinechartPlot::addCurve(QString id)
{
QColor currentColor = getNextColor();
@ -455,6 +485,23 @@ bool LinechartPlot::isVisible(QString id) @@ -455,6 +485,23 @@ bool LinechartPlot::isVisible(QString id)
}
/**
* @return The visibility, true if it is visible, false otherwise
**/
bool LinechartPlot::anyCurveVisible()
{
bool visible = false;
foreach (QString key, curves.keys())
{
if (curves.value(key)->isVisible())
{
visible = true;
}
}
return visible;
}
/**
* @brief Allows to block interference of the automatic scrolling with user interaction
* When the plot is updated very fast (at 1 ms for example) with new data, it might
* get impossible for an user to interact. Therefore the automatic scrolling must be
@ -580,6 +627,9 @@ void LinechartPlot::paintRealtime() @@ -580,6 +627,9 @@ void LinechartPlot::paintRealtime()
{
if (m_active)
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
// Update plot window value to new max time if the last time was also the max time
windowLock.lock();
if (automaticScrollActive)
@ -701,8 +751,9 @@ TimeSeriesData::TimeSeriesData(QwtPlot* plot, QString friendlyName, quint64 plot @@ -701,8 +751,9 @@ TimeSeriesData::TimeSeriesData(QwtPlot* plot, QString friendlyName, quint64 plot
maxValue(DBL_MIN),
zeroValue(0),
count(0),
mean(0.00),
median(0.00),
mean(0.0),
median(0.0),
variance(0.0),
averageWindow(50)
{
this->plot = plot;
@ -760,6 +811,14 @@ void TimeSeriesData::append(quint64 ms, double value) @@ -760,6 +811,14 @@ void TimeSeriesData::append(quint64 ms, double value)
medianList.append(this->value[count-i]);
}
mean = mean / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
this->variance = 0;
for (unsigned int i = 0; (i < averageWindow) && (((int)count - (int)i) >= 0); ++i)
{
this->variance += (this->value[count-i] - mean) * (this->value[count-i] - mean);
}
this->variance = this->variance / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
qSort(medianList);
if (medianList.count() > 2)
@ -859,6 +918,14 @@ double TimeSeriesData::getMedian() @@ -859,6 +918,14 @@ double TimeSeriesData::getMedian()
return median;
}
/**
* @return the variance
*/
double TimeSeriesData::getVariance()
{
return variance;
}
double TimeSeriesData::getCurrentValue()
{
return lastValue;

15
src/ui/linechart/LinechartPlot.h
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@ -132,6 +132,8 @@ public: @@ -132,6 +132,8 @@ public:
double getMean();
/** @brief Get the short-term median */
double getMedian();
/** @brief Get the short-term variance */
double getVariance();
/** @brief Get the current value */
double getCurrentValue();
void setZeroValue(double zeroValue);
@ -166,6 +168,7 @@ private: @@ -166,6 +168,7 @@ private:
QwtArray<double> value;
double mean;
double median;
double variance;
unsigned int averageWindow;
QwtArray<double> outputMs;
QwtArray<double> outputValue;
@ -190,6 +193,8 @@ public: @@ -190,6 +193,8 @@ public:
QList<QwtPlotCurve*> getCurves();
bool isVisible(QString id);
/** @brief Check if any curve is visible */
bool anyCurveVisible();
int getPlotId();
/** @brief Get the number of values to average over */
@ -206,6 +211,8 @@ public: @@ -206,6 +211,8 @@ public:
double getMean(QString id);
/** @brief Get the short-term median of a curve */
double getMedian(QString id);
/** @brief Get the short-term variance of a curve */
double getVariance(QString id);
/** @brief Get the last inserted value */
double getCurrentValue(QString id);
@ -214,8 +221,8 @@ public: @@ -214,8 +221,8 @@ public:
static const int SCALE_LOGARITHMIC = 2;
static const int DEFAULT_REFRESH_RATE = 50; ///< The default refresh rate is 25 Hz / every 100 ms
static const int DEFAULT_PLOT_INTERVAL = 1000 * 12; ///< The default plot interval is 15 seconds
static const int DEFAULT_SCALE_INTERVAL = 1000 * 5;
static const int DEFAULT_PLOT_INTERVAL = 1000 * 8; ///< The default plot interval is 15 seconds
static const int DEFAULT_SCALE_INTERVAL = 1000 * 8;
public slots:
void setRefreshRate(int ms);
@ -243,6 +250,8 @@ public slots: @@ -243,6 +250,8 @@ public slots:
/** @brief Enforce the use of the receive timestamp */
void enforceGroundTime(bool enforce);
/** @brief Check if the receive timestamp is enforced */
bool groundTime();
// General interaction
void setWindowPosition(quint64 end);
@ -301,6 +310,8 @@ protected: @@ -301,6 +310,8 @@ protected:
// Methods
void addCurve(QString id);
QColor getNextColor();
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
private:
TimeSeriesData* d_data;

158
src/ui/linechart/LinechartWidget.cc
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@ -48,6 +48,7 @@ This file is part of the PIXHAWK project @@ -48,6 +48,7 @@ This file is part of the PIXHAWK project
#include "LinechartWidget.h"
#include "LinechartPlot.h"
#include "LogCompressor.h"
#include "QGC.h"
#include "MG.h"
@ -62,6 +63,7 @@ listedCurves(new QList<QString>()), @@ -62,6 +63,7 @@ listedCurves(new QList<QString>()),
curveLabels(new QMap<QString, QLabel*>()),
curveMeans(new QMap<QString, QLabel*>()),
curveMedians(new QMap<QString, QLabel*>()),
curveVariances(new QMap<QString, QLabel*>()),
curveMenu(new QMenu(this)),
logFile(new QFile()),
logindex(1),
@ -79,16 +81,52 @@ updateTimer(new QTimer()) @@ -79,16 +81,52 @@ updateTimer(new QTimer())
curvesWidgetLayout->setMargin(2);
curvesWidgetLayout->setSpacing(4);
curvesWidgetLayout->setSizeConstraint(QLayout::SetMinimumSize);
curvesWidgetLayout->setAlignment(Qt::AlignTop);
curvesWidget->setLayout(curvesWidgetLayout);
// Create curve list headings
QWidget* form = new QWidget(this);
QHBoxLayout *horizontalLayout;
QLabel* label;
QLabel* value;
QLabel* mean;
QLabel* variance;
form->setAutoFillBackground(false);
horizontalLayout = new QHBoxLayout(form);
horizontalLayout->setSpacing(5);
horizontalLayout->setMargin(0);
horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
//horizontalLayout->addWidget(checkBox);
label = new QLabel(form);
label->setText("Name");
horizontalLayout->addWidget(label);
// Value
value = new QLabel(form);
value->setText("Val");
horizontalLayout->addWidget(value);
// Mean
mean = new QLabel(form);
mean->setText("Mean");
horizontalLayout->addWidget(mean);
// Variance
variance = new QLabel(form);
variance->setText("Variance");
horizontalLayout->addWidget(variance);
curvesWidgetLayout->addWidget(form);
// Add and customize plot elements (right side)
// Create the layout
createLayout();
// Add the last actions
connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int)));
connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int)));
//connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int)));
//connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int)));
updateTimer->setInterval(300);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
@ -129,6 +167,8 @@ void LinechartWidget::createLayout() @@ -129,6 +167,8 @@ void LinechartWidget::createLayout()
scalingLinearButton = createButton(this);
scalingLinearButton->setDefaultAction(setScalingLinear);
scalingLinearButton->setCheckable(true);
scalingLinearButton->setToolTip(tr("Set linear scale for Y axis"));
scalingLinearButton->setWhatsThis(tr("Set linear scale for Y axis"));
layout->addWidget(scalingLinearButton, 1, 0);
layout->setColumnStretch(0, 0);
@ -136,13 +176,18 @@ void LinechartWidget::createLayout() @@ -136,13 +176,18 @@ void LinechartWidget::createLayout()
scalingLogButton = createButton(this);
scalingLogButton->setDefaultAction(setScalingLogarithmic);
scalingLogButton->setCheckable(true);
scalingLogButton->setToolTip(tr("Set logarithmic scale for Y axis"));
scalingLogButton->setWhatsThis(tr("Set logarithmic scale for Y axis"));
layout->addWidget(scalingLogButton, 1, 1);
layout->setColumnStretch(1, 0);
// Averaging spin box
averageSpinBox = new QSpinBox(this);
averageSpinBox->setValue(200);
averageSpinBox->setToolTip(tr("Sliding window size to calculate mean and variance"));
averageSpinBox->setWhatsThis(tr("Sliding window size to calculate mean and variance"));
averageSpinBox->setMinimum(2);
averageSpinBox->setValue(200);
setAverageWindow(200);
averageSpinBox->setMaximum(9999);
layout->addWidget(averageSpinBox, 1, 2);
layout->setColumnStretch(2, 0);
@ -150,6 +195,8 @@ void LinechartWidget::createLayout() @@ -150,6 +195,8 @@ void LinechartWidget::createLayout()
// Log Button
logButton = new QToolButton(this);
logButton->setToolTip(tr("Start to log curve data into a CSV or TXT file"));
logButton->setWhatsThis(tr("Start to log curve data into a CSV or TXT file"));
logButton->setText(tr("Start Logging"));
layout->addWidget(logButton, 1, 3);
layout->setColumnStretch(3, 0);
@ -159,6 +206,8 @@ void LinechartWidget::createLayout() @@ -159,6 +206,8 @@ void LinechartWidget::createLayout()
QToolButton* timeButton = new QToolButton(this);
timeButton->setText(tr("Ground Time"));
timeButton->setCheckable(true);
timeButton->setToolTip(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
timeButton->setWhatsThis(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
bool gTimeDefault = true;
if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
timeButton->setChecked(gTimeDefault);
@ -167,18 +216,18 @@ void LinechartWidget::createLayout() @@ -167,18 +216,18 @@ void LinechartWidget::createLayout()
connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
// Create the scroll bar
scrollbar = new QScrollBar(Qt::Horizontal, ui.diagramGroupBox);
scrollbar->setMinimum(MIN_TIME_SCROLLBAR_VALUE);
scrollbar->setMaximum(MAX_TIME_SCROLLBAR_VALUE);
scrollbar->setPageStep(PAGESTEP_TIME_SCROLLBAR_VALUE);
//scrollbar = new QScrollBar(Qt::Horizontal, ui.diagramGroupBox);
//scrollbar->setMinimum(MIN_TIME_SCROLLBAR_VALUE);
//scrollbar->setMaximum(MAX_TIME_SCROLLBAR_VALUE);
//scrollbar->setPageStep(PAGESTEP_TIME_SCROLLBAR_VALUE);
// Set scrollbar to maximum and disable it
scrollbar->setValue(MIN_TIME_SCROLLBAR_VALUE);
scrollbar->setDisabled(true);
//scrollbar->setValue(MIN_TIME_SCROLLBAR_VALUE);
//scrollbar->setDisabled(true);
// scrollbar->setFixedHeight(20);
// Add scroll bar to layout and make sure it gets all available space
layout->addWidget(scrollbar, 1, 5);
//layout->addWidget(scrollbar, 1, 5);
layout->setColumnStretch(5, 10);
ui.diagramGroupBox->setLayout(layout);
@ -225,7 +274,18 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 @@ -225,7 +274,18 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
{
if (activePlot->isVisible(curve))
{
logFile->write(QString(QString::number(usec) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
quint64 time = 0;
// Adjust time
if (activePlot->groundTime())
{
time = QGC::groundTimeUsecs() - logStartTime;
}
else
{
time = usec - logStartTime;
}
logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
logFile->flush();
}
}
@ -256,19 +316,47 @@ void LinechartWidget::refresh() @@ -256,19 +316,47 @@ void LinechartWidget::refresh()
// str.sprintf("%+.2f", activePlot->getMedian(k.key()));
// k.value()->setText(str);
// }
QMap<QString, QLabel*>::iterator l;
for (l = curveVariances->begin(); l != curveVariances->end(); ++l)
{
// Variance
str.sprintf("%+.5f", activePlot->getVariance(l.key()));
l.value()->setText(str);
}
}
void LinechartWidget::startLogging()
{
// Let user select the log file name
QDate date(QDate::currentDate());
// QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt, *.csv);;"));
// Store reference to file
// Append correct file ending if needed
bool abort = false;
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")))
// Check if any curve is enabled
if (!activePlot->anyCurveVisible())
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("No curves selected for logging.");
msgBox.setInformativeText("Please check all curves you want to log. Currently no data would be logged, aborting the logging.");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
return;
}
// Let user select the log file name
QDate date(QDate::currentDate());
// QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.csv, *.txt);;"));
if (!fileName.contains("."))
{
// .csv is default extension
fileName.append(".csv");
}
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort)
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
@ -292,6 +380,7 @@ void LinechartWidget::startLogging() @@ -292,6 +380,7 @@ void LinechartWidget::startLogging()
if (logFile->open(QIODevice::WriteOnly | QIODevice::Text))
{
logging = true;
logStartTime = QGC::groundTimeUsecs();
logindex++;
logButton->setText(tr("Stop logging"));
disconnect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
@ -354,6 +443,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve) @@ -354,6 +443,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
QLabel* label;
QLabel* value;
QLabel* mean;
QLabel* variance;
form->setAutoFillBackground(false);
horizontalLayout = new QHBoxLayout(form);
horizontalLayout->setSpacing(5);
@ -363,6 +453,8 @@ QWidget* LinechartWidget::createCurveItem(QString curve) @@ -363,6 +453,8 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
checkBox = new QCheckBox(form);
checkBox->setCheckable(true);
checkBox->setObjectName(curve);
checkBox->setToolTip(tr("Enable the curve in the graph window"));
checkBox->setWhatsThis(tr("Enable the curve in the graph window"));
horizontalLayout->addWidget(checkBox);
@ -388,12 +480,16 @@ QWidget* LinechartWidget::createCurveItem(QString curve) @@ -388,12 +480,16 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
// Value
value = new QLabel(form);
value->setNum(0.00);
value->setToolTip(tr("Current value of ") + curve);
value->setWhatsThis(tr("Current value of ") + curve);
curveLabels->insert(curve, value);
horizontalLayout->addWidget(value);
// Mean
mean = new QLabel(form);
mean->setNum(0.00);
mean->setToolTip(tr("Arithmetic mean of ") + curve);
mean->setWhatsThis(tr("Arithmetic mean of ") + curve);
curveMeans->insert(curve, mean);
horizontalLayout->addWidget(mean);
@ -403,6 +499,14 @@ QWidget* LinechartWidget::createCurveItem(QString curve) @@ -403,6 +499,14 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
// curveMedians->insert(curve, median);
// horizontalLayout->addWidget(median);
// Variance
variance = new QLabel(form);
variance->setNum(0.00);
variance->setToolTip(tr("Variance of ") + curve);
variance->setWhatsThis(tr("Variance of ") + curve);
curveVariances->insert(curve, variance);
horizontalLayout->addWidget(variance);
/* Color picker
QColor color = QColorDialog::getColor(Qt::green, this);
if (color.isValid()) {
@ -419,6 +523,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve) @@ -419,6 +523,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
horizontalLayout->setStretchFactor(value, 50);
horizontalLayout->setStretchFactor(mean, 50);
// horizontalLayout->setStretchFactor(median, 50);
horizontalLayout->setStretchFactor(variance, 50);
// Connect actions
QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool)));
@ -447,7 +552,13 @@ void LinechartWidget::removeCurve(QString curve) @@ -447,7 +552,13 @@ void LinechartWidget::removeCurve(QString curve)
void LinechartWidget::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
setActive(isVisible());
setActive(true);
}
void LinechartWidget::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
setActive(false);
}
void LinechartWidget::setActive(bool active)
@ -528,14 +639,14 @@ void LinechartWidget::setPlotWindowPosition(quint64 position) { @@ -528,14 +639,14 @@ void LinechartWidget::setPlotWindowPosition(quint64 position) {
// A relative position makes only sense if the plot is filled
if(activePlot->getDataInterval() > activePlot->getPlotInterval()) {
//TODO @todo Implement the scrollbar enabling in a more elegant way
scrollbar->setDisabled(false);
//scrollbar->setDisabled(false);
quint64 scrollInterval = position - activePlot->getMinTime() - activePlot->getPlotInterval();
pos = (static_cast<double>(scrollInterval) / (activePlot->getDataInterval() - activePlot->getPlotInterval()));
} else {
scrollbar->setDisabled(true);
//scrollbar->setDisabled(true);
pos = 1;
}
plotWindowLock.unlock();
@ -551,7 +662,8 @@ void LinechartWidget::setPlotWindowPosition(quint64 position) { @@ -551,7 +662,8 @@ void LinechartWidget::setPlotWindowPosition(quint64 position) {
*
* @param interval The time interval to plot
**/
void LinechartWidget::setPlotInterval(quint64 interval) {
void LinechartWidget::setPlotInterval(quint64 interval)
{
activePlot->setPlotInterval(interval);
}
@ -562,7 +674,8 @@ void LinechartWidget::setPlotInterval(quint64 interval) { @@ -562,7 +674,8 @@ void LinechartWidget::setPlotInterval(quint64 interval) {
*
* @param checked The visibility of the curve: true to display the curve, false otherwise
**/
void LinechartWidget::takeButtonClick(bool checked) {
void LinechartWidget::takeButtonClick(bool checked)
{
QCheckBox* button = qobject_cast<QCheckBox*>(QObject::sender());
@ -579,7 +692,8 @@ void LinechartWidget::takeButtonClick(bool checked) { @@ -579,7 +692,8 @@ void LinechartWidget::takeButtonClick(bool checked) {
* @param text The button text
* @param parent The parent object (to ensure that the memory is freed after the deletion of the button)
**/
QToolButton* LinechartWidget::createButton(QWidget* parent) {
QToolButton* LinechartWidget::createButton(QWidget* parent)
{
QToolButton* button = new QToolButton(parent);
button->setMinimumSize(QSize(20, 20));
button->setMaximumSize(60, 20);

8
src/ui/linechart/LinechartWidget.h
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@ -77,8 +77,10 @@ public slots: @@ -77,8 +77,10 @@ public slots:
void setPlotWindowPosition(int scrollBarValue);
void setPlotWindowPosition(quint64 position);
void setPlotInterval(quint64 interval);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
/** @brief Start automatic updates once visible */
void showEvent(QShowEvent* event);
/** @brief Stop automatic updates once hidden */
void hideEvent(QHideEvent* event);
void setActive(bool active);
/** @brief Set the number of values to average over */
void setAverageWindow(int windowSize);
@ -107,6 +109,7 @@ protected: @@ -107,6 +109,7 @@ protected:
QMap<QString, QLabel*>* curveLabels; ///< References to the curve labels
QMap<QString, QLabel*>* curveMeans; ///< References to the curve means
QMap<QString, QLabel*>* curveMedians; ///< References to the curve medians
QMap<QString, QLabel*>* curveVariances; ///< References to the curve variances
QWidget* curvesWidget; ///< The QWidget containing the curve selection button
QVBoxLayout* curvesWidgetLayout; ///< The layout for the curvesWidget QWidget
@ -129,6 +132,7 @@ protected: @@ -129,6 +132,7 @@ protected:
bool logging;
QTimer* updateTimer;
LogCompressor* compressor;
quint64 logStartTime;
static const int MAX_CURVE_MENUITEM_NUMBER = 8;
static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;

61
src/ui/linechart/Linecharts.cc
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@ -10,28 +10,47 @@ Linecharts::Linecharts(QWidget *parent) : @@ -10,28 +10,47 @@ Linecharts::Linecharts(QWidget *parent) :
plots(),
active(true)
{
this->setVisible(false);
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
this->setVisible(false);
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
// Add each of them
foreach (UASInterface* sys, systems)
{
addSystem(sys);
}
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
this, SLOT(selectSystem(int)));
connect(this, SIGNAL(logfileWritten(QString)),
MainWindow::instance(), SLOT(loadDataView(QString)));
// Add each of them
foreach (UASInterface* sys, systems)
{
addSystem(sys);
}
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
this, SLOT(selectSystem(int)));
connect(this, SIGNAL(logfileWritten(QString)),
MainWindow::instance(), SLOT(loadDataView(QString)));
}
void Linecharts::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
if (!event->spontaneous())
Q_UNUSED(event)
{
QWidget* prevWidget = currentWidget();
if (prevWidget)
{
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart)
{
this->active = true;
chart->setActive(true);
}
}
}
}
void Linecharts::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
QWidget* prevWidget = currentWidget();
if (prevWidget)
@ -39,16 +58,8 @@ void Linecharts::showEvent(QShowEvent* event) @@ -39,16 +58,8 @@ void Linecharts::showEvent(QShowEvent* event)
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart)
{
if (event->type() == QEvent::Hide)
{
this->active = false;
chart->setActive(false);
}
else if (event->type() == QEvent::Show)
{
this->active = true;
chart->setActive(true);
}
this->active = false;
chart->setActive(false);
}
}
}

4
src/ui/linechart/Linecharts.h
Unescape View File

@ -26,8 +26,10 @@ public slots: @@ -26,8 +26,10 @@ public slots:
protected:
QMap<int, LinechartWidget*> plots;
bool active;
/** @brief Start updating widget */
void showEvent(QShowEvent* event);
/** @brief Stop updating widget */
void hideEvent(QHideEvent* event);
};

27
src/ui/map3D/Q3DWidget.cc
Unescape View File

@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project @@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
*/
#include "Q3DWidget.h"
#include "QGC.h"
#include <osg/Geometry>
#include <osg/LineWidth>
@ -105,24 +106,23 @@ Q3DWidget::init(float fps) @@ -105,24 +106,23 @@ Q3DWidget::init(float fps)
cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0);
connect(&timer, SIGNAL(timeout()), this, SLOT(redraw()));
timer.start(static_cast<int>(floorf(1000.0f / fps)));
// DO NOT START TIMER IN INITIALIZATION! IT IS STARTED IN THE SHOW EVENT
}
void Q3DWidget::showEvent(QShowEvent* event)
{
// React only to internal (pre/post-display)
// events
if (!event->spontaneous())
{
if (event->type() == QEvent::Hide)
{
timer.stop();
}
else if (event->type() == QEvent::Show)
{
timer.start(static_cast<int>(floorf(1000.0f / fps)));
}
}
Q_UNUSED(event)
timer.start(static_cast<int>(floorf(1000.0f / fps)));
}
void Q3DWidget::hideEvent(QHideEvent* event)
{
// React only to internal (pre/post-display)
// events
Q_UNUSED(event)
timer.stop();
}
osg::ref_ptr<osg::Geode>
@ -263,6 +263,9 @@ Q3DWidget::getGlobalCursorPosition(int32_t cursorX, int32_t cursorY, double z) @@ -263,6 +263,9 @@ Q3DWidget::getGlobalCursorPosition(int32_t cursorX, int32_t cursorY, double z)
void
Q3DWidget::redraw(void)
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
updateGL();
}

4
src/ui/map3D/Q3DWidget.h
Unescape View File

@ -122,8 +122,10 @@ protected slots: @@ -122,8 +122,10 @@ protected slots:
protected:
/** @brief Enable / disable widget updating */
/** @brief Start widget updating */
void showEvent(QShowEvent* event);
/** @brief Stop widget updating */
void hideEvent(QHideEvent* event);
/**
* @brief Get base robot geode.

30
src/ui/map3D/QGCGoogleEarthView.cc
Unescape View File

@ -2,8 +2,8 @@ @@ -2,8 +2,8 @@
#include <QDir>
#include <QShowEvent>
#include <QSettings>
#include <QAxObject>
#include <QUuid>
#include <QAxObject>
#include <QUuid>
#include <QDebug>
#include <QFile>
@ -16,6 +16,7 @@ @@ -16,6 +16,7 @@
#include "QGCWebPage.h"
#endif
#include "QGC.h"
#include "ui_QGCGoogleEarthView.h"
#include "QGCGoogleEarthView.h"
@ -102,7 +103,8 @@ QGCGoogleEarthView::~QGCGoogleEarthView() @@ -102,7 +103,8 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
void QGCGoogleEarthView::addUAS(UASInterface* uas)
{
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name()));
// uasid, type, color (in aarrbbgg format)
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
#endif
#ifdef _MSC_VER
//if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
@ -134,6 +136,9 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou @@ -134,6 +136,9 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
Q_UNUSED(usec);
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
//qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15);
#endif
#ifdef _MSC_VER
//if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
@ -180,20 +185,17 @@ void QGCGoogleEarthView::setHome(double lat, double lon, double alt) @@ -180,20 +185,17 @@ void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
#endif
}
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
{
Q_UNUSED(event) updateTimer->stop();
}
void QGCGoogleEarthView::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
if (!event->spontaneous())
Q_UNUSED(event)
{
if (event->type() == QEvent::Hide)
{
// Disable widget
updateTimer->stop();
qDebug() << "STOPPED GOOGLE EARTH UPDATES";
}
else if (event->type() == QEvent::Show)
{
// Enable widget, initialize on first run
if (!webViewInitialized)
{
@ -240,7 +242,6 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event) @@ -240,7 +242,6 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
QTimer::singleShot(1000, this, SLOT(initializeGoogleEarth()));
updateTimer->start(refreshRateMs);
}
}
}
}
@ -285,6 +286,9 @@ void QGCGoogleEarthView::initializeGoogleEarth() @@ -285,6 +286,9 @@ void QGCGoogleEarthView::initializeGoogleEarth()
void QGCGoogleEarthView::updateState()
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
if (gEarthInitialized)
{
int uasId = 0;

4
src/ui/map3D/QGCGoogleEarthView.h
Unescape View File

@ -106,8 +106,10 @@ protected: @@ -106,8 +106,10 @@ protected:
QWebView* webViewMac;
#endif
/** @brief Enable / disable widget updating */
/** @brief Start widget updating */
void showEvent(QShowEvent* event);
/** @brief Stop widget updating */
void hideEvent(QHideEvent* event);
private:
#ifdef _MSC_VER

217
src/ui/uas/UASView.cc
Unescape View File

@ -1,5 +1,4 @@ @@ -1,5 +1,4 @@
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
@ -10,15 +9,15 @@ This file is part of the PIXHAWK project @@ -10,15 +9,15 @@ This file is part of the PIXHAWK project
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
@ -33,6 +32,7 @@ This file is part of the PIXHAWK project @@ -33,6 +32,7 @@ This file is part of the PIXHAWK project
#include <QDateTime>
#include <QDebug>
#include "QGC.h"
#include "MG.h"
#include "UASManager.h"
#include "UASView.h"
@ -62,7 +62,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : @@ -62,7 +62,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
m_ui(new Ui::UASView)
{
m_ui->setupUi(this);
// Setup communication
//connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(receiveValue(int,QString,double,quint64)));
connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
@ -79,10 +79,10 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : @@ -79,10 +79,10 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
connect(UASManager::instance(), SIGNAL(activeUASStatusChanged(UASInterface*,bool)), this, SLOT(updateActiveUAS(UASInterface*,bool)));
// Setup UAS selection
connect(m_ui->uasViewFrame, SIGNAL(clicked(bool)), this, SLOT(setUASasActive(bool)));
// Setup user interaction
connect(m_ui->liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(m_ui->haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
@ -91,9 +91,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : @@ -91,9 +91,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
// Set static values
// Name
if (uas->getUASName() == "")
{
@ -103,13 +103,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : @@ -103,13 +103,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
{
m_ui->nameLabel->setText(uas->getUASName());
}
setBackgroundColor();
// Heartbeat fade
refreshTimer = new QTimer(this);
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
refreshTimer->start(updateInterval);
}
UASView::~UASView()
@ -182,7 +181,7 @@ void UASView::enterEvent(QEvent* event) @@ -182,7 +181,7 @@ void UASView::enterEvent(QEvent* event)
}
}
qDebug() << __FILE__ << __LINE__ << "IN FOCUS";
if (event->type() == QEvent::MouseButtonDblClick)
{
qDebug() << __FILE__ << __LINE__ << "UAS CLICKED!";
@ -202,33 +201,26 @@ void UASView::showEvent(QShowEvent* event) @@ -202,33 +201,26 @@ void UASView::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
if (!event->spontaneous())
{
if (event->type() == QEvent::Hide)
{
refreshTimer->stop();
}
else if (event->type() == QEvent::Show)
{
refreshTimer->start(updateInterval);
}
}
Q_UNUSED(event);
refreshTimer->start(updateInterval);
}
void UASView::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event);
refreshTimer->stop();
}
void UASView::receiveHeartbeat(UASInterface* uas)
{
if (uas == this->uas)
{
refreshTimer->stop();
QString colorstyle;
heartbeatColor = QColor(20, 200, 20);
colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
m_ui->heartbeatIcon->setStyleSheet(colorstyle);
m_ui->heartbeatIcon->setAutoFillBackground(true);
refreshTimer->stop();
refreshTimer->start(updateInterval);
}
QString colorstyle;
heartbeatColor = QColor(20, 200, 20);
colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
m_ui->heartbeatIcon->setStyleSheet(colorstyle);
m_ui->heartbeatIcon->setAutoFillBackground(true);
}
/**
@ -280,8 +272,8 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType) @@ -280,8 +272,8 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType)
m_ui->landButton->hide();
m_ui->shutdownButton->hide();
m_ui->abortButton->hide();
m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
}
m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
}
break;
default:
m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
@ -395,90 +387,93 @@ void UASView::refresh() @@ -395,90 +387,93 @@ void UASView::refresh()
if (generalUpdateCount == 4)
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
generalUpdateCount = 0;
//qDebug() << "UPDATING EVERYTHING";
// State
m_ui->stateLabel->setText(state);
m_ui->statusTextLabel->setText(stateDesc);
// Battery
m_ui->batteryBar->setValue(static_cast<int>(this->chargeLevel));
//m_ui->loadBar->setValue(static_cast<int>(this->load));
m_ui->thrustBar->setValue(this->thrust);
// Position
QString position;
position = position.sprintf("%02.2f %02.2f %02.2f m", x, y, z);
m_ui->positionLabel->setText(position);
QString globalPosition;
QString latIndicator;
if (lat > 0)
{
latIndicator = "N";
}
else
{
latIndicator = "S";
}
QString lonIndicator;
if (lon > 0)
{
lonIndicator = "E";
}
else
{
lonIndicator = "W";
}
globalPosition = globalPosition.sprintf("%02.2f%s %02.2f%s %02.2f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
m_ui->gpsLabel->setText(globalPosition);
// State
m_ui->stateLabel->setText(state);
m_ui->statusTextLabel->setText(stateDesc);
// Battery
m_ui->batteryBar->setValue(static_cast<int>(this->chargeLevel));
//m_ui->loadBar->setValue(static_cast<int>(this->load));
m_ui->thrustBar->setValue(this->thrust);
// Position
QString position;
position = position.sprintf("%02.2f %02.2f %02.2f m", x, y, z);
m_ui->positionLabel->setText(position);
QString globalPosition;
QString latIndicator;
if (lat > 0)
{
latIndicator = "N";
}
else
{
latIndicator = "S";
}
QString lonIndicator;
if (lon > 0)
{
lonIndicator = "E";
}
else
{
lonIndicator = "W";
}
globalPosition = globalPosition.sprintf("%02.2f%s %02.2f%s %02.2f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
m_ui->gpsLabel->setText(globalPosition);
// Altitude
if (groundDistance == 0 && alt != 0)
{
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt));
}
else
{
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance));
}
// Altitude
if (groundDistance == 0 && alt != 0)
{
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt));
}
else
{
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance));
}
// Speed
QString speed;
speed = speed.sprintf("%02.2f m/s", totalSpeed);
m_ui->speedLabel->setText(speed);
// Speed
QString speed;
speed = speed.sprintf("%02.2f m/s", totalSpeed);
m_ui->speedLabel->setText(speed);
// Thrust
m_ui->thrustBar->setValue(thrust * 100);
// Thrust
m_ui->thrustBar->setValue(thrust * 100);
if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
{
// Filter output to get a higher stability
static double filterTime = static_cast<int>(this->timeRemaining);
filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60);
if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
{
// Filter output to get a higher stability
static double filterTime = static_cast<int>(this->timeRemaining);
filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60);
int min = static_cast<int>(filterTime / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeRemainingLabel->setText(timeText);
}
else
{
m_ui->timeRemainingLabel->setText(tr("Calculating"));
}
// Time Elapsed
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
quint64 filterTime = uas->getUptime() / 1000;
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60);
int min = static_cast<int>(filterTime / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeRemainingLabel->setText(timeText);
m_ui->timeElapsedLabel->setText(timeText);
}
else
{
m_ui->timeRemainingLabel->setText(tr("Calculating"));
}
// Time Elapsed
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
quint64 filterTime = uas->getUptime() / 1000;
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60);
int min = static_cast<int>(filterTime / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeElapsedLabel->setText(timeText);
}
generalUpdateCount++;
// Fade heartbeat icon

4
src/ui/uas/UASView.h
Unescape View File

@ -107,8 +107,10 @@ protected: @@ -107,8 +107,10 @@ protected:
void enterEvent(QEvent* event);
/** @brief Mouse leaves the widget */
void leaveEvent(QEvent* event);
/** @brief Enable / disable widget updating */
/** @brief Start widget updating */
void showEvent(QShowEvent* event);
/** @brief Stop widget updating */
void hideEvent(QHideEvent* event);
private:
Ui::UASView *m_ui;

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