Fixed Parameter view, made linechart feasible for multiple systems

qgroundcontrol.pro

@@ -83,7 +83,6 @@ HEADERS += src/MG.h \
     src/ui/uas/UASInfoWidget.h \
     src/ui/HUD.h \
     src/ui/linechart/LinechartWidget.h \
-    src/ui/linechart/LinechartContainer.h \
     src/ui/linechart/LinechartPlot.h \
     src/ui/linechart/Scrollbar.h \
     src/ui/linechart/ScrollZoomer.h \
@@ -115,7 +114,8 @@ HEADERS += src/MG.h \
     src/ui/param/ParamTreeItem.h \
     src/ui/param/ParamTreeModel.h \
     src/ui/QGCParamWidget.h \
-    src/ui/QGCSensorSettingsWidget.h
+    src/ui/QGCSensorSettingsWidget.h \
+    src/ui/linechart/Linecharts.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -133,7 +133,6 @@ SOURCES += src/main.cc \
     src/ui/uas/UASInfoWidget.cc \
     src/ui/HUD.cc \
     src/ui/linechart/LinechartWidget.cc \
-    src/ui/linechart/LinechartContainer.cc \
     src/ui/linechart/LinechartPlot.cc \
     src/ui/linechart/Scrollbar.cc \
     src/ui/linechart/ScrollZoomer.cc \
@@ -164,5 +163,6 @@ SOURCES += src/main.cc \
     src/ui/param/ParamTreeItem.cc \
     src/ui/param/ParamTreeModel.cc \
     src/ui/QGCParamWidget.cc \
-    src/ui/QGCSensorSettingsWidget.cc
+    src/ui/QGCSensorSettingsWidget.cc \
+    src/ui/linechart/Linecharts.cc
 RESOURCES = mavground.qrc

src/comm/MAVLinkProtocol.cc

@@ -122,6 +122,13 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
                 // of its existence, as it only then can send and receive
                 // it's first messages.
 
+                // FIXME Current debugging
+                // check if the UAS has the same id like this system
+                if (message.sysid == getSystemId())
+                {
+                    qDebug() << "WARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\n\n RECEIVED MESSAGE FROM THIS SYSTEM WITH ID" << message.msgid << "FROM COMPONENT" << message.compid;
+                }
+
                 // First create new UAS object
                 uas = new UAS(this, message.sysid);
                 // Make UAS aware that this link can be used to communicate with the actual robot

src/uas/UASManager.cc

@@ -83,6 +83,7 @@ void UASManager::addUAS(UASInterface* uas)
     {
         activeUAS = uas;
         emit activeUASSet(uas);
+        emit activeUASSet(uas->getUASID());
     }
 }
 
@@ -170,6 +171,7 @@ void UASManager::setActiveUAS(UASInterface* uas)
         qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << uas->getUASName();
 
         emit activeUASSet(uas);
+        emit activeUASSet(uas->getUASID());
     }
 }
 

src/uas/UASManager.h

@@ -166,6 +166,7 @@ protected:
 signals:
     void UASCreated(UASInterface* UAS);
     void activeUASSet(UASInterface* UAS);
+    void activeUASSet(int systemId);
 
 };
 

src/ui/MainWindow.cc

@@ -71,9 +71,10 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
 
     // Initialize views, NOT show them yet, only initialize model and controller
     centerStack = new QStackedWidget(this);
-    linechart = new LinechartWidget(this);
+    linechart = new Linecharts(this);
     linechart->setActive(false);
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), linechart, SLOT(setActivePlot(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), linechart, SLOT(addSystem(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(activeUASSet(int)), linechart, SLOT(selectSystem(int)));
     centerStack->addWidget(linechart);
     control = new UASControlWidget(this);
     //controlDock = new QDockWidget(this);
@@ -312,7 +313,7 @@ void MainWindow::addLink(LinkInterface *link)
     MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
     if (sim)
     {
-        connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
+        //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
         connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
     }
 }
@@ -322,15 +323,6 @@ void MainWindow::UASCreated(UASInterface* uas)
     // Connect the UAS to the full user interface
     //ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
 
-    // Line chart
-    // FIXME DO THIS ONLY FOR THE FIRST CONNECTED SYSTEM
-    static bool sysPresent = false;
-    if (!sysPresent)
-    {
-        connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)), Qt::QueuedConnection);
-        sysPresent = true;
-    }
-
     // FIXME Should be not inside the mainwindow
     connect(uas, SIGNAL(textMessageReceived(int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,QString)));
 

src/ui/MainWindow.h

@@ -42,7 +42,7 @@ This file is part of the PIXHAWK project
 #include "UASInterface.h"
 #include "UASManager.h"
 #include "UASControlWidget.h"
-#include "LinechartWidget.h"
+#include "Linecharts.h"
 #include "UASInfoWidget.h"
 #include "WaypointList.h"
 #include "CameraView.h"
@@ -132,7 +132,7 @@ protected:
 
     QSettings settings;
     UASControlWidget* control;
-    LinechartWidget* linechart;
+    Linecharts* linechart;
     UASInfoWidget* info;
     CameraView* camera;
     UASListWidget* list;

src/ui/QGCParamWidget.cc

@@ -130,7 +130,15 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
 {
     Q_UNUSED(uas);
     // Insert parameter into map
-    //tree->appendParam(component, parameterName, value);
+
+    QString splitToken = "_";
+    // Check if auto-grouping can work
+    /*
+    if (parameterName.contains(splitToken))
+    {
+        QString parent = parameterName.section(splitToken, 0, 0, QString::SectionSkipEmpty);
+        QString children = parameterName.section(splitToken, 1, -1, QString::SectionSkipEmpty);
+    }*/
     QStringList plist;
     plist.append(parameterName);
     plist.append(QString::number(value));

src/ui/XMLCommProtocolWidget.cc

@@ -1,6 +1,7 @@
 #include <QFileDialog>
 #include <QTextBrowser>
 #include <QMessageBox>
+#include <QSettings>
 
 #include "XMLCommProtocolWidget.h"
 #include "ui_XMLCommProtocolWidget.h"
@@ -23,10 +24,12 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
 
 void XMLCommProtocolWidget::selectXMLFile()
 {
-    qDebug() << "OPENING XML FILE";
-
     //QString fileName = QFileDialog::getOpenFileName(this, tr("Load Protocol Definition File"), ".", "*.xml");
+    QSettings settings;
+    const QString mavlinkXML = "MAVLINK_XML_FILE";
+    QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
     QFileDialog dialog;
+    dialog.setDirectory(dirPath);
     dialog.setFileMode(QFileDialog::AnyFile);
     dialog.setFilter(tr("MAVLink XML (*.xml)"));
     dialog.setViewMode(QFileDialog::Detail);
@@ -40,6 +43,8 @@ void XMLCommProtocolWidget::selectXMLFile()
     {
         m_ui->fileNameLabel->setText(fileNames.first());
         QFile file(fileNames.first());
+        // Store filename for next time
+        settings.setValue(mavlinkXML, fileNames.first());
         if (file.open(QIODevice::ReadOnly | QIODevice::Text))
         {
             const QString instanceText(QString::fromUtf8(file.readAll()));
@@ -80,7 +85,11 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
 
 void XMLCommProtocolWidget::selectOutputDirectory()
 {
+    QSettings settings;
+    const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
+    QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
     QFileDialog dialog;
+    dialog.setDirectory(dirPath);
     dialog.setFileMode(QFileDialog::Directory);
     dialog.setFilter(tr("MAVLink XML (*.xml)"));
     dialog.setViewMode(QFileDialog::Detail);
@@ -93,6 +102,8 @@ void XMLCommProtocolWidget::selectOutputDirectory()
     if (fileNames.size() > 0)
     {
         m_ui->outputDirNameLabel->setText(fileNames.first());
+        // Store directory for next time
+        settings.setValue(mavlinkOutputDir, fileNames.first());
         //QFile file(fileName);
     }
 }

src/ui/linechart/LinechartContainer.cc

@@ -1,59 +0,0 @@
-/*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK is free software: you can redistribute it and/or modify
-    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/>.
- 
-======================================================================*/
- 
-/**
- * @file
- *   @brief Brief Description
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include <QHBoxLayout>
-#include <LinechartContainer.h>
-
-LinechartContainer::LinechartContainer(QWidget* parent) : QWidget(parent)
-{
-//    setMinimumHeight(300);
-//    setMinimumWidth(450);
-    setContentsMargins(0, 0, 0, 0); // No margin around container content
-}
-
-LinechartContainer::~LinechartContainer()
-{
-
-}
-
-LinechartPlot* LinechartContainer::getPlot()
-{
-    return plot;
-}
-
-void LinechartContainer::setPlot(LinechartPlot* plot)
-{
-    this->plot = plot;
-    delete layout();
-    QHBoxLayout* currentLayout = new QHBoxLayout(this);
-    currentLayout->addWidget(plot);
-    setLayout(currentLayout);
-}

src/ui/linechart/LinechartContainer.h

@@ -1,59 +0,0 @@
-/*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK is free software: you can redistribute it and/or modify
-    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/>.
- 
-======================================================================*/
- 
-/**
- * @file
- *   @brief Brief Description
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _LINECHARTCONTAINER_H_
-#define _LINECHARTCONTAINER_H_
-
-#include <QWidget>
-#include <LinechartPlot.h>
-
-/**
- * @brief Container for line chart plots
- *
- * @see LinechartPlot
- * @see LinechartWidget
- */
-class LinechartContainer : public QWidget {
-    Q_OBJECT
-public:
-    LinechartContainer(QWidget *parent = NULL);
-    ~LinechartContainer();
-
-    LinechartPlot* getPlot();
-
-public slots:
-    void setPlot(LinechartPlot* plot);
-
-private:
-    LinechartPlot* plot;
-};
-
-#endif /* _LINECHARTCONTAINER_H_ */

src/ui/linechart/LinechartPlot.cc

@@ -55,9 +55,9 @@ maxTime(QUINT64_MIN),
 maxInterval(MAX_STORAGE_INTERVAL),
 timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
 automaticScrollActive(false),
+m_active(true),
 d_data(NULL),
-d_curve(NULL),
+d_curve(NULL)
-m_active(true)
 {
     this->plotid = plotid;
     this->plotInterval = interval;
@@ -161,6 +161,14 @@ int LinechartPlot::getPlotId()
 /**
  * @param id curve identifier
  */
+double LinechartPlot::getCurrentValue(QString id)
+{
+    return data.value(id)->getCurrentValue();
+}
+
+/**
+ * @param id curve identifier
+ */
 double LinechartPlot::getMean(QString id)
 {
     return data.value(id)->getMean();
@@ -280,7 +288,7 @@ void LinechartPlot::addCurve(QString id)
     data.insert(id, dataset);
 
     // Notify connected components about new curve
-    emit curveAdded(plotid, id);
+    emit curveAdded(id);
 }
 
 QColor LinechartPlot::getNextColor()
@@ -337,7 +345,7 @@ void LinechartPlot::setCurveColor(QString id, QColor color)
     QwtPlotCurve* curve = curves.value(id);
     curve->setPen(color);
 
-    emit colorSet(plotid, id, color);
+    emit colorSet(id, color);
 }
 
 /**
@@ -635,7 +643,7 @@ void LinechartPlot::removeAllData()
         curve = NULL;
 
         // Notify connected components about the removal
-        emit curveRemoved(plotid, i.key());
+        emit curveRemoved(i.key());
     }
 
     // Delete data
@@ -814,6 +822,11 @@ double TimeSeriesData::getMedian()
     return median;
 }
 
+double TimeSeriesData::getCurrentValue()
+{
+    return ms.last();
+}
+
 /**
  * @brief Get the zero (center) value in the data set
  * The zero value is not a statistical value, but instead manually defined

src/ui/linechart/LinechartPlot.h

@@ -132,6 +132,8 @@ public:
     double getMean();
     /** @brief Get the short-term median */
     double getMedian();
+    /** @brief Get the current value */
+    double TimeSeriesData::getCurrentValue();
     void setZeroValue(double zeroValue);
     void setInterval(quint64 ms);
     void setAverageWindowSize(int windowSize);
@@ -203,6 +205,8 @@ public:
     double getMean(QString id);
     /** @brief Get the short-term median of a curve */
     double getMedian(QString id);
+    /** @brief Get the last inserted value */
+    double getCurrentValue(QString id);
 
     static const int SCALE_ABSOLUTE = 0;
     static const int SCALE_BEST_FIT = 1;
@@ -303,20 +307,20 @@ signals:
          *
          * @param color The curve color in the diagram
          **/
-    void curveAdded(int uasid, QString idstring);
+    void curveAdded(QString idstring);
     /**
          * @brief This signal is emitted when a curve gets assigned a color
          *
          * @param idstring The id-string of the curve
          * @param color The curve color in the diagram
          **/
-    void colorSet(int uasid, QString idstring, QColor color);
+    void colorSet(QString idstring, QColor color);
     /**
          * @brief This signal is emitted when a curve is removed
          *
          * @param name The id-string of the curve
          **/
-    void curveRemoved(int uasid, QString name);
+    void curveRemoved(QString name);
     /**
          * @brief This signal is emitted when the plot window position changes
          *

src/ui/linechart/LinechartWidget.cc

@@ -49,19 +49,22 @@ This file is part of the PIXHAWK project
 #include "MG.h"
 
 
-LinechartWidget::LinechartWidget(QWidget *parent) : QWidget(parent),
+LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent),
+sysid(systemid),
+activePlot(NULL),
 curvesLock(new QReadWriteLock()),
+plotWindowLock(),
 curveListIndex(0),
 curveListCounter(0),
-activePlot(NULL),
-curveMenu(new QMenu(this)),
 listedCurves(new QList<QString>()),
 curveLabels(new QMap<QString, QLabel*>()),
 curveMeans(new QMap<QString, QLabel*>()),
 curveMedians(new QMap<QString, QLabel*>()),
+curveMenu(new QMenu(this)),
 logFile(new QFile()),
 logindex(1),
-logging(false)
+logging(false),
+updateTimer(new QTimer())
 {
     // Add elements defined in Qt Designer
     ui.setupUi(this);
@@ -78,15 +81,16 @@ logging(false)
 
     // Add and customize plot elements (right side)
 
-    // Instantiate the actual plot for multiple vehicles
-    plots = QMap<int, LinechartPlot*>();
-
     // 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)));
+
+    updateTimer->setInterval(100);
+    connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
+    updateTimer->start();
 }
 
 LinechartWidget::~LinechartWidget() {
@@ -95,11 +99,6 @@ LinechartWidget::~LinechartWidget() {
     listedCurves = NULL;
 }
 
-void LinechartWidget::setPlot(int uasId)
-{
-    setActivePlot(uasId);
-}
-
 void LinechartWidget::createLayout()
 {
     // Create actions
@@ -112,13 +111,15 @@ void LinechartWidget::createLayout()
     layout->setMargin(2);
 
     // Create plot container widget
-    plotContainer = new LinechartContainer(ui.diagramGroupBox);
+    activePlot = new LinechartPlot(this, sysid);
+    // Activate automatic scrolling
+    activePlot->setAutoScroll(true);
 
     // TODO Proper Initialization needed
     //    activePlot = getPlot(0);
     //    plotContainer->setPlot(activePlot);
 
-    layout->addWidget(plotContainer, 0, 0, 1, 5);
+    layout->addWidget(activePlot, 0, 0, 1, 5);
     layout->setRowStretch(0, 10);
     layout->setRowStretch(1, 0);
 
@@ -167,35 +168,47 @@ void LinechartWidget::createLayout()
     layout->setColumnStretch(4, 10);
 
     ui.diagramGroupBox->setLayout(layout);
+
+    // Add actions
+    averageSpinBox->setValue(activePlot->getAverageWindow());
+
+    // Connect notifications from the user interface to the plot
+    connect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString)));
+    connect(this, SIGNAL(curveSet(QString, int)), activePlot, SLOT(showCurve(QString, int)));
+
+    // Connect notifications from the plot to the user interface
+    connect(activePlot, SIGNAL(curveAdded(QString)), this, SLOT(addCurve(QString)));
+    connect(activePlot, SIGNAL(curveRemoved(QString)), this, SLOT(removeCurve(QString)));
+
+    // Scrollbar
+
+    // Update scrollbar when plot window changes (via translator method setPlotWindowPosition()
+    connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64)));
+
+    // Update plot when scrollbar is moved (via translator method setPlotWindowPosition()
+    connect(this, SIGNAL(plotWindowPositionUpdated(quint64)), activePlot, SLOT(setWindowPosition(quint64)));
+
+    // Set scaling
+    connect(scalingLinearButton, SIGNAL(clicked()), activePlot, SLOT(setLinearScaling()));
+    connect(scalingLogButton, SIGNAL(clicked()), activePlot, SLOT(setLogarithmicScaling()));
 }
 
 void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 usec)
 {
     // Order matters here, first append to plot, then update curve list
-    LinechartPlot* currPlot = getPlot(uasId);
+    activePlot->appendData(curve, usec, value);
-    currPlot->appendData(curve, usec, value);
+    // Store data
-    if(activePlot == NULL) setActivePlot(uasId);
-    QString str;
-    str.sprintf("%+.2f", value);
     QLabel* label = curveLabels->value(curve, NULL);
     // Make sure the curve will be created if it does not yet exist
     if(!label)
     {
-        addCurve(uasId, curve);
+        addCurve(curve);
     }
-    // Value
-    curveLabels->value(curve)->setText(str);
-    // Mean
-    str.sprintf("%+.2f", currPlot->getMean(curve));
-    curveMeans->value(curve)->setText(str);
-    // Median
-    str.sprintf("%+.2f", currPlot->getMedian(curve));
-    curveMedians->value(curve)->setText(str);
 
     // Log data
     if (logging)
     {
-        if (currPlot->isVisible(curve))
+        if (activePlot->isVisible(curve))
         {
             logFile->write(QString(QString::number(usec) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
             logFile->flush();
@@ -203,6 +216,33 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
     }
 }
 
+void LinechartWidget::refresh()
+{
+    QString str;
+
+    QMap<QString, QLabel*>::iterator i;
+    for (i = curveLabels->begin(); i != curveLabels->end(); ++i)
+    {
+        str.sprintf("%+.2f", activePlot->getCurrentValue(i.key()));
+        // Value
+        i.value()->setText(str);
+    }
+    // Mean
+    QMap<QString, QLabel*>::iterator j;
+    for (j = curveMeans->begin(); j != curveMeans->end(); ++j)
+    {
+        str.sprintf("%+.2f", activePlot->getMean(j.key()));
+        j.value()->setText(str);
+    }
+    QMap<QString, QLabel*>::iterator k;
+    for (k = curveMedians->begin(); k != curveMedians->end(); ++k)
+    {
+        // Median
+        str.sprintf("%+.2f", activePlot->getMedian(k.key()));
+        k.value()->setText(str);
+    }
+}
+
 
 void LinechartWidget::startLogging()
 {
@@ -219,10 +259,6 @@ void LinechartWidget::startLogging()
         logButton->setText(tr("Stop logging"));
         disconnect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
         connect(logButton, SIGNAL(clicked()), this, SLOT(stopLogging()));
-
-        // Write file header
-        //logFile->write(QString("MILLISECONDS\tID\t\"NAME\"\tVALUE\n").toLatin1());
-        //logFile->flush();
     }
     else
     {
@@ -268,13 +304,14 @@ void LinechartWidget::createActions()
  * @param curve The id-string of the curve
  * @see removeCurve()
  **/
-void LinechartWidget::addCurve(int uasid, QString curve)
+void LinechartWidget::addCurve(QString curve)
 {
-    curvesWidgetLayout->addWidget(createCurveItem(getPlot(uasid), curve));
+    curvesWidgetLayout->addWidget(createCurveItem(curve));
 }
 
-QWidget* LinechartWidget::createCurveItem(LinechartPlot* plot, QString curve)
+QWidget* LinechartWidget::createCurveItem(QString curve)
 {
+    LinechartPlot* plot = activePlot;
     QWidget* form = new QWidget(this);
     QHBoxLayout *horizontalLayout;
     QCheckBox *checkBox;
@@ -366,22 +403,10 @@ QWidget* LinechartWidget::createCurveItem(LinechartPlot* plot, QString curve)
  * @param curve The curve to remove
  * @see addCurve()
  **/
-void LinechartWidget::removeCurve(int uasid, QString curve)
+void LinechartWidget::removeCurve(QString curve)
 {
     //TODO @todo Ensure that the button for a curve gets deleted when the original curve is deleted
-}
+    // Remove name
-
-/**
- * @brief Get the plot widget.
- *
- * @return The plot widget
- **/
-LinechartPlot* LinechartWidget::getPlot(int plotid) {
-    if(!plots.contains(plotid))
-    {
-        plots.insert(plotid, new LinechartPlot(ui.diagramGroupBox, plotid));
-    }
-    return plots.value(plotid);
 }
 
 void LinechartWidget::setActive(bool active)
@@ -390,67 +415,13 @@ void LinechartWidget::setActive(bool active)
     {
         activePlot->setActive(active);
     }
-}
+    if (active)
-
-void LinechartWidget::setActivePlot(UASInterface* uas)
-{
-    setActivePlot(uas->getUASID());
-}
-
-void LinechartWidget::setActivePlot(int uasId)
-{   
-    if (!activePlot || uasId != activePlot->getPlotId())
     {
-        // Make sure there is an active plot, else the next
+        updateTimer->start();
-        // if clause will access a null pointer
+    }
-        if (!activePlot)
+    else
-        {
+    {
-            // Get plot, if it does not exist yet it will be automatically created
+        updateTimer->stop();
-            activePlot = getPlot(uasId);
-        }
-
-        // Remove current plot
-        disconnect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString)));
-        disconnect(this, SIGNAL(curveSet(QString, int)), activePlot, SLOT(showCurve(QString, int)));
-        disconnect(activePlot, SIGNAL(curveAdded(int, QString)), this, SLOT(addCurve(int, QString)));
-        disconnect(activePlot, SIGNAL(curveRemoved(int, QString)), this, SLOT(removeCurve(int, QString)));
-        disconnect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64)));
-        disconnect(this, SIGNAL(plotWindowPositionUpdated(quint64)), activePlot, SLOT(setWindowPosition(quint64)));
-        disconnect(scalingLinearButton, SIGNAL(clicked()), activePlot, SLOT(setLinearScaling()));
-        disconnect(scalingLogButton, SIGNAL(clicked()), activePlot, SLOT(setLogarithmicScaling()));
-
-        // Get plot, if it does not exist yet it will be automatically created
-        activePlot = getPlot(uasId);
-
-        plotContainer->setPlot(activePlot);
-
-        qDebug() << "LinechartWidget::setPlot(): Setting plot to UAS ID:" << uasId;
-
-        // Activate automatic scrolling
-        activePlot->setAutoScroll(true);
-
-        // Add actions
-        averageSpinBox->setValue(activePlot->getAverageWindow());
-
-        // Connect notifications from the user interface to the plot
-        connect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString)));
-        connect(this, SIGNAL(curveSet(QString, int)), activePlot, SLOT(showCurve(QString, int)));
-
-        // Connect notifications from the plot to the user interface
-        connect(activePlot, SIGNAL(curveAdded(int, QString)), this, SLOT(addCurve(int, QString)));
-        connect(activePlot, SIGNAL(curveRemoved(int, QString)), this, SLOT(removeCurve(int, QString)));
-
-        // Scrollbar
-
-        // Update scrollbar when plot window changes (via translator method setPlotWindowPosition()
-        connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64)));
-
-        // Update plot when scrollbar is moved (via translator method setPlotWindowPosition()
-        connect(this, SIGNAL(plotWindowPositionUpdated(quint64)), activePlot, SLOT(setWindowPosition(quint64)));
-
-        // Set scaling
-        connect(scalingLinearButton, SIGNAL(clicked()), activePlot, SLOT(setLinearScaling()));
-        connect(scalingLogButton, SIGNAL(clicked()), activePlot, SLOT(setLogarithmicScaling()));
     }
 }
 

src/ui/linechart/LinechartWidget.h

@@ -46,9 +46,9 @@ This file is part of the PIXHAWK project
 #include <QLabel>
 #include <QReadWriteLock>
 #include <QToolButton>
+#include <QTimer>
 #include <qwt_plot_curve.h>
 
-#include "LinechartContainer.h"
 #include "LinechartPlot.h"
 #include "UASInterface.h"
 #include "ui_Linechart.h"
@@ -63,81 +63,62 @@ class LinechartWidget : public QWidget {
     Q_OBJECT
 
 public:
-    LinechartWidget(QWidget *parent = 0);
+    LinechartWidget(int systemid, QWidget *parent = 0);
     ~LinechartWidget();
 
-    LinechartPlot* getPlot(int uasId);
-
     static const int MIN_TIME_SCROLLBAR_VALUE = 0; ///< The minimum scrollbar value
     static const int MAX_TIME_SCROLLBAR_VALUE = 16383; ///< The maximum scrollbar value
 
 public slots:
-    void addCurve(int uasid, QString curve);
+    void addCurve(QString curve);
-    void removeCurve(int uasid, QString curve);
+    void removeCurve(QString curve);
-    void appendData(int uasid, QString curve, double data, quint64 usec);
+    void appendData(int sysId, QString curve, double data, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
     void setPlotInterval(quint64 interval);
-    void setActivePlot(int uasid);
-    void setActivePlot(UASInterface* uas);
     void setActive(bool active);
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);
-
     /** @brief Start logging to file */
     void startLogging();
     /** @brief Stop logging to file */
     void stopLogging();
+    /** @brief Refresh the view */
+    void refresh();
 
 protected:
 
-    // The plot part (right side)
-
-    /** The widget which contains all or the single plot **/
-    QMap<int, LinechartPlot*> plots;
-    LinechartPlot* activePlot;
-    /** A lock (mutex) for the concurrent access on the curves **/
-    QReadWriteLock* curvesLock;
-    /** A lock (mutex) for the concurrent access on the window position **/
-    QReadWriteLock plotWindowLock;
-
-    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
-
-    // The combo box curve selection part (left side)
-
-    QWidget* curvesWidget; ///< The QWidget containing the curve selection button
-    QVBoxLayout* curvesWidgetLayout; ///< The layout for the curvesWidget QWidget
-    QScrollBar* scrollbar; ///< The plot window scroll bar
-    QSpinBox* averageSpinBox; ///< Spin box to setup average window filter size
-
     void addCurveToList(QString curve);
     void removeCurveFromList(QString curve);
-    QWidget* createCurveItem(LinechartPlot* plot, QString curve);
+    QToolButton* createButton(QWidget* parent);
+    QWidget* createCurveItem(QString curve);
+    void createLayout();
 
-    QAction* setScalingLogarithmic; ///< Set logarithmic scaling
+    int sysid;                            ///< ID of the unmanned system this plot belongs to
-    QAction* setScalingLinear; ///< Set linear scaling
+    LinechartPlot* activePlot;            ///< Plot for this system
-    QAction* addNewCurve; ///< Add curve candidate to the active curves
+    QReadWriteLock* curvesLock;           ///< A lock (mutex) for the concurrent access on the curves
+    QReadWriteLock plotWindowLock;        ///< A lock (mutex) for the concurrent access on the window position
 
-    /** Order index of curves **/
     int curveListIndex;
+    int curveListCounter;                 ///< Counter of curves in curve list
+    QList<QString>* listedCurves;         ///< Curves listed
+    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
+
+    QWidget* curvesWidget;                ///< The QWidget containing the curve selection button
+    QVBoxLayout* curvesWidgetLayout;      ///< The layout for the curvesWidget QWidget
+    QScrollBar* scrollbar;                ///< The plot window scroll bar
+    QSpinBox* averageSpinBox;             ///< Spin box to setup average window filter size
 
-    /** Counter of curves in curve list **/
+    QAction* setScalingLogarithmic;       ///< Set logarithmic scaling
-    int curveListCounter;
+    QAction* setScalingLinear;            ///< Set linear scaling
+    QAction* addNewCurve;                 ///< Add curve candidate to the active curves
 
     QMenu* curveMenu;
-    QList<QString>* listedCurves;
     QGridLayout* mainLayout;
 
-    void createLayout();
-    void setPlot(int uasId);
-
-    /* Factory methods */
-
-    LinechartContainer* plotContainer;
-    QToolButton* createButton(QWidget* parent);
     QToolButton* scalingLinearButton;
     QToolButton* scalingLogButton;
     QToolButton* logButton;
@@ -145,6 +126,7 @@ protected:
     QFile* logFile;
     unsigned int logindex;
     bool logging;
+    QTimer* updateTimer;
     LogCompressor* compressor;
 
     static const int MAX_CURVE_MENUITEM_NUMBER = 8;

src/ui/linechart/Linecharts.cc

@@ -0,0 +1,66 @@
+#include "Linecharts.h"
+
+Linecharts::Linecharts(QWidget *parent) :
+        QStackedWidget(parent),
+        plots(),
+        active(true)
+{
+}
+
+
+void Linecharts::setActive(bool active)
+{
+    this->active = active;
+    QWidget* prevWidget = currentWidget();
+    if (prevWidget)
+    {
+        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+        if (chart)
+        {
+            chart->setActive(active);
+        }
+    }
+}
+
+
+void Linecharts::selectSystem(int systemid)
+{
+    QWidget* prevWidget = currentWidget();
+    if (prevWidget)
+    {
+        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+        if (chart)
+        {
+            chart->setActive(false);
+        }
+    }
+    QWidget* widget = plots.value(systemid, NULL);
+    if (widget)
+    {
+        setCurrentWidget(widget);
+        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(widget);
+        if (chart)
+        {
+            chart->setActive(true);
+        }
+    }
+}
+
+void Linecharts::addSystem(UASInterface* uas)
+{
+    if (!plots.contains(uas->getUASID()))
+    {
+        LinechartWidget* widget = new LinechartWidget(uas->getUASID(), this);
+        addWidget(widget);
+        plots.insert(uas->getUASID(), widget);
+        connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+        // Set system active if this is the only system
+        if (active)
+        {
+            if (plots.size() == 1)
+            {
+                selectSystem(uas->getUASID());
+            }
+        }
+    }
+}

src/ui/linechart/Linecharts.h

@@ -0,0 +1,31 @@
+#ifndef LINECHARTS_H
+#define LINECHARTS_H
+
+#include <QStackedWidget>
+#include <QMap>
+
+#include "LinechartWidget.h"
+#include "UASInterface.h"
+
+class Linecharts : public QStackedWidget
+{
+Q_OBJECT
+public:
+    explicit Linecharts(QWidget *parent = 0);
+
+signals:
+
+public slots:
+    /** @brief Set all plots active/inactive */
+    void setActive(bool active);
+    /** @brief Select plot for one system */
+    void selectSystem(int systemid);
+    /** @brief Add a new system to the list of plots */
+    void addSystem(UASInterface* uas);
+
+protected:
+    QMap<int, LinechartWidget*> plots;
+    bool active;
+};
+
+#endif // LINECHARTS_H

src/ui/uas/UASListWidget.cc

@@ -87,7 +87,11 @@ void UASListWidget::addUAS(UASInterface* uas)
 
 void UASListWidget::activeUAS(UASInterface* uas)
 {
-    //uasViews.value(uas)->setUASasActive(true);
+    UASView* view = uasViews.value(uas, NULL);
+    if (view)
+    {
+        view->setUASasActive(true);
+    }
 }
 
 void UASListWidget::removeUAS(UASInterface* uas)

src/ui/uas/UASView.cc

@@ -225,23 +225,31 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
     }
 }
 
-void UASView::updateGlobalPosition(UASInterface*, double lon, double lat, double alt, quint64 usec)
+void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
 {
+    Q_UNUSED(uas);
+    Q_UNUSED(usec);
+    QString position;
+    position = position.sprintf("%02.2f %02.2f %02.2f m", lon, lat, alt);
+    m_ui->positionLabel->setText(position);
 }
 
 void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 usec)
 {
-    //    double totalSpeed = sqrt((pow(x, 2) + pow(y, 2) + pow(z, 2)));
+    Q_UNUSED(usec);
-    //    m_ui->speedBar->setValue(totalSpeed);
+    double totalSpeed = sqrt((pow(x, 2) + pow(y, 2) + pow(z, 2)));
-}
+    QString speed;
-
+    speed = speed.sprintf("%02.2f m/s", totalSpeed);
-void UASView::receiveValue(int uasid, QString id, double value, quint64 time)
+    m_ui->speedLabel->setText(speed);
-{
-
 }
 
 void UASView::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
 {
+    Q_UNUSED(x);
+    Q_UNUSED(y);
+    Q_UNUSED(z);
+    Q_UNUSED(yaw);
+    Q_UNUSED(autocontinue);
     if (uasId == this->uas->getUASID())
     {
         if (current)
@@ -269,6 +277,7 @@ void UASView::updateThrust(UASInterface* uas, double thrust)
 
 void UASView::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
 {
+    Q_UNUSED(voltage);
     if (this->uas == uas)
     {
         timeRemaining = seconds;

src/ui/uas/UASView.h

@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
 
 /**
  * @file
- *   @brief Definition of one airstrip
+ *   @brief Definition of class UASView
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -59,7 +59,7 @@ public slots:
     /** @brief Update the MAV mode */
     void updateMode(int sysId, QString status, QString description);
     void updateLoad(UASInterface* uas, double load);
-    void receiveValue(int uasid, QString id, double value, quint64 time);
+    //void receiveValue(int uasid, QString id, double value, quint64 time);
     void refresh();
     /** @brief Receive new waypoint information */
     void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);