@ -35,7 +35,6 @@ This file is part of the PIXHAWK project
@@ -35,7 +35,6 @@ This file is part of the PIXHAWK project
# include <QInputDialog>
# include "QGC.h"
# include "MG.h"
# include "UASManager.h"
# include "UASView.h"
# include "UASWaypointManager.h"
@ -65,6 +64,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
@@ -65,6 +64,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
alt ( 0 ) ,
groundDistance ( 0 ) ,
localFrame ( false ) ,
globalFrameKnown ( false ) ,
removeAction ( new QAction ( " Delete this system " , this ) ) ,
renameAction ( new QAction ( " Rename.. " , this ) ) ,
selectAction ( new QAction ( " Control this system " , this ) ) ,
@ -72,6 +72,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
@@ -72,6 +72,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
selectAirframeAction ( new QAction ( " Choose Airframe " , this ) ) ,
setBatterySpecsAction ( new QAction ( " Set Battery Options " , this ) ) ,
lowPowerModeEnabled ( true ) ,
generalUpdateCount ( 0 ) ,
filterTime ( 0 ) ,
m_ui ( new Ui : : UASView )
{
// FIXME XXX
@ -127,9 +129,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
@@ -127,9 +129,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
// Set static values
// Name
if ( uas - > getUASName ( ) = = " " ) {
if ( uas - > getUASName ( ) = = " " )
{
m_ui - > nameLabel - > setText ( tr ( " UAS " ) + QString : : number ( uas - > getUASID ( ) ) ) ;
} else {
}
else
{
m_ui - > nameLabel - > setText ( uas - > getUASName ( ) ) ;
}
@ -141,7 +146,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
@@ -141,7 +146,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
if ( lowPowerModeEnabled )
{
refreshTimer - > start ( updateInterval * 3 ) ;
} else {
}
else
{
refreshTimer - > start ( updateInterval ) ;
}
@ -194,10 +201,13 @@ void UASView::setBackgroundColor()
@@ -194,10 +201,13 @@ void UASView::setBackgroundColor()
QColor uasColor = uas - > getColor ( ) ;
QString colorstyle ;
QString borderColor = " #4A4A4F " ;
if ( isActive ) {
if ( isActive )
{
borderColor = " #FA4A4F " ;
uasColor = uasColor . darker ( 475 ) ;
} else {
}
else
{
uasColor = uasColor . darker ( 675 ) ;
}
colorstyle = colorstyle . sprintf ( " QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X; border: 2px solid %s; } " ,
@ -207,14 +217,16 @@ void UASView::setBackgroundColor()
@@ -207,14 +217,16 @@ void UASView::setBackgroundColor()
void UASView : : setUASasActive ( bool active )
{
if ( active ) {
if ( active )
{
UASManager : : instance ( ) - > setActiveUAS ( this - > uas ) ;
}
}
void UASView : : updateActiveUAS ( UASInterface * uas , bool active )
{
if ( uas = = this - > uas ) {
if ( uas = = this - > uas )
{
this - > isActive = active ;
setBackgroundColor ( ) ;
}
@ -239,22 +251,25 @@ void UASView::mouseDoubleClickEvent (QMouseEvent * event)
@@ -239,22 +251,25 @@ void UASView::mouseDoubleClickEvent (QMouseEvent * event)
void UASView : : enterEvent ( QEvent * event )
{
if ( event - > type ( ) = = QEvent : : MouseMove ) {
if ( event - > type ( ) = = QEvent : : MouseMove )
{
emit uasInFocus ( uas ) ;
if ( uas ! = UASManager : : instance ( ) - > getActiveUAS ( ) ) {
if ( uas ! = UASManager : : instance ( ) - > getActiveUAS ( ) )
{
grabMouse ( QCursor ( Qt : : PointingHandCursor ) ) ;
}
}
// qDebug() << __FILE__ << __LINE__ << "IN FOCUS";
if ( event - > type ( ) = = QEvent : : MouseButtonDblClick ) {
if ( event - > type ( ) = = QEvent : : MouseButtonDblClick )
{
// qDebug() << __FILE__ << __LINE__ << "UAS CLICKED!";
}
}
void UASView : : leaveEvent ( QEvent * event )
{
if ( event - > type ( ) = = QEvent : : MouseMove ) {
if ( event - > type ( ) = = QEvent : : MouseMove )
{
emit uasOutFocus ( uas ) ;
releaseMouse ( ) ;
}
@ -300,9 +315,11 @@ void UASView::updateName(const QString& name)
@@ -300,9 +315,11 @@ void UASView::updateName(const QString& name)
*/
void UASView : : setSystemType ( UASInterface * uas , unsigned int systemType )
{
if ( uas = = this - > uas ) {
if ( uas = = this - > uas )
{
// Set matching icon
switch ( systemType ) {
switch ( systemType )
{
case 0 :
m_ui - > typeButton - > setIcon ( QIcon ( " :/images/mavs/generic.svg " ) ) ;
break ;
@ -354,9 +371,7 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
@@ -354,9 +371,7 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
this - > x = x ;
this - > y = y ;
this - > z = z ;
if ( ! localFrame ) {
localFrame = true ;
}
}
void UASView : : updateGlobalPosition ( UASInterface * uas , double lon , double lat , double alt , quint64 usec )
@ -366,6 +381,7 @@ void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, do
@@ -366,6 +381,7 @@ void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, do
this - > lon = lon ;
this - > lat = lat ;
this - > alt = alt ;
globalFrameKnown = true ;
}
void UASView : : updateSpeed ( UASInterface * , double x , double y , double z , quint64 usec )
@ -386,8 +402,10 @@ void UASView::setWaypoint(int uasId, int id, double x, double y, double z, doubl
@@ -386,8 +402,10 @@ void UASView::setWaypoint(int uasId, int id, double x, double y, double z, doubl
Q_UNUSED ( z ) ;
Q_UNUSED ( yaw ) ;
Q_UNUSED ( autocontinue ) ;
if ( uasId = = this - > uas - > getUASID ( ) ) {
if ( current ) {
if ( uasId = = this - > uas - > getUASID ( ) )
{
if ( current )
{
m_ui - > waypointLabel - > setText ( tr ( " WP " ) + QString : : number ( id ) ) ;
}
}
@ -395,14 +413,16 @@ void UASView::setWaypoint(int uasId, int id, double x, double y, double z, doubl
@@ -395,14 +413,16 @@ void UASView::setWaypoint(int uasId, int id, double x, double y, double z, doubl
void UASView : : selectWaypoint ( int uasId , int id )
{
if ( uasId = = this - > uas - > getUASID ( ) ) {
if ( uasId = = this - > uas - > getUASID ( ) )
{
m_ui - > waypointLabel - > setText ( tr ( " WP " ) + QString : : number ( id ) ) ;
}
}
void UASView : : updateThrust ( UASInterface * uas , double thrust )
{
if ( this - > uas = = uas ) {
if ( this - > uas = = uas )
{
this - > thrust = thrust ;
}
}
@ -410,7 +430,8 @@ void UASView::updateThrust(UASInterface* uas, double thrust)
@@ -410,7 +430,8 @@ 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 ) {
if ( this - > uas = = uas )
{
timeRemaining = seconds ;
chargeLevel = percent ;
}
@ -418,7 +439,8 @@ void UASView::updateBattery(UASInterface* uas, double voltage, double percent, i
@@ -418,7 +439,8 @@ void UASView::updateBattery(UASInterface* uas, double voltage, double percent, i
void UASView : : updateState ( UASInterface * uas , QString uasState , QString stateDescription )
{
if ( this - > uas = = uas ) {
if ( this - > uas = = uas )
{
state = uasState ;
stateDesc = stateDescription ;
}
@ -426,7 +448,8 @@ void UASView::updateState(UASInterface* uas, QString uasState, QString stateDesc
@@ -426,7 +448,8 @@ void UASView::updateState(UASInterface* uas, QString uasState, QString stateDesc
void UASView : : updateLoad ( UASInterface * uas , double load )
{
if ( this - > uas = = uas ) {
if ( this - > uas = = uas )
{
this - > load = load ;
}
}
@ -437,7 +460,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
@@ -437,7 +460,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
menu . addAction ( selectAction ) ;
menu . addSeparator ( ) ;
menu . addAction ( renameAction ) ;
if ( timeout ) {
if ( timeout )
{
menu . addAction ( removeAction ) ;
}
menu . addAction ( hilAction ) ;
@ -448,7 +472,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
@@ -448,7 +472,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
void UASView : : setBatterySpecs ( )
{
if ( uas ) {
if ( uas )
{
bool ok ;
QString newName = QInputDialog : : getText ( this , tr ( " Set Battery Specifications for %1 " ) . arg ( uas - > getUASName ( ) ) ,
tr ( " Specs: (empty,warn,full), e.g. (9V,9.5V,12.6V) or just warn level in percent (e.g. 15%) to use estimate from MAV " ) , QLineEdit : : Normal ,
@ -460,7 +485,8 @@ void UASView::setBatterySpecs()
@@ -460,7 +485,8 @@ void UASView::setBatterySpecs()
void UASView : : rename ( )
{
if ( uas ) {
if ( uas )
{
bool ok ;
QString newName = QInputDialog : : getText ( this , tr ( " Rename System %1 " ) . arg ( uas - > getUASName ( ) ) ,
tr ( " System Name: " ) , QLineEdit : : Normal ,
@ -472,7 +498,8 @@ void UASView::rename()
@@ -472,7 +498,8 @@ void UASView::rename()
void UASView : : selectAirframe ( )
{
if ( uas ) {
if ( uas )
{
// Get list of airframes from UAS
QStringList airframes ;
airframes < < " Generic "
@ -484,12 +511,14 @@ void UASView::selectAirframe()
@@ -484,12 +511,14 @@ void UASView::selectAirframe()
< < " Reaper "
< < " Predator "
< < " Coaxial "
< < " Pteryx " ;
< < " Pteryx "
< < " Asctec Firefly " ;
bool ok ;
QString item = QInputDialog : : getItem ( this , tr ( " Select Airframe for %1 " ) . arg ( uas - > getUASName ( ) ) ,
tr ( " Airframe " ) , airframes , uas - > getAirframe ( ) , false , & ok ) ;
if ( ok & & ! item . isEmpty ( ) ) {
if ( ok & & ! item . isEmpty ( ) )
{
// Set this airframe as UAS airframe
uas - > setAirframe ( airframes . indexOf ( item ) ) ;
}
@ -501,15 +530,15 @@ void UASView::refresh()
@@ -501,15 +530,15 @@ void UASView::refresh()
//setUpdatesEnabled(false);
//setUpdatesEnabled(true);
//repaint();
//qDebug() << "UPDATING UAS WIDGET!" << uas->getUASName();
static quint64 lastupdate = 0 ;
//// qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
lastupdate = MG : : TIME : : getGroundTimeNow ( ) ;
// FIXME
static int generalUpdateCount = 0 ;
quint64 lastupdate = 0 ;
//// qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
lastupdate = QGC : : groundTimeMilliseconds ( ) ;
if ( generalUpdateCount = = 4 ) {
if ( generalUpdateCount = = 4 )
{
# if (QGC_EVENTLOOP_DEBUG)
// qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
# endif
@ -525,29 +554,48 @@ void UASView::refresh()
@@ -525,29 +554,48 @@ void UASView::refresh()
m_ui - > thrustBar - > setValue ( this - > thrust ) ;
// Position
// If global position is known, prefer it over local coordinates
if ( ! globalFrameKnown & & localFrame )
{
QString position ;
position = position . sprintf ( " %05.1f %05.1f %06.1f m " , x , y , z ) ;
m_ui - > positionLabel - > setText ( position ) ;
}
if ( globalFrameKnown )
{
QString globalPosition ;
QString latIndicator ;
if ( lat > 0 ) {
if ( lat > 0 )
{
latIndicator = " N " ;
} else {
}
else
{
latIndicator = " S " ;
}
QString lonIndicator ;
if ( lon > 0 ) {
if ( lon > 0 )
{
lonIndicator = " E " ;
} else {
}
else
{
lonIndicator = " W " ;
}
globalPosition = globalPosition . sprintf ( " %05.1f%s %05.1f%s %06.1f m " , lon , lonIndicator . toStdString ( ) . c_str ( ) , lat , latIndicator . toStdString ( ) . c_str ( ) , alt ) ;
m_ui - > positionLabel - > setText ( globalPosition ) ;
}
// Altitude
if ( groundDistance = = 0 & & alt ! = 0 ) {
if ( groundDistance = = 0 & & alt ! = 0 )
{
m_ui - > groundDistanceLabel - > setText ( QString ( " %1 m " ) . arg ( alt , 6 , ' f ' , 1 , ' 0 ' ) ) ;
} else {
}
else
{
m_ui - > groundDistanceLabel - > setText ( QString ( " %1 m " ) . arg ( groundDistance , 6 , ' f ' , 1 , ' 0 ' ) ) ;
}
@ -558,9 +606,10 @@ void UASView::refresh()
@@ -558,9 +606,10 @@ void UASView::refresh()
// Thrust
m_ui - > thrustBar - > setValue ( thrust * 100 ) ;
if ( this - > timeRemaining > 1 & & this - > timeRemaining < QGC : : MAX_FLIGHT_TIME ) {
if ( this - > timeRemaining > 1 & & this - > timeRemaining < QGC : : MAX_FLIGHT_TIME )
{
// Filter output to get a higher stability
static double filterTime = static_cast < int > ( this - > timeRemaining ) ;
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 ) ;
@ -569,7 +618,9 @@ void UASView::refresh()
@@ -569,7 +618,9 @@ void UASView::refresh()
QString timeText ;
timeText = timeText . sprintf ( " %02d:%02d:%02d " , hours , min , sec ) ;
m_ui - > timeRemainingLabel - > setText ( timeText ) ;
} else {
}
else
{
m_ui - > timeRemainingLabel - > setText ( tr ( " Calc.. " ) ) ;
}
@ -588,29 +639,37 @@ void UASView::refresh()
@@ -588,29 +639,37 @@ void UASView::refresh()
QString colorstyle ( " QGroupBox { border-radius: 5px; padding: 2px; margin: 0px; border: 0px; background-color: %1; } " ) ;
if ( timeout ) {
if ( timeout )
{
// CRITICAL CONDITION, NO HEARTBEAT
QString borderColor = " #FFFF00 " ;
if ( isActive ) {
if ( isActive )
{
borderColor = " #FA4A4F " ;
}
if ( iconIsRed ) {
if ( iconIsRed )
{
QColor warnColor ( Qt : : red ) ;
m_ui - > heartbeatIcon - > setStyleSheet ( colorstyle . arg ( warnColor . name ( ) ) ) ;
QString style = QString ( " QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; } " ) . arg ( borderColor , warnColor . name ( ) ) ;
m_ui - > uasViewFrame - > setStyleSheet ( style ) ;
} else {
}
else
{
QColor warnColor ( Qt : : black ) ;
m_ui - > heartbeatIcon - > setStyleSheet ( colorstyle . arg ( warnColor . name ( ) ) ) ;
QString style = QString ( " QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; } " ) . arg ( borderColor , warnColor . name ( ) ) ;
m_ui - > uasViewFrame - > setStyleSheet ( style ) ;
refreshTimer - > setInterval ( errorUpdateInterval ) ;
refreshTimer - > start ( ) ;
}
iconIsRed = ! iconIsRed ;
} else {
}
else
{
if ( ! lowPowerModeEnabled )
{
// Fade heartbeat icon
@ -620,6 +679,7 @@ void UASView::refresh()
@@ -620,6 +679,7 @@ void UASView::refresh()
//m_ui->heartbeatIcon->setAutoFillBackground(true);
m_ui - > heartbeatIcon - > setStyleSheet ( colorstyle . arg ( heartbeatColor . name ( ) ) ) ;
refreshTimer - > setInterval ( updateInterval ) ;
refreshTimer - > start ( ) ;
}
}
//setUpdatesEnabled(true);
@ -630,7 +690,8 @@ void UASView::refresh()
@@ -630,7 +690,8 @@ void UASView::refresh()
void UASView : : changeEvent ( QEvent * e )
{
QWidget : : changeEvent ( e ) ;
switch ( e - > type ( ) ) {
switch ( e - > type ( ) )
{
case QEvent : : LanguageChange :
m_ui - > retranslateUi ( this ) ;
break ;
oberion
14 years ago