Significantly improved plotting, now capturing data in linechart allows limmediate processing / analysis of the whole flight

price.txt

@@ -0,0 +1,12 @@
+price	quantity
+210	81
+250	73
+280	64
+300	61
+320	50
+340	46
+360	45
+380	44
+400	43
+420	39
+440	36

src/LogCompressor.cc

@@ -36,6 +36,9 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QDebug>
 
+/**
+ * It will only get active upon calling startCompression()
+ */
 LogCompressor::LogCompressor(QString logFileName, QString outFileName, int uasid) :
         logFileName(logFileName),
         outFileName(outFileName),
@@ -44,7 +47,6 @@ LogCompressor::LogCompressor(QString logFileName, QString outFileName, int uasid
         dataLines(1),
         uasid(uasid)
 {
-    start();
 }
 
 void LogCompressor::run()
@@ -174,9 +176,15 @@ void LogCompressor::run()
     dataLines = 1;
     delete keys;
     qDebug() << "Done with logfile processing";
+    emit finishedFile(outfile.fileName());
     running = false;
 }
 
+void LogCompressor::startCompression()
+{
+    start();
+}
+
 bool LogCompressor::isFinished()
 {
     return !running;

src/LogCompressor.h

@@ -5,11 +5,15 @@
 
 class LogCompressor : public QThread
 {
+    Q_OBJECT
 public:
+    /** @brief Create the log compressor. It will only get active upon calling startCompression() */
     LogCompressor(QString logFileName, QString outFileName="", int uasid = 0);
+    void startCompression();
     bool isFinished();
     int getDataLines();
     int getCurrentLine();
+
 protected:
     void run();
     QString logFileName;
@@ -18,6 +22,12 @@ protected:
     int currentDataLine;
     int dataLines;
     int uasid;
+
+signals:
+    /** @brief This signal is emitted once a logfile has been finished writing
+     * @param fileName The name out the output (CSV) file
+     */
+    void finishedFile(QString fileName);
 };
 
 #endif // LOGCOMPRESSOR_H

src/ui/MainWindow.cc

@@ -145,6 +145,7 @@ void MainWindow::connectWidgets()
 {
   connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), linechart, SLOT(addSystem(UASInterface*)));
   connect(UASManager::instance(), SIGNAL(activeUASSet(int)), linechart, SLOT(selectSystem(int)));
+  connect(linechart, SIGNAL(logfileWritten(QString)), this, SLOT(loadDataView(QString)));
   connect(mavlink, SIGNAL(receiveLossChanged(int, float)), info, SLOT(updateSendLoss(int, float)));
 }
 
@@ -544,6 +545,13 @@ void MainWindow::loadDataView()
     centerStack->setCurrentWidget(dataplot);
 }
 
+void MainWindow::loadDataView(QString fileName)
+{
+    clearView();
+    centerStack->setCurrentWidget(dataplot);
+    dataplot->loadFile(fileName);
+}
+
 void MainWindow::loadPilotView()
 {
     clearView();

src/ui/MainWindow.h

@@ -119,6 +119,8 @@ public slots:
     void loadMAVLinkView();
     /** @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 Show the online help for users */
     void showHelp();

src/ui/QGCDataPlot2D.cc

@@ -27,6 +27,7 @@ QGCDataPlot2D::QGCDataPlot2D(QWidget *parent) :
     QHBoxLayout* layout = new QHBoxLayout(ui->plotFrame);
     layout->addWidget(plot);
     ui->plotFrame->setLayout(layout);
+    ui->gridCheckBox->setChecked(plot->gridEnabled());
 
     // Connect user actions
     connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectFile()));
@@ -35,6 +36,9 @@ QGCDataPlot2D::QGCDataPlot2D(QWidget *parent) :
     connect(ui->savePlotButton, SIGNAL(clicked()), this, SLOT(savePlot()));
     connect(ui->printButton, SIGNAL(clicked()), this, SLOT(print()));
     connect(ui->legendCheckBox, SIGNAL(clicked(bool)), plot, SLOT(showLegend(bool)));
+    connect(ui->symmetricCheckBox, SIGNAL(clicked(bool)), plot, SLOT(setSymmetric(bool)));
+    connect(ui->gridCheckBox, SIGNAL(clicked(bool)), plot, SLOT(showGrid(bool)));
+    connect(ui->regressionButton, SIGNAL(clicked()), this, SLOT(calculateRegression()));
     connect(ui->style, SIGNAL(currentIndexChanged(QString)), plot, SLOT(setStyleText(QString)));
 }
 
@@ -68,31 +72,54 @@ void QGCDataPlot2D::loadFile()
     }
 }
 
+void QGCDataPlot2D::loadFile(QString file)
+{
+    fileName = file;
+    if (QFileInfo(fileName).isReadable())
+    {
+        if (fileName.contains(".raw") || fileName.contains(".imu"))
+        {
+            loadRawLog(fileName);
+        }
+        else if (fileName.contains(".txt") || fileName.contains(".csv"))
+        {
+            loadCsvLog(fileName);
+        }
+    }
+}
+
+/**
+ * This function brings up a file name dialog and exports to either PDF or SVG, depending on the filename
+ */
 void QGCDataPlot2D::savePlot()
 {
     QString fileName = "plot.svg";
     fileName = QFileDialog::getSaveFileName(
             this, "Export File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
-            "SVG Documents (*.svg);;");
-    while(!fileName.endsWith("svg"))
+            "PDF Documents (*.pdf);;SVG Images (*.svg)");
+    while(!(fileName.endsWith(".svg") || fileName.endsWith(".pdf")))
     {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
-        msgBox.setText("Unsuitable file extension for SVG");
-        msgBox.setInformativeText("Please choose .svg as file extension. Click OK to change the file extension, cancel to not save the file.");
+        msgBox.setText("Unsuitable file extension for PDF or SVG");
+        msgBox.setInformativeText("Please choose .pdf or .svg as file extension. Click OK to change the file extension, cancel to not save the file.");
         msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
         msgBox.setDefaultButton(QMessageBox::Ok);
-        if(msgBox.exec() == QMessageBox::Cancel) break;
+        // Abort if cancelled
+        if(msgBox.exec() == QMessageBox::Cancel) return;
         fileName = QFileDialog::getSaveFileName(
                 this, "Export File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
-                "SVG Documents (*.svg);;");
+                "PDF Documents (*.pdf);;SVG Images (*.svg)");
     }
-    exportSVG(fileName);
 
-    //    else if (fileName.endsWith("pdf"))
-    //    {
-    //        print(fileName);
-    //    }
+    if (fileName.endsWith(".pdf"))
+    {
+        exportPDF(fileName);
+    }
+    else if (fileName.endsWith(".svg"))
+    {
+        exportSVG(fileName);
+    }
 }
 
 
@@ -137,10 +164,51 @@ void QGCDataPlot2D::print()
     }
 }
 
+void QGCDataPlot2D::exportPDF(QString fileName)
+{
+    QPrinter printer;
+    printer.setOutputFormat(QPrinter::PdfFormat);
+    printer.setOutputFileName(fileName);
+    //printer.setFullPage(true);
+    printer.setPageMargins(10.0, 10.0, 10.0, 10.0, QPrinter::Millimeter);
+    printer.setPageSize(QPrinter::A4);
+
+    QString docName = plot->title().text();
+    if ( !docName.isEmpty() )
+    {
+        docName.replace (QRegExp (QString::fromLatin1 ("\n")), tr (" -- "));
+        printer.setDocName (docName);
+    }
+
+    printer.setCreator("QGroundControl");
+    printer.setOrientation(QPrinter::Landscape);
+
+    plot->setStyleSheet("QWidget { background-color: #FFFFFF; color: #000000; background-clip: border; font-size: 10pt;}");
+    //        plot->setCanvasBackground(Qt::white);
+    //        QwtPlotPrintFilter filter;
+    //        filter.color(Qt::white, QwtPlotPrintFilter::CanvasBackground);
+    //        filter.color(Qt::black, QwtPlotPrintFilter::AxisScale);
+    //        filter.color(Qt::black, QwtPlotPrintFilter::AxisTitle);
+    //        filter.color(Qt::black, QwtPlotPrintFilter::MajorGrid);
+    //        filter.color(Qt::black, QwtPlotPrintFilter::MinorGrid);
+    //        if ( printer.colorMode() == QPrinter::GrayScale )
+    //        {
+    //            int options = QwtPlotPrintFilter::PrintAll;
+    //            options &= ~QwtPlotPrintFilter::PrintBackground;
+    //            options |= QwtPlotPrintFilter::PrintFrameWithScales;
+    //            filter.setOptions(options);
+    //        }
+    plot->print(printer);//, filter);
+    plot->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; font-size: 11pt;}");
+    //plot->setCanvasBackground(QColor(5, 5, 8));
+}
+
 void QGCDataPlot2D::exportSVG(QString fileName)
 {
     if ( !fileName.isEmpty() )
     {
+        plot->setStyleSheet("QWidget { background-color: #FFFFFF; color: #000000; background-clip: border; font-size: 10pt;}");
+        //plot->setCanvasBackground(Qt::white);
         QSvgGenerator generator;
         generator.setFileName(fileName);
         generator.setSize(QSize(800, 600));
@@ -153,6 +221,7 @@ void QGCDataPlot2D::exportSVG(QString fileName)
         filter.color(Qt::black, QwtPlotPrintFilter::MinorGrid);
 
         plot->print(generator, filter);
+        plot->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; font-size: 11pt;}");
     }
 }
 
@@ -199,6 +268,7 @@ void QGCDataPlot2D::loadRawLog(QString file, QString xAxisName, QString yAxisFil
     // Postprocess log file
     logFile = new QTemporaryFile();
     compressor = new LogCompressor(file, logFile->fileName());
+    compressor->startCompression();
 
     // Block UI
     QProgressDialog progress("Transforming RAW log file to CSV", "Abort Transformation", 0, 1, this);
@@ -242,6 +312,7 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
     {
         logFile->close();
         delete logFile;
+        curveNames.clear();
     }
     logFile = new QFile(file);
 
@@ -249,6 +320,11 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
     if (!logFile->open(QIODevice::ReadOnly | QIODevice::Text))
         return;
 
+    // Set plot title
+    if (ui->plotTitle->text() != "") plot->setTitle(ui->plotTitle->text());
+    if (ui->plotXAxisLabel->text() != "") plot->setAxisTitle(QwtPlot::xBottom, ui->plotXAxisLabel->text());
+    if (ui->plotYAxisLabel->text() != "") plot->setAxisTitle(QwtPlot::yLeft, ui->plotYAxisLabel->text());
+
     // Extract header
 
     // Read in values
@@ -302,12 +378,15 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
     QVector<double> xValues;
     QMap<QString, QVector<double>* > yValues;
 
-    QStringList curveNames = header.split(separator, QString::SkipEmptyParts);
+    curveNames.append(header.split(separator, QString::SkipEmptyParts));
     QString curveName;
 
     // Clear UI elements
     ui->xAxis->clear();
     ui->yAxis->clear();
+    ui->xRegressionComboBox->clear();
+    ui->yRegressionComboBox->clear();
+    ui->regressionOutput->clear();
 
     int curveNameIndex = 0;
 
@@ -325,14 +404,18 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
 
     foreach(curveName, curveNames)
     {
+        // Add to plot x axis selection
         ui->xAxis->addItem(curveName);
+        // Add to regression selection
+        ui->xRegressionComboBox->addItem(curveName);
+        ui->yRegressionComboBox->addItem(curveName);
         if (curveName != xAxisFilter)
         {
             if ((yAxisFilter == "") || yAxisFilter.contains(curveName))
             {
                 yValues.insert(curveName, new QVector<double>());
                 // Add separator starting with second item
-                if (curveNameIndex > 0 && curveNameIndex < curveNames.size())
+                if (curveNameIndex > 0 && curveNameIndex < curveNames.count())
                 {
                     ui->yAxis->setText(ui->yAxis->text()+"|");
                 }
@@ -364,8 +447,7 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
 
                 // Take this value as x if it is selected
                 x = values.at(curveNames.indexOf(curveName)).toDouble(&okx);
-                xValues.append(x - 1270125570000LL);
-                qDebug() << "x" << x - 1270125570000LL;
+                xValues.append(x);// - 1270125570000ULL);
             }
             else
             {
@@ -374,11 +456,11 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
                 if(yAxisFilter == "" || yAxisFilter.contains(curveName))
                 {
                     // Only append y values where a valid x value is present
-                    if (yValues.value(curveName)->size() == xValues.size() - 1)
+                    if (yValues.value(curveName)->count() == xValues.count() - 1)
                     {
                         bool oky;
                         int curveNameIndex = curveNames.indexOf(curveName);
-                        if (values.size() > curveNameIndex)
+                        if (values.count() > curveNameIndex)
                         {
                             y = values.at(curveNameIndex).toDouble(&oky);
                             yValues.value(curveName)->append(y);
@@ -391,10 +473,87 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
 
     // Add data array of each curve to the plot at once (fast)
     // Iterates through all x-y curve combinations
-    for (int i = 0; i < yValues.size(); i++)
+    for (int i = 0; i < yValues.count(); i++)
+    {
+        plot->appendData(yValues.keys().at(i), xValues.data(), yValues.values().at(i)->data(), xValues.count());
+    }
+    plot->setStyleText(ui->style->currentText());
+}
+
+bool QGCDataPlot2D::calculateRegression()
+{
+    // TODO Add support for quadratic / cubic curve fitting
+    return calculateRegression(ui->xRegressionComboBox->currentText(), ui->yRegressionComboBox->currentText(), "linear");
+}
+
+/**
+ * @param xName Name of the x dimension
+ * @param yName Name of the y dimension
+ * @param method Regression method, either "linear", "quadratic" or "cubic". Only linear is supported at this point
+ */
+bool QGCDataPlot2D::calculateRegression(QString xName, QString yName, QString method)
+{
+    bool result = false;
+    QString function;
+    if (xName != yName)
+    {
+        if (QFileInfo(fileName).isReadable())
+        {
+            loadCsvLog(fileName, xName, yName);
+            ui->xRegressionComboBox->setCurrentIndex(curveNames.indexOf(xName));
+            ui->yRegressionComboBox->setCurrentIndex(curveNames.indexOf(yName));
+        }
+        const int size = 100000;
+        double x[size];
+        double y[size];
+        int copied = plot->data(yName, x, y, size);
+
+        if (method == "linear")
+        {
+            double a;  // Y-axis crossing
+            double b;  // Slope
+            double r;  // Regression coefficient
+            int lin = linearRegression(x, y, copied, &a, &b, &r);
+            if(lin == 1)
+            {
+                function = tr("%1 = %2 * %3 + %4 | R-coefficient: %5").arg(yName, QString::number(b), xName, QString::number(a), QString::number(r));
+
+                // Plot curve
+                // y-axis crossing (x = 0)
+                // Set plotting to lines only
+                plot->appendData(tr("regression %1-%2").arg(xName, yName), 0.0, a);
+                plot->setStyleText("lines");
+                // x-value of the current rightmost x position in the plot
+                plot->appendData(tr("regression %1-%2").arg(xName, yName), plot->invTransform(QwtPlot::xBottom, plot->width() - plot->width()*0.08f), (a + b*plot->invTransform(QwtPlot::xBottom, plot->width() - plot->width() * 0.08f)));
+                result = true;
+            }
+            else
+            {
+                function = tr("Linear regression failed. (Limit: %1 data points. Try with less)").arg(size);
+                result = false;
+            }
+        }
+        else if (method == "quadratic")
+        {
+
+        }
+        else if (method == "cubic")
+        {
+
+        }
+        else
+        {
+            function = tr("Regression method %1 not found").arg(method);
+            result = false;
+        }
+    }
+    else
     {
-        plot->appendData(yValues.keys().at(i), xValues.data(), yValues.values().at(i)->data(), xValues.size());
+        // xName == yName
+        function = tr("Please select different X and Y dimensions, not %1 = %2").arg(xName, yName);
     }
+    ui->regressionOutput->setText(function);
+    return result;
 }
 
 /**

src/ui/QGCDataPlot2D.h

@@ -16,11 +16,17 @@ public:
     QGCDataPlot2D(QWidget *parent = 0);
     ~QGCDataPlot2D();
 
+    /** @brief Calculate and display regression function*/
+    bool calculateRegression(QString xName, QString yName, QString method="linear");
+
     /** @brief Linear regression over data points */
-    int linearRegression(double *x,double *y,int n,double *a,double *b,double *r);
+    int linearRegression(double* x,double* y,int n,double* a,double* b,double* r);
 
 public slots:
+    /** @brief Load previously selected file */
     void loadFile();
+    /** @brief Load file with this name */
+    void loadFile(QString file);
     /** @brief Reload a file, with filtering enabled */
     void reloadFile();
     void selectFile();
@@ -29,10 +35,14 @@ public slots:
     void saveCsvLog();
     /** @brief Save plot to PDF or SVG */
     void savePlot();
+    /** @brief Export PDF file */
+    void exportPDF(QString fileName);
     /** @brief Export SVG file */
     void exportSVG(QString file);
     /** @brief Print or save PDF file (MacOS/Linux) */
     void print();
+    /** @brief Calculate and display regression function*/
+    bool calculateRegression();
 
 protected:
     void changeEvent(QEvent *e);
@@ -40,6 +50,7 @@ protected:
     LogCompressor* compressor;
     QFile* logFile;
     QString fileName;
+    QStringList curveNames;
 
 private:
     Ui::QGCDataPlot2D *ui;

src/ui/QGCDataPlot2D.ui

@@ -6,22 +6,22 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>807</width>
+    <width>1073</width>
     <height>308</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="2,10,2,0,0,0,0,0,0,0,0,0,0">
-   <item row="0" column="0" colspan="2">
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
     <widget class="QLabel" name="label_2">
      <property name="text">
       <string>X</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="0" column="1" colspan="2">
     <widget class="QComboBox" name="xAxis"/>
    </item>
    <item row="0" column="3">
@@ -53,7 +53,12 @@
      </item>
      <item>
       <property name="text">
-       <string>Only dots</string>
+       <string>Only rectangles</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Only symbols</string>
       </property>
      </item>
      <item>
@@ -68,7 +73,12 @@
      </item>
      <item>
       <property name="text">
-       <string>Lines and dots</string>
+       <string>Lines and rects</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Lines and symbols</string>
       </property>
      </item>
      <item>
@@ -83,7 +93,7 @@
      </item>
      <item>
       <property name="text">
-       <string>Dotted lines and dots</string>
+       <string>Dotted lines and rects</string>
       </property>
      </item>
      <item>
@@ -98,39 +108,91 @@
      </item>
      <item>
       <property name="text">
-       <string>Dashed lines and dots</string>
+       <string>Dashed lines and rects</string>
       </property>
      </item>
     </widget>
    </item>
-   <item row="0" column="9">
+   <item row="0" column="7" colspan="2">
     <widget class="QPushButton" name="reloadButton">
      <property name="text">
-      <string>Reload</string>
+      <string>Replot</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="10">
-    <spacer name="horizontalSpacer_2">
+   <item row="0" column="11">
+    <widget class="Line" name="line">
      <property name="orientation">
-      <enum>Qt::Horizontal</enum>
+      <enum>Qt::Vertical</enum>
      </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>40</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
+    </widget>
    </item>
-   <item row="0" column="11">
+   <item row="0" column="12" colspan="2">
     <widget class="QPushButton" name="savePlotButton">
      <property name="text">
-      <string>Save Plot</string>
+      <string>Save Image</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="19">
+    <widget class="QPushButton" name="printButton">
+     <property name="text">
+      <string>Print</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>Title</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2" colspan="3">
+    <widget class="QLineEdit" name="plotTitle"/>
+   </item>
+   <item row="1" column="5">
+    <widget class="QLabel" name="label_5">
+     <property name="text">
+      <string>X label</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6" colspan="2">
+    <widget class="QLineEdit" name="plotXAxisLabel"/>
+   </item>
+   <item row="1" column="8">
+    <widget class="QLabel" name="label_6">
+     <property name="text">
+      <string>Y label</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="9" colspan="3">
+    <widget class="QLineEdit" name="plotYAxisLabel"/>
+   </item>
+   <item row="1" column="12" colspan="2">
+    <widget class="QCheckBox" name="symmetricCheckBox">
+     <property name="text">
+      <string>Symmetric</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="14" colspan="2">
+    <widget class="QCheckBox" name="legendCheckBox">
+     <property name="text">
+      <string>Legend</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="16">
+    <widget class="QCheckBox" name="gridCheckBox">
+     <property name="text">
+      <string>Grid</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="0" colspan="13">
+   <item row="2" column="0" colspan="20">
     <widget class="QFrame" name="plotFrame">
      <property name="frameShape">
       <enum>QFrame::StyledPanel</enum>
@@ -140,14 +202,14 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="0">
+   <item row="3" column="0">
     <widget class="QLabel" name="label">
      <property name="text">
       <string>File</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="1" colspan="2">
+   <item row="3" column="1" colspan="2">
     <widget class="QComboBox" name="inputFileType">
      <item>
       <property name="text">
@@ -166,14 +228,21 @@
      </item>
     </widget>
    </item>
-   <item row="2" column="3" colspan="4">
+   <item row="3" column="3" colspan="4">
     <widget class="QLabel" name="filenameLabel">
      <property name="text">
       <string>Please select input file..</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="10">
+   <item row="3" column="8" colspan="2">
+    <widget class="QPushButton" name="selectFileButton">
+     <property name="text">
+      <string>Select file</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="10" colspan="2">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -186,41 +255,60 @@
      </property>
     </spacer>
    </item>
-   <item row="0" column="12">
-    <widget class="QPushButton" name="printButton">
-     <property name="text">
-      <string>Print</string>
+   <item row="3" column="12">
+    <widget class="Line" name="line_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
      </property>
     </widget>
    </item>
-   <item row="2" column="12">
-    <widget class="QPushButton" name="saveCsvButton">
+   <item row="3" column="13">
+    <widget class="QLabel" name="label_7">
      <property name="text">
-      <string>Save CSV</string>
+      <string>Regression</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="9">
-    <widget class="QPushButton" name="selectFileButton">
+   <item row="3" column="14" colspan="2">
+    <widget class="QComboBox" name="xRegressionComboBox"/>
+   </item>
+   <item row="3" column="16" colspan="2">
+    <widget class="QComboBox" name="yRegressionComboBox"/>
+   </item>
+   <item row="3" column="19">
+    <widget class="QPushButton" name="regressionButton">
      <property name="text">
-      <string>Select file</string>
+      <string>Calculate</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="7">
-    <widget class="QCheckBox" name="symmetricCheckBox">
-     <property name="text">
-      <string>Symmetric</string>
+   <item row="3" column="18">
+    <widget class="QLineEdit" name="regressionOutput">
+     <property name="readOnly">
+      <bool>true</bool>
      </property>
     </widget>
    </item>
-   <item row="0" column="8">
-    <widget class="QCheckBox" name="legendCheckBox">
+   <item row="0" column="14">
+    <widget class="QPushButton" name="saveCsvButton">
      <property name="text">
-      <string>Legend</string>
+      <string>Save Data</string>
      </property>
     </widget>
    </item>
+   <item row="0" column="9" colspan="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/linechart/IncrementalPlot.cc

@@ -1,3 +1,33 @@
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL 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.
+
+    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/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class IncrementalPlot
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #include <qwt_plot.h>
 #include <qwt_plot_canvas.h>
 #include <qwt_plot_curve.h>
@@ -9,9 +39,9 @@
 #include <Scrollbar.h>
 #include <ScrollZoomer.h>
 #include <float.h>
-#if QT_VERSION >= 0x040000
 #include <qpaintengine.h>
-#endif
+
+#include <QDebug>
 
 CurveData::CurveData():
         d_count(0)
@@ -45,18 +75,23 @@ int CurveData::size() const
     return d_x.size();
 }
 
-const double *CurveData::x() const
+const double* CurveData::x() const
 {
     return d_x.data();
 }
 
-const double *CurveData::y() const
+const double* CurveData::y() const
 {
     return d_y.data();
 }
 
 IncrementalPlot::IncrementalPlot(QWidget *parent):
-        QwtPlot(parent)
+        QwtPlot(parent),
+        symbolWidth(1.2f),
+        curveWidth(1.0f),
+        gridWidth(0.8f),
+        scaleWidth(1.0f),
+        symmetric(false)
 {
     setAutoReplot(false);
 
@@ -67,8 +102,8 @@ IncrementalPlot::IncrementalPlot(QWidget *parent):
 
     plotLayout()->setAlignCanvasToScales(true);
 
-    QwtPlotGrid *grid = new QwtPlotGrid;
-    grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
+    grid = new QwtPlotGrid;
+    grid->setMajPen(QPen(Qt::gray, 0.8f, Qt::DotLine));
     grid->attach(this);
 
     QwtLinearScaleEngine* yScaleEngine = new QwtLinearScaleEngine();
@@ -82,7 +117,7 @@ IncrementalPlot::IncrementalPlot(QWidget *parent):
     // enable zooming
 
     zoomer = new ScrollZoomer(canvas());
-    zoomer->setRubberBandPen(QPen(Qt::red, 2, Qt::DotLine));
+    zoomer->setRubberBandPen(QPen(Qt::red, 1.5f, Qt::DotLine));
     zoomer->setTrackerPen(QPen(Qt::red));
     //zoomer->setZoomBase(QwtDoubleRect());
     legend = NULL;
@@ -112,6 +147,8 @@ IncrementalPlot::IncrementalPlot(QWidget *parent):
     colors.append(QColor(161,252,116));
     colors.append(QColor(87,231,246));
     colors.append(QColor(230,126,23));
+
+    connect(this, SIGNAL(legendChecked(QwtPlotItem*,bool)), this, SLOT(handleLegendClick(QwtPlotItem*,bool)));
 }
 
 IncrementalPlot::~IncrementalPlot()
@@ -119,6 +156,23 @@ IncrementalPlot::~IncrementalPlot()
 
 }
 
+/**
+ * @param symmetric true will enforce that both axes have the same interval,
+ *        centered around the data plot. A circle will thus remain a circle if true,
+ *        if set to false it might become an ellipse because of axis scaling.
+ */
+void IncrementalPlot::setSymmetric(bool symmetric)
+{
+    this->symmetric = symmetric;
+    updateScale(); // Updates the scaling at replots
+}
+
+void IncrementalPlot::handleLegendClick(QwtPlotItem* item, bool on)
+{
+    item->setVisible(!on);
+    replot();
+}
+
 void IncrementalPlot::showLegend(bool show)
 {
     if (show)
@@ -127,6 +181,7 @@ void IncrementalPlot::showLegend(bool show)
         {
             legend = new QwtLegend;
             legend->setFrameStyle(QFrame::Box);
+            legend->setItemMode(QwtLegend::CheckableItem);
         }
         insertLegend(legend, QwtPlot::RightLegend);
     }
@@ -135,7 +190,7 @@ void IncrementalPlot::showLegend(bool show)
         delete legend;
         legend = NULL;
     }
-    replot();
+    updateScale(); // Updates the scaling at replots
 }
 
 /**
@@ -159,19 +214,25 @@ void IncrementalPlot::setStyleText(QString style)
         if (style.toLower().contains("circles"))
         {
             curve->setSymbol(QwtSymbol(QwtSymbol::Ellipse,
-                                       QBrush(curve->pen().color()), curve->pen(), QSize(5, 5)) );
+                                       Qt::NoBrush, QPen(QBrush(curve->symbol().pen().color()), symbolWidth), QSize(6, 6)) );
         }
         else if (style.toLower().contains("crosses"))
         {
             curve->setSymbol(QwtSymbol(QwtSymbol::XCross,
-                                       QBrush(curve->pen().color()), curve->pen(), QSize(5, 5)) );
+                                       Qt::NoBrush, QPen(QBrush(curve->symbol().pen().color()), symbolWidth), QSize(5, 5)) );
         }
-        else // Always show dots (style.toLower().contains("dots"))
+        else if (style.toLower().contains("rect"))
         {
             curve->setSymbol(QwtSymbol(QwtSymbol::Rect,
-                                       QBrush(curve->pen().color()), curve->pen(), QSize(1, 1)) );
+                                       Qt::NoBrush, QPen(QBrush(curve->symbol().pen().color()), symbolWidth), QSize(6, 6)) );
+        }
+        else if (style.toLower().contains("line")) // Show no symbol
+        {
+            curve->setSymbol(QwtSymbol(QwtSymbol::NoSymbol,
+                                       Qt::NoBrush, QPen(QBrush(curve->symbol().pen().color()), symbolWidth), QSize(6, 6)) );
         }
 
+        curve->setPen(QPen(QBrush(curve->symbol().pen().color().darker()), curveWidth));
         // Style of lines
         if (style.toLower().contains("dotted"))
         {
@@ -181,19 +242,25 @@ void IncrementalPlot::setStyleText(QString style)
         {
             curve->setStyle(QwtPlotCurve::Lines);
         }
+        else if (style.toLower().contains("dashed") || style.toLower().contains("solid"))
+        {
+            curve->setStyle(QwtPlotCurve::Steps);
+        }
         else
         {
             curve->setStyle(QwtPlotCurve::NoCurve);
         }
+
     }
+    replot();
 }
 
 void IncrementalPlot::resetScaling()
 {
     xmin = 0;
     xmax = 500;
-    ymin = 0;
-    ymax = 500;
+    ymin = xmin;
+    ymax = xmax;
 
     setAxisScale(xBottom, xmin+xmin*0.05, xmax+xmax*0.05);
     setAxisScale(yLeft, ymin+ymin*0.05, ymax+ymax*0.05);
@@ -207,6 +274,46 @@ void IncrementalPlot::resetScaling()
     ymax = DBL_MIN;
 }
 
+/**
+ * Updates the scale calculation and re-plots the whole plot
+ */
+void IncrementalPlot::updateScale()
+{
+    const double margin = 0.05;
+    double xMinRange = xmin+(xmin*margin);
+    double xMaxRange = xmax+(xmax*margin);
+    double yMinRange = ymin+(ymin*margin);
+    double yMaxRange = ymax+(ymax*margin);
+    if (symmetric)
+    {
+        double xRange = xMaxRange - xMinRange;
+        double yRange = yMaxRange - yMinRange;
+
+        // Get the aspect ratio of the plot
+        float xSize = width();
+        if (legend != NULL) xSize -= legend->width();
+        float ySize = height();
+
+        float aspectRatio = xSize / ySize;
+
+        if (xRange > yRange)
+        {
+            double yCenter = yMinRange + yRange/2.0;
+            yMinRange = yCenter - xRange/2.0;
+            yMaxRange = yCenter + xRange/2.0;
+        }
+        else
+        {
+            double xCenter = xMinRange + xRange/2.0;
+            xMinRange = xCenter - yRange/2.0;
+            xMaxRange = xCenter + yRange/2.0;
+        }
+    }
+    setAxisScale(xBottom, xMinRange, xMaxRange);
+    setAxisScale(yLeft, yMinRange, yMaxRange);
+    zoomer->setZoomBase(true);
+}
+
 void IncrementalPlot::appendData(QString key, double x, double y)
 {
     appendData(key, &x, &y, 1);
@@ -235,7 +342,7 @@ void IncrementalPlot::appendData(QString key, double *x, double *y, int size)
 
         const QColor &c = getNextColor();
         curve->setSymbol(QwtSymbol(QwtSymbol::XCross,
-                                   QBrush(c), QPen(c), QSize(5, 5)) );
+                                   QBrush(c), QPen(c, 1.2f), QSize(5, 5)) );
 
         curve->attach(this);
     }
@@ -285,9 +392,7 @@ void IncrementalPlot::appendData(QString key, double *x, double *y, int size)
 
     if(scaleChanged)
     {
-        setAxisScale(xBottom, xmin+xmin*0.05, xmax+xmax*0.05);
-        setAxisScale(yLeft, ymin+ymin*0.05, ymax+ymax*0.05);
-        zoomer->setZoomBase(true);
+        updateScale();
     }
     else
     {
@@ -316,9 +421,44 @@ void IncrementalPlot::appendData(QString key, double *x, double *y, int size)
 #if QT_VERSION >= 0x040000 && defined(Q_WS_X11)
         canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, false);
 #endif
+    }
+}
 
+/**
+ * @return Number of copied data points, 0 on failure
+ */
+int IncrementalPlot::data(QString key, double* r_x, double* r_y, int maxSize)
+{
+    int result = 0;
+    if (d_data.contains(key))
+    {
+        CurveData* d = d_data.value(key);
+        if (maxSize >= d->count())
+        {
+            result = d->count();
+            memcpy(r_x, d->x(), sizeof(double) * d->count());
+            memcpy(r_y, d->y(), sizeof(double) * d->count());
+        }
+        else
+        {
+            result = 0;
+        }
     }
+    return result;
+}
+
+/**
+ * @param show true to show the grid, false else
+ */
+void IncrementalPlot::showGrid(bool show)
+{
+    grid->setVisible(show);
+    replot();
+}
 
+bool IncrementalPlot::gridEnabled()
+{
+    return grid->isVisible();
 }
 
 QList<QColor> IncrementalPlot::getColorMap()
@@ -330,7 +470,7 @@ QColor IncrementalPlot::getNextColor()
 {
     /* Return current color and increment counter for next round */
     nextColor++;
-    if(nextColor >= colors.size()) nextColor = 0;
+    if(nextColor >= colors.count()) nextColor = 0;
     return colors[nextColor++];
 }
 

src/ui/linechart/IncrementalPlot.h

@@ -1,3 +1,33 @@
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL 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.
+
+    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/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Defition of class IncrementalPlot
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef INCREMENTALPLOT_H
 #define INCREMENTALPLOT_H
 
@@ -5,21 +35,25 @@
 #include <qwt_array.h>
 #include <qwt_plot.h>
 #include <qwt_legend.h>
+#include <qwt_plot_grid.h>
 #include <QMap>
 #include "ScrollZoomer.h"
 
 class QwtPlotCurve;
 
+/**
+ * @brief Plot data container for growing data
+ */
 class CurveData
 {
-    // A container class for growing data
 public:
-
     CurveData();
 
     void append(double *x, double *y, int count);
 
+    /** @brief The number of datasets held in the data structure */
     int count() const;
+    /** @brief The reserved size of the data structure in units */
     int size() const;
     const double *x() const;
     const double *y() const;
@@ -32,44 +66,89 @@ private:
     int d_timerCount;
 };
 
+/**
+ * @brief Incremental plotting widget
+ *
+ * This widget plots data incrementally when new data arrives.
+ * It will only repaint the minimum screen content necessary to avoid
+ * a too high CPU consumption. It auto-scales the plot to new data.
+ */
 class IncrementalPlot : public QwtPlot
 {
     Q_OBJECT
 public:
+    /** @brief Create a new, empty incremental plot */
     IncrementalPlot(QWidget *parent = NULL);
     virtual ~IncrementalPlot();
 
     /** @brief Get color map of this plot */
     QList<QColor> getColorMap();
+
     /** @brief Get next color of color map */
     QColor getNextColor();
+
     /** @brief Get color for curve id */
     QColor getColorForCurve(QString id);
 
+    /** @brief Get the state of the grid */
+    bool gridEnabled();
+
+    /** @brief Read out data from a curve */
+    int data(QString key, double* r_x, double* r_y, int maxSize);
+
+    float symbolWidth;
+    float curveWidth;
+    float gridWidth;
+    float scaleWidth;
+
 public slots:
+    /** @brief Append one data point */
     void appendData(QString key, double x, double y);
-    void appendData(QString key, double *x, double *y, int size);
 
+    /** @brief Append multiple data points */
+    void appendData(QString key, double* x, double* y, int size);
+
+    /** @brief Reset the plot scaling to the default value */
     void resetScaling();
+
+    /** @brief Update the plot scale based on current data/symmetric mode */
+    void updateScale();
+
+    /** @brief Remove all data from the plot and repaint */
     void removeData();
+
     /** @brief Show the plot legend */
     void showLegend(bool show);
+
+    /** @brief Show the plot grid */
+    void showGrid(bool show);
+
     /** @brief Set new plot style */
     void setStyleText(QString style);
 
+    /** @brief Set symmetric axis scaling mode */
+    void setSymmetric(bool symmetric);
+
+protected slots:
+    /** @brief Handle the click on a legend item */
+    void handleLegendClick(QwtPlotItem* item, bool on);
+
 protected:
-    QList<QColor> colors;
-    int nextColor;
-    ScrollZoomer* zoomer;
-    QwtLegend* legend;
-    double xmin;
-    double xmax;
-    double ymin;
-    double ymax;
+    bool symmetric;        ///< Enable symmetric plotting
+    QList<QColor> colors;  ///< Colormap for curves
+    int nextColor;         ///< Next index in color map
+    ScrollZoomer* zoomer;  ///< Zoomer class for widget
+    QwtLegend* legend;     ///< Plot legend
+    QwtPlotGrid* grid;     ///< Plot grid
+    double xmin;           ///< Minimum x value seen
+    double xmax;           ///< Maximum x value seen
+    double ymin;           ///< Minimum y value seen
+    double ymax;           ///< Maximum y value seen
+
 
 private:
-    QMap<QString, CurveData* > d_data;
-    QMap<QString, QwtPlotCurve* > d_curve;
+    QMap<QString, CurveData* > d_data;      ///< Data points
+    QMap<QString, QwtPlotCurve* > d_curve;  ///< Plot curves
 };
 
 #endif /* INCREMENTALPLOT_H */

src/ui/linechart/LinechartPlot.cc

@@ -136,7 +136,7 @@ d_curve(NULL)
     // Enable zooming
     //zoomer = new Zoomer(canvas());
     zoomer = new ScrollZoomer(canvas());
-    zoomer->setRubberBandPen(QPen(Qt::blue, 2, Qt::DotLine));
+    zoomer->setRubberBandPen(QPen(Qt::blue, 1.2, Qt::DotLine));
     zoomer->setTrackerPen(QPen(Qt::blue));
 
     // Start QTimer for plot update
@@ -314,7 +314,7 @@ QColor LinechartPlot::getNextColor()
 {
     /* Return current color and increment counter for next round */
     nextColor++;
-    if(nextColor >= colors.size()) nextColor = 0;
+    if(nextColor >= colors.count()) nextColor = 0;
     return colors[nextColor++];
 }
 
@@ -762,15 +762,15 @@ void TimeSeriesData::append(quint64 ms, double value)
     mean = mean / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
     qSort(medianList);
 
-    if (medianList.size() > 2)
+    if (medianList.count() > 2)
     {
-        if (medianList.size() % 2 == 0)
+        if (medianList.count() % 2 == 0)
         {
-            median = (medianList.at(medianList.size()/2) + medianList.at(medianList.size()/2+1)) / 2.0;
+            median = (medianList.at(medianList.count()/2) + medianList.at(medianList.count()/2+1)) / 2.0;
         }
         else
         {
-            median = medianList.at(medianList.size()/2+1);
+            median = medianList.at(medianList.count()/2+1);
         }
     }
 

src/ui/linechart/LinechartWidget.cc

@@ -141,8 +141,9 @@ void LinechartWidget::createLayout()
 
     // Averaging spin box
     averageSpinBox = new QSpinBox(this);
-    averageSpinBox->setValue(2);
+    averageSpinBox->setValue(200);
     averageSpinBox->setMinimum(2);
+    averageSpinBox->setMaximum(9999);
     layout->addWidget(averageSpinBox, 1, 2);
     layout->setColumnStretch(2, 0);
     connect(averageSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAverageWindow(int)));
@@ -306,6 +307,8 @@ void LinechartWidget::stopLogging()
         logFile->close();
         // Postprocess log file
         compressor = new LogCompressor(logFile->fileName());
+        connect(compressor, SIGNAL(finishedFile(QString)), this, SIGNAL(logfileWritten(QString)));
+        compressor->startCompression();
     }
     logButton->setText(tr("Start logging"));
     disconnect(logButton, SIGNAL(clicked()), this, SLOT(stopLogging()));

src/ui/linechart/LinechartWidget.h

@@ -163,6 +163,9 @@ signals:
     void plotWindowPositionUpdated(quint64 position);
     void plotWindowPositionUpdated(int position);
 
+    /** @brief This signal is emitted once a logfile has been finished writing */
+    void logfileWritten(QString fileName);
+
 };
 
 #endif // LINECHARTWIDGET_H

src/ui/linechart/Linecharts.cc

@@ -55,6 +55,7 @@ void Linecharts::addSystem(UASInterface* uas)
         addWidget(widget);
         plots.insert(uas->getUASID(), widget);
         connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+        connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
         // Set system active if this is the only system
         if (active)
         {

src/ui/linechart/Linecharts.h

@@ -14,6 +14,8 @@ public:
     explicit Linecharts(QWidget *parent = 0);
 
 signals:
+    /** @brief This signal is emitted once a logfile has been finished writing */
+    void logfileWritten(QString fileName);
 
 public slots:
     /** @brief Set all plots active/inactive */