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

Implementation of 6DOF 3DMouse input (Windows only) 

Implementation of 6DOF 3DMouse input (Windows only). Not tested yet.
QGC4.4
Matthias Krebs 13 years ago
parent
9483a2d934
commit
eb21fe21af
7 changed files with 6737 additions and 6522 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1265
      qgroundcontrol.pro
  2. 119
      src/input/Mouse6dofInput.cpp
  3. 61
      src/input/Mouse6dofInput.h
  4. 6137
      src/uas/UAS.cc
  5. 1417
      src/uas/UAS.h
  6. 3449
      src/ui/MainWindow.cc
  7. 811
      src/ui/MainWindow.h

1265
qgroundcontrol.pro
View File

File diff suppressed because it is too large Load Diff

119
src/input/Mouse6dofInput.cpp
Unescape View File

@ -0,0 +1,119 @@ @@ -0,0 +1,119 @@
/**
* @file
* @brief 3dConnexion 3dMouse interface for QGroundControl
*
* @author Matthias Krebs <makrebs@student.ethz.ch>
*
*/
#include "Mouse6dofInput.h"
#include "UAS.h"
#include "UASManager.h"
Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
mouse3DMax(0.01), // TODO: check maximum value fot plugged device
uas(NULL),
done(false),
xValue(0.0),
yValue(0.0),
zValue(0.0),
aValue(0.0),
bValue(0.0),
cValue(0.0)
{
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
// Connect 3DxWare SDK MotionEvent
connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
// TODO: Connect button mapping
//connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT);
//connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT);
}
Mouse6dofInput::~Mouse6dofInput()
{
done = true;
}
void Mouse6dofInput::setActiveUAS(UASInterface* uas)
{
// Only connect / disconnect is the UAS is of a controllable UAS class
UAS* tmp = 0;
if (this->uas)
{
tmp = dynamic_cast<UAS*>(this->uas);
if(tmp)
{
disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
// Todo: disconnect button mapping
}
}
this->uas = uas;
tmp = dynamic_cast<UAS*>(this->uas);
if(tmp) {
connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
// Todo: disconnect button mapping
}
if (!isRunning())
{
start();
}
}
void Mouse6dofInput::init()
{
// Make sure active UAS is set
setActiveUAS(UASManager::instance()->getActiveUAS());
}
void Mouse6dofInput::run()
{
init();
forever
{
if (done)
{
done = false;
exit();
}
// Bound x value
if (xValue > 1.0) xValue = 1.0;
if (xValue < -1.0) xValue = -1.0;
// Bound x value
if (yValue > 1.0) yValue = 1.0;
if (yValue < -1.0) yValue = -1.0;
// Bound x value
if (zValue > 1.0) zValue = 1.0;
if (zValue < -1.0) zValue = -1.0;
// Bound x value
if (aValue > 1.0) aValue = 1.0;
if (aValue < -1.0) aValue = -1.0;
// Bound x value
if (bValue > 1.0) bValue = 1.0;
if (bValue < -1.0) bValue = -1.0;
// Bound x value
if (cValue > 1.0) cValue = 1.0;
if (cValue < -1.0) cValue = -1.0;
emit mouse6dofChanged(xValue, yValue, zValue, aValue, bValue, cValue);
// Sleep, update rate of 3d mouse is approx. 50 Hz (1000 ms / 50 = 20 ms)
QGC::SLEEP::msleep(20);
}
}
void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
{
if (motionData.size() < 6) return;
xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
}

61
src/input/Mouse6dofInput.h
Unescape View File

@ -0,0 +1,61 @@ @@ -0,0 +1,61 @@
/**
* @file
* @brief Definition of 3dConnexion 3dMouse interface for QGroundControl
*
* @author Matthias Krebs <makrebs@student.ethz.ch>
*
*/
#ifndef MOUSE6DOFINPUT_H
#define MOUSE6DOFINPUT_H
#include <QThread>
#include "Mouse3DInput.h"
#include "UASInterface.h"
class Mouse6dofInput : public QThread
{
Q_OBJECT
public:
Mouse6dofInput(Mouse3DInput* mouseInput);
~Mouse6dofInput();
void run();
const double mouse3DMax;
protected:
void init();
Mouse3DInput* mouse3D;
UASInterface* uas;
bool done;
double xValue;
double yValue;
double zValue;
double aValue;
double bValue;
double cValue;
signals:
/**
* @brief Input of the 3d mouse has changed
*
* @param x Input x direction, range [-1, 1]
* @param y Input y direction, range [-1, 1]
* @param z Input z direction, range [-1, 1]
* @param a Input x rotation, range [-1, 1]
* @param b Input y rotation, range [-1, 1]
* @param c Input z rotation, range [-1, 1]
*/
void mouse6dofChanged(double x, double y, double z, double a, double b, double c);
public slots:
void setActiveUAS(UASInterface* uas);
void motion3DMouse(std::vector<float> &motionData);
};
#endif // MOUSE6DOFINPUT_H

6137
src/uas/UAS.cc
View File

File diff suppressed because it is too large Load Diff

1417
src/uas/UAS.h
View File

File diff suppressed because it is too large Load Diff

3449
src/ui/MainWindow.cc
View File

File diff suppressed because it is too large Load Diff

811
src/ui/MainWindow.h
Unescape View File

@ -1,402 +1,409 @@ @@ -1,402 +1,409 @@
/*=====================================================================
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 Definition of class MainWindow
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_
#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
#include <QSettings>
#include <qlist.h>
#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
#include "Linecharts.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "DebugConsole.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
#include "WatchdogControl.h"
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#include "opmapcontrol.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
#include "QGCToolBar.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
#include "SlugsHilSim.h"
#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCVehicleConfig.h"
#include "MAVLinkDecoder.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen;
/**
* @brief Main Application Window
*
**/
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
static MainWindow* instance(QSplashScreen* screen = 0);
~MainWindow();
enum QGC_MAINWINDOW_STYLE
{
QGC_MAINWINDOW_STYLE_NATIVE,
QGC_MAINWINDOW_STYLE_INDOOR,
QGC_MAINWINDOW_STYLE_OUTDOOR
};
/** @brief Get current visual style */
int getStyle()
{
return currentStyle;
}
/** @brief Get auto link reconnect setting */
bool autoReconnectEnabled()
{
return autoReconnect;
}
/** @brief Get low power mode setting */
bool lowPowerModeEnabled()
{
return lowPowerMode;
}
QList<QAction*> listLinkMenuActions(void);
public slots:
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status, int timeout);
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status);
/** @brief Shows a critical message as popup or as widget */
void showCriticalMessage(const QString& title, const QString& message);
/** @brief Shows an info message as popup or as widget */
void showInfoMessage(const QString& title, const QString& message);
/** @brief Show the application settings */
void showSettings();
/** @brief Add a communication link */
void addLink();
void addLink(LinkInterface* link);
void configure();
/** @brief Set the currently controlled UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Add a new UAS */
void UASCreated(UASInterface* uas);
/** Delete an UAS */
void UASDeleted(UASInterface* uas);
/** @brief Update system specs of a UAS */
void UASSpecsChanged(int uas);
void startVideoCapture();
void stopVideoCapture();
void saveScreen();
/** @brief Load default view when no MAV is connected */
void loadUnconnectedView();
/** @brief Load view for pilot */
void loadPilotView();
/** @brief Load view for engineer */
void loadEngineerView();
/** @brief Load view for operator */
void loadOperatorView();
/** @brief Load MAVLink XML generator view */
void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Show the online help for users */
void showHelp();
/** @brief Show the authors / credits */
void showCredits();
/** @brief Show the project roadmap */
void showRoadMap();
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
/** @brief Let the user select the CSS style sheet */
void selectStylesheet();
/** @brief Automatically reconnect last link */
void enableAutoReconnect(bool enabled);
/** @brief Save power by reducing update rates */
void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
/** @brief Switch to native application style */
void loadNativeStyle();
/** @brief Switch to indoor mission style */
void loadIndoorStyle();
/** @brief Switch to outdoor mission style */
void loadOutdoorStyle();
/** @brief Load a specific style */
void loadStyle(QGC_MAINWINDOW_STYLE style);
/** @brief Add a custom tool widget */
void createCustomWidget();
/** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
void loadCustomWidget();
/** @brief Load a custom tool widget from a file */
void loadCustomWidget(const QString& fileName, bool singleinstance=false);
/** @brief Load custom widgets from default file */
void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
/** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
void showHILConfigurationWidget(UASInterface *uas);
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/**
* @brief Shows a Docked Widget based on the action sender
*
* This slot is written to be used in conjunction with the addTool() function
* It shows the QDockedWidget based on the action sender
*
*/
void showTool(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
*
* This slot is written to be used in conjunction with the addCentralWidget() function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
/** @brief Update the window name */
void configureWindowName();
signals:
void initStatusChanged(const QString& message);
public:
QGCMAVLinkLogPlayer* getLogPlayer()
{
return logPlayer;
}
MAVLinkProtocol* getMAVLink()
{
return mavlink;
}
protected:
MainWindow(QWidget *parent = 0);
typedef enum _VIEW_SECTIONS
{
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_FIRMWAREUPDATE,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
*
* This function does all the hosekeeping to have a QDockedWidget added to the
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
* @param widget The QDockWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Adds an already instantiated QWidget to the center stack
*
* This function does all the hosekeeping to have a QWidget added to the tools menu
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item. This is used for all the central widgets (those in
* the center stack.
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
*/
void addCentralWidget(QWidget* widget, const QString& title);
/** @brief Catch window resize events */
void resizeEvent(QResizeEvent * event);
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
QGC_MAINWINDOW_STYLE currentStyle;
bool aboutToCloseFlag;
bool changingViewsFlag;
void storeViewState();
void loadViewState();
void buildCustomWidget();
void buildCommonWidgets();
void connectCommonWidgets();
void connectCommonActions();
void connectSenseSoarActions();
void loadSettings();
void storeSettings();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
MAVLinkSimulationLink* simulationLink;
LinkInterface* udpLink;
QSettings settings;
QStackedWidget *centerStack;
QActionGroup* centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget;
QPointer<QGCVehicleConfig> configWidget;
QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
#ifdef QGC_OSG_ENABLED
QPointer<QWidget> _3DWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
QPointer<QDockWidget> infoDockWidget;
QPointer<QDockWidget> cameraDockWidget;
QPointer<QDockWidget> listDockWidget;
QPointer<QDockWidget> waypointsDockWidget;
QPointer<QDockWidget> detectionDockWidget;
QPointer<QDockWidget> debugConsoleDockWidget;
QPointer<QDockWidget> parametersDockWidget;
QPointer<QDockWidget> headDown1DockWidget;
QPointer<QDockWidget> headDown2DockWidget;
QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> video1DockWidget;
QPointer<QDockWidget> video2DockWidget;
QPointer<QDockWidget> rgbd1DockWidget;
QPointer<QDockWidget> rgbd2DockWidget;
QPointer<QDockWidget> logPlayerDockWidget;
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsHilSimWidget;
QPointer<QDockWidget> slugsCamControlWidget;
QPointer<QGCToolBar> toolBar;
QPointer<QDockWidget> mavlinkInspectorWidget;
QPointer<MAVLinkDecoder> mavlinkDecoder;
QPointer<QDockWidget> mavlinkSenderWidget;
QGCMAVLinkLogPlayer* logPlayer;
// Popup widgets
JoystickWidget* joystickWidget;
JoystickInput* joystick;
/** User interface actions **/
QAction* connectUASAct;
QAction* disconnectUASAct;
QAction* startUASAct;
QAction* returnUASAct;
QAction* stopUASAct;
QAction* killUASAct;
QAction* simulateUASAct;
LogCompressor* comp;
QString screenFileName;
QTimer* videoTimer;
QString styleFileName;
bool autoReconnect;
Qt::WindowStates windowStateVal;
bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
QGCFlightGearLink* fgLink;
QTimer windowNameUpdateTimer;
private:
Ui::MainWindow ui;
QString getWindowStateKey();
QString getWindowGeometryKey();
};
#endif /* _MAINWINDOW_H_ */
/*=====================================================================
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 Definition of class MainWindow
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_
#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
#include <QSettings>
#include <qlist.h>
#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
#include "Linecharts.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "input/Mouse6dofInput.h"
#include "DebugConsole.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
#include "WatchdogControl.h"
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#include "opmapcontrol.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
#include "QGCToolBar.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
#include "SlugsHilSim.h"
#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCVehicleConfig.h"
#include "MAVLinkDecoder.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen;
/**
* @brief Main Application Window
*
**/
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
static MainWindow* instance(QSplashScreen* screen = 0);
~MainWindow();
enum QGC_MAINWINDOW_STYLE
{
QGC_MAINWINDOW_STYLE_NATIVE,
QGC_MAINWINDOW_STYLE_INDOOR,
QGC_MAINWINDOW_STYLE_OUTDOOR
};
/** @brief Get current visual style */
int getStyle()
{
return currentStyle;
}
/** @brief Get auto link reconnect setting */
bool autoReconnectEnabled()
{
return autoReconnect;
}
/** @brief Get low power mode setting */
bool lowPowerModeEnabled()
{
return lowPowerMode;
}
QList<QAction*> listLinkMenuActions(void);
public slots:
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status, int timeout);
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status);
/** @brief Shows a critical message as popup or as widget */
void showCriticalMessage(const QString& title, const QString& message);
/** @brief Shows an info message as popup or as widget */
void showInfoMessage(const QString& title, const QString& message);
/** @brief Show the application settings */
void showSettings();
/** @brief Add a communication link */
void addLink();
void addLink(LinkInterface* link);
void configure();
/** @brief Set the currently controlled UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Add a new UAS */
void UASCreated(UASInterface* uas);
/** Delete an UAS */
void UASDeleted(UASInterface* uas);
/** @brief Update system specs of a UAS */
void UASSpecsChanged(int uas);
void startVideoCapture();
void stopVideoCapture();
void saveScreen();
/** @brief Load default view when no MAV is connected */
void loadUnconnectedView();
/** @brief Load view for pilot */
void loadPilotView();
/** @brief Load view for engineer */
void loadEngineerView();
/** @brief Load view for operator */
void loadOperatorView();
/** @brief Load MAVLink XML generator view */
void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Show the online help for users */
void showHelp();
/** @brief Show the authors / credits */
void showCredits();
/** @brief Show the project roadmap */
void showRoadMap();
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
/** @brief Let the user select the CSS style sheet */
void selectStylesheet();
/** @brief Automatically reconnect last link */
void enableAutoReconnect(bool enabled);
/** @brief Save power by reducing update rates */
void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
/** @brief Switch to native application style */
void loadNativeStyle();
/** @brief Switch to indoor mission style */
void loadIndoorStyle();
/** @brief Switch to outdoor mission style */
void loadOutdoorStyle();
/** @brief Load a specific style */
void loadStyle(QGC_MAINWINDOW_STYLE style);
/** @brief Add a custom tool widget */
void createCustomWidget();
/** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
void loadCustomWidget();
/** @brief Load a custom tool widget from a file */
void loadCustomWidget(const QString& fileName, bool singleinstance=false);
/** @brief Load custom widgets from default file */
void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
/** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
void showHILConfigurationWidget(UASInterface *uas);
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/**
* @brief Shows a Docked Widget based on the action sender
*
* This slot is written to be used in conjunction with the addTool() function
* It shows the QDockedWidget based on the action sender
*
*/
void showTool(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
*
* This slot is written to be used in conjunction with the addCentralWidget() function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
/** @brief Update the window name */
void configureWindowName();
signals:
void initStatusChanged(const QString& message);
public:
QGCMAVLinkLogPlayer* getLogPlayer()
{
return logPlayer;
}
MAVLinkProtocol* getMAVLink()
{
return mavlink;
}
protected:
MainWindow(QWidget *parent = 0);
typedef enum _VIEW_SECTIONS
{
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_FIRMWAREUPDATE,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
*
* This function does all the hosekeeping to have a QDockedWidget added to the
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
* @param widget The QDockWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Adds an already instantiated QWidget to the center stack
*
* This function does all the hosekeeping to have a QWidget added to the tools menu
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item. This is used for all the central widgets (those in
* the center stack.
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
*/
void addCentralWidget(QWidget* widget, const QString& title);
/** @brief Catch window resize events */
void resizeEvent(QResizeEvent * event);
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
QGC_MAINWINDOW_STYLE currentStyle;
bool aboutToCloseFlag;
bool changingViewsFlag;
void storeViewState();
void loadViewState();
void buildCustomWidget();
void buildCommonWidgets();
void connectCommonWidgets();
void connectCommonActions();
void connectSenseSoarActions();
void loadSettings();
void storeSettings();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
MAVLinkSimulationLink* simulationLink;
LinkInterface* udpLink;
QSettings settings;
QStackedWidget *centerStack;
QActionGroup* centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget;
QPointer<QGCVehicleConfig> configWidget;
QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
#ifdef QGC_OSG_ENABLED
QPointer<QWidget> _3DWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
QPointer<QDockWidget> infoDockWidget;
QPointer<QDockWidget> cameraDockWidget;
QPointer<QDockWidget> listDockWidget;
QPointer<QDockWidget> waypointsDockWidget;
QPointer<QDockWidget> detectionDockWidget;
QPointer<QDockWidget> debugConsoleDockWidget;
QPointer<QDockWidget> parametersDockWidget;
QPointer<QDockWidget> headDown1DockWidget;
QPointer<QDockWidget> headDown2DockWidget;
QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> video1DockWidget;
QPointer<QDockWidget> video2DockWidget;
QPointer<QDockWidget> rgbd1DockWidget;
QPointer<QDockWidget> rgbd2DockWidget;
QPointer<QDockWidget> logPlayerDockWidget;
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsHilSimWidget;
QPointer<QDockWidget> slugsCamControlWidget;
QPointer<QGCToolBar> toolBar;
QPointer<QDockWidget> mavlinkInspectorWidget;
QPointer<MAVLinkDecoder> mavlinkDecoder;
QPointer<QDockWidget> mavlinkSenderWidget;
QGCMAVLinkLogPlayer* logPlayer;
// Popup widgets
JoystickWidget* joystickWidget;
JoystickInput* joystick;
#ifdef MOUSE_ENABLED_WIN
/** 3d Mouse support (WIN only) **/
Mouse3DInput* mouseInput; ///< 3dConnexion 3dMouse SDK
Mouse6dofInput* mouse; ///< Implementation for 3dMouse input
#endif // MOUSE_ENABLED_WIN
/** User interface actions **/
QAction* connectUASAct;
QAction* disconnectUASAct;
QAction* startUASAct;
QAction* returnUASAct;
QAction* stopUASAct;
QAction* killUASAct;
QAction* simulateUASAct;
LogCompressor* comp;
QString screenFileName;
QTimer* videoTimer;
QString styleFileName;
bool autoReconnect;
Qt::WindowStates windowStateVal;
bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
QGCFlightGearLink* fgLink;
QTimer windowNameUpdateTimer;
private:
Ui::MainWindow ui;
QString getWindowStateKey();
QString getWindowGeometryKey();
};
#endif /* _MAINWINDOW_H_ */

Write Preview
Loading…
Cancel
Save