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Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

QGC4.4
pixhawk 15 years ago
parent
f0a7de5c97 1755f202d0
commit
ffb892a3a8
4 changed files with 476 additions and 219 deletions
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  1. 1
      images/style-mission.css
  2. 8
      src/Core.cc
  3. 645
      src/ui/MainWindow.cc
  4. 41
      src/ui/MainWindow.h

1
images/style-mission.css
Unescape View File

@ -1,3 +1,4 @@ @@ -1,3 +1,4 @@
* { font-family: "Bitstream Vera Sans"; font: "Roman"; font-size: 12px; }
QWidget#colorIcon {}
QWidget {

8
src/Core.cc
Unescape View File

@ -72,6 +72,8 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv) @@ -72,6 +72,8 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// Show splash screen
QPixmap splashImage(":images/splash.png");
QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
// Delete splash screen after mainWindow was displayed
splashScreen->setAttribute(Qt::WA_DeleteOnClose);
splashScreen->show();
splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
@ -79,13 +81,15 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv) @@ -79,13 +81,15 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// Exit main application when last window is closed
connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
// Set application font
// Load application font
QFontDatabase fontDatabase = QFontDatabase();
const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
const QString fontFamilyName = "Bitstream Vera Sans";
if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
fontDatabase.addApplicationFont(fontFileName);
setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Avoid Using setFont(). In the Qt docu you can read the following:
// "Warning: Do not use this function in conjunction with Qt Style Sheets."
// setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Start the comm link manager
splashScreen->showMessage(tr("Starting Communication Links"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));

645
src/ui/MainWindow.cc
Unescape View File

@ -108,6 +108,7 @@ MainWindow::~MainWindow() @@ -108,6 +108,7 @@ MainWindow::~MainWindow()
void MainWindow::buildWidgets()
{
//FIXME: memory of acceptList will never be freed again
QStringList* acceptList = new QStringList();
acceptList->append("roll IMU");
acceptList->append("pitch IMU");
@ -116,50 +117,93 @@ void MainWindow::buildWidgets() @@ -116,50 +117,93 @@ void MainWindow::buildWidgets()
acceptList->append("pitchspeed IMU");
acceptList->append("yawspeed IMU");
//FIXME: memory of acceptList2 will never be freed again
QStringList* acceptList2 = new QStringList();
acceptList2->append("Battery");
acceptList2->append("Pressure");
//TODO: move protocol outside UI
mavlink = new MAVLinkProtocol();
linechart = new Linecharts(this);
control = new UASControlWidget(this);
list = new UASListWidget(this);
waypoints = new WaypointList(this, NULL);
info = new UASInfoWidget(this);
detection = new ObjectDetectionView("images/patterns", this);
hud = new HUD(640, 480, this);
debugConsole= new DebugConsole(this);
map = new MapWidget(this);
protocol = new XMLCommProtocolWidget(this);
parameters = new ParameterInterface(this);
watchdogControl = new WatchdogControl(this);
hsi = new HSIDisplay(this);
headDown1 = new HDDisplay(acceptList, this);
headDown2 = new HDDisplay(acceptList2, this);
// Center widgets
linechartWidget = new Linecharts(this);
hudWidget = new HUD(640, 480, this);
mapWidget = new MapWidget(this);
protocolWidget = new XMLCommProtocolWidget(this);
dataplotWidget = new QGCDataPlot2D(this);
// Dock widgets
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setWidget( new UASControlWidget(this) );
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
// Dialogue widgets
//FIXME: free memory in destructor
joystick = new JoystickInput();
dataplot = new QGCDataPlot2D(this);
rcView = new QGCRemoteControlView(this);
}
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)));
if (linechartWidget)
{
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
linechartWidget, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
linechartWidget, SLOT(selectSystem(int)));
connect(linechartWidget, SIGNAL(logfileWritten(QString)),
this, SLOT(loadDataView(QString)));
}
if (infoDockWidget && infoDockWidget->widget())
{
connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
}
}
void MainWindow::arrangeCenterStack()
{
centerStack = new QStackedWidget(this);
QStackedWidget *centerStack = new QStackedWidget(this);
if (!centerStack) return;
centerStack->addWidget(linechart);
centerStack->addWidget(protocol);
centerStack->addWidget(map);
centerStack->addWidget(hud);
centerStack->addWidget(dataplot);
if (linechartWidget) centerStack->addWidget(linechartWidget);
if (protocolWidget) centerStack->addWidget(protocolWidget);
if (mapWidget) centerStack->addWidget(mapWidget);
if (hudWidget) centerStack->addWidget(hudWidget);
if (dataplotWidget) centerStack->addWidget(dataplotWidget);
setCentralWidget(centerStack);
}
@ -425,13 +469,35 @@ void MainWindow::UASCreated(UASInterface* uas) @@ -425,13 +469,35 @@ void MainWindow::UASCreated(UASInterface* uas)
ui.menuConnected_Systems->addAction(icon, tr("Select %1 for control").arg(uas->getUASName()), uas, SLOT(setSelected()));
// FIXME Should be not inside the mainwindow
connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
if (debugConsoleDockWidget)
{
DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
if (debugConsole)
{
connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
}
}
// Health / System status indicator
info->addUAS(uas);
if (infoDockWidget)
{
UASInfoWidget *infoWidget = dynamic_cast<UASInfoWidget*>(infoDockWidget->widget());
if (infoWidget)
{
infoWidget->addUAS(uas);
}
}
// UAS List
list->addUAS(uas);
if (listDockWidget)
{
UASListWidget *listWidget = dynamic_cast<UASListWidget*>(listDockWidget->widget());
if (listWidget)
{
listWidget->addUAS(uas);
}
}
// Camera view
//camera->addUAS(uas);
@ -455,27 +521,42 @@ void MainWindow::UASCreated(UASInterface* uas) @@ -455,27 +521,42 @@ void MainWindow::UASCreated(UASInterface* uas)
void MainWindow::clearView()
{
// Halt HUD
hud->stop();
linechart->setActive(false);
headDown1->stop();
headDown2->stop();
hsi->stop();
if (hudWidget) hudWidget->stop();
// Disable linechart
if (linechartWidget) linechartWidget->setActive(false);
// Halt HDDs
if (headDown1DockWidget)
{
HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown1DockWidget->widget() );
if (hddWidget) hddWidget->stop();
}
if (headDown2DockWidget)
{
HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown2DockWidget->widget() );
if (hddWidget) hddWidget->stop();
}
// Halt HSI
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi) hsi->stop();
}
// Remove all dock widgets
QList<QObject*> list = this->children();
// Remove all dock widgets from main window
QObjectList childList( this->children() );
QList<QObject*>::iterator i;
for (i = list.begin(); i != list.end(); ++i)
QObjectList::iterator i;
QDockWidget* dockWidget;
for (i = childList.begin(); i != childList.end(); ++i)
{
QDockWidget* widget = dynamic_cast<QDockWidget*>(*i);
if (widget)
dockWidget = dynamic_cast<QDockWidget*>(*i);
if (dockWidget)
{
// Hide widgets
QWidget* childWidget = dynamic_cast<QWidget*>(widget->widget());
if (childWidget) childWidget->setVisible(false);
// Remove dock widget
this->removeDockWidget(widget);
//delete widget;
// Remove dock widget from main window
this->removeDockWidget(dockWidget);
// Deletion of dockWidget would also delete all child
// widgets of dockWidget
// Is there a way to unset a widget from QDockWidget?
}
}
}
@ -486,45 +567,69 @@ void MainWindow::loadSlugsView() @@ -486,45 +567,69 @@ void MainWindow::loadSlugsView()
// Engineer view, used in EMAV2009
// LINE CHART
linechart->setActive(true);
centerStack->setCurrentWidget(linechart);
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
// UAS CONTROL
QDockWidget* container1 = new QDockWidget(tr("Control"), this);
container1->setWidget(control);
addDockWidget(Qt::LeftDockWidgetArea, container1);
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
container4->setWidget(list);
addDockWidget(Qt::BottomDockWidgetArea, container4);
if (listDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// UAS STATUS
QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
container3->setWidget(info);
addDockWidget(Qt::LeftDockWidgetArea, container3);
if (infoDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
infoDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
QDockWidget* container6 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
container6->setWidget(hsi);
hsi->start();
addDockWidget(Qt::LeftDockWidgetArea, container6);
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
hsi->start();
addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
}
}
// WAYPOINT LIST
QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
container5->setWidget(waypoints);
addDockWidget(Qt::BottomDockWidgetArea, container5);
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// DEBUG CONSOLE
QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
container7->setWidget(debugConsole);
addDockWidget(Qt::BottomDockWidgetArea, container7);
if (debugConsoleDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
debugConsoleDockWidget->show();
}
// ONBOARD PARAMETERS
QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
containerParams->setWidget(parameters);
addDockWidget(Qt::RightDockWidgetArea, containerParams);
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
this->show();
}
@ -535,44 +640,64 @@ void MainWindow::loadPixhawkView() @@ -535,44 +640,64 @@ void MainWindow::loadPixhawkView()
// Engineer view, used in EMAV2009
// LINE CHART
linechart->setActive(true);
centerStack->setCurrentWidget(linechart);
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
// UAS CONTROL
QDockWidget* container1 = new QDockWidget(tr("Control"), this);
container1->setWidget(control);
addDockWidget(Qt::LeftDockWidgetArea, container1);
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
container4->setWidget(list);
addDockWidget(Qt::BottomDockWidgetArea, container4);
if (listDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// UAS STATUS
QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
container3->setWidget(info);
addDockWidget(Qt::LeftDockWidgetArea, container3);
if (infoDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
infoDockWidget->show();
}
// WAYPOINT LIST
QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
container5->setWidget(waypoints);
addDockWidget(Qt::BottomDockWidgetArea, container5);
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// DEBUG CONSOLE
QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
container7->setWidget(debugConsole);
addDockWidget(Qt::BottomDockWidgetArea, container7);
if (debugConsoleDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
debugConsoleDockWidget->show();
}
// RADIO CONTROL VIEW
QDockWidget* rcContainer = new QDockWidget(tr("Radio Control"), this);
rcContainer->setWidget(rcView);
addDockWidget(Qt::BottomDockWidgetArea, rcContainer);
if (rcViewDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
rcViewDockWidget->show();
}
// ONBOARD PARAMETERS
QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
containerParams->setWidget(parameters);
addDockWidget(Qt::RightDockWidgetArea, containerParams);
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
this->show();
}
@ -580,14 +705,30 @@ void MainWindow::loadPixhawkView() @@ -580,14 +705,30 @@ void MainWindow::loadPixhawkView()
void MainWindow::loadDataView()
{
clearView();
centerStack->setCurrentWidget(dataplot);
// DATAPLOT
if (dataplotWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
centerStack->setCurrentWidget(dataplotWidget);
}
}
void MainWindow::loadDataView(QString fileName)
{
clearView();
centerStack->setCurrentWidget(dataplot);
dataplot->loadFile(fileName);
// DATAPLOT
if (dataplotWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(dataplotWidget);
dataplotWidget->loadFile(fileName);
}
}
}
void MainWindow::loadPilotView()
@ -595,20 +736,38 @@ void MainWindow::loadPilotView() @@ -595,20 +736,38 @@ void MainWindow::loadPilotView()
clearView();
// HEAD UP DISPLAY
centerStack->setCurrentWidget(hud);
hud->start();
if (hudWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(hudWidget);
hudWidget->start();
}
}
//connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*)));
QDockWidget* container1 = new QDockWidget(tr("Primary Flight Display"), this);
container1->setWidget(headDown1);
addDockWidget(Qt::RightDockWidgetArea, container1);
QDockWidget* container2 = new QDockWidget(tr("Payload Status"), this);
container2->setWidget(headDown2);
addDockWidget(Qt::RightDockWidgetArea, container2);
headDown1->start();
headDown2->start();
if (headDown1DockWidget)
{
HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
if (hdd)
{
addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
headDown1DockWidget->show();
hdd->start();
}
}
if (headDown2DockWidget)
{
HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
if (hdd)
{
addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
headDown2DockWidget->show();
hdd->start();
}
}
this->show();
}
@ -618,43 +777,68 @@ void MainWindow::loadOperatorView() @@ -618,43 +777,68 @@ void MainWindow::loadOperatorView()
clearView();
// MAP
centerStack->setCurrentWidget(map);
if (mapWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(mapWidget);
}
}
// UAS CONTROL
QDockWidget* container1 = new QDockWidget(tr("Control"), this);
container1->setWidget(control);
addDockWidget(Qt::LeftDockWidgetArea, container1);
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
container4->setWidget(list);
addDockWidget(Qt::BottomDockWidgetArea, container4);
if (listDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// UAS STATUS
QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
container3->setWidget(info);
addDockWidget(Qt::LeftDockWidgetArea, container3);
if (infoDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
infoDockWidget->show();
}
// WAYPOINT LIST
QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
container5->setWidget(waypoints);
addDockWidget(Qt::BottomDockWidgetArea, container5);
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
QDockWidget* container7 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
container7->setWidget(hsi);
hsi->start();
addDockWidget(Qt::BottomDockWidgetArea, container7);
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
hsi->start();
}
}
// OBJECT DETECTION
QDockWidget* container6 = new QDockWidget(tr("Object Recognition"), this);
container6->setWidget(detection);
addDockWidget(Qt::RightDockWidgetArea, container6);
if (detectionDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
detectionDockWidget->show();
}
// PROCESS CONTROL
QDockWidget* pControl = new QDockWidget(tr("Process Control"), this);
pControl->setWidget(watchdogControl);
addDockWidget(Qt::RightDockWidgetArea, pControl);
if (watchdogControlDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
watchdogControlDockWidget->show();
}
this->show();
}
@ -663,8 +847,15 @@ void MainWindow::loadSettingsView() @@ -663,8 +847,15 @@ void MainWindow::loadSettingsView()
clearView();
// LINE CHART
linechart->setActive(true);
centerStack->setCurrentWidget(linechart);
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
/*
// COMM XML
@ -673,9 +864,12 @@ void MainWindow::loadSettingsView() @@ -673,9 +864,12 @@ void MainWindow::loadSettingsView()
addDockWidget(Qt::LeftDockWidgetArea, container1);*/
// ONBOARD PARAMETERS
QDockWidget* container6 = new QDockWidget(tr("Onboard Parameters"), this);
container6->setWidget(parameters);
addDockWidget(Qt::RightDockWidgetArea, container6);
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
this->show();
}
@ -685,39 +879,57 @@ void MainWindow::loadEngineerView() @@ -685,39 +879,57 @@ void MainWindow::loadEngineerView()
// Engineer view, used in EMAV2009
// LINE CHART
linechart->setActive(true);
centerStack->setCurrentWidget(linechart);
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
// UAS CONTROL
QDockWidget* container1 = new QDockWidget(tr("Control"), this);
container1->setWidget(control);
addDockWidget(Qt::LeftDockWidgetArea, container1);
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
container4->setWidget(list);
addDockWidget(Qt::BottomDockWidgetArea, container4);
if (listDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// UAS STATUS
QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
container3->setWidget(info);
addDockWidget(Qt::LeftDockWidgetArea, container3);
if (infoDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
infoDockWidget->show();
}
// WAYPOINT LIST
QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
container5->setWidget(waypoints);
addDockWidget(Qt::BottomDockWidgetArea, container5);
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// DEBUG CONSOLE
QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
container7->setWidget(debugConsole);
addDockWidget(Qt::BottomDockWidgetArea, container7);
if (debugConsoleDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
debugConsoleDockWidget->show();
}
// ONBOARD PARAMETERS
QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
containerParams->setWidget(parameters);
addDockWidget(Qt::RightDockWidgetArea, containerParams);
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
this->show();
}
@ -725,7 +937,16 @@ void MainWindow::loadEngineerView() @@ -725,7 +937,16 @@ void MainWindow::loadEngineerView()
void MainWindow::loadMAVLinkView()
{
clearView();
centerStack->setCurrentWidget(protocol);
if (protocolWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(protocolWidget);
}
}
this->show();
}
@ -733,55 +954,87 @@ void MainWindow::loadAllView() @@ -733,55 +954,87 @@ void MainWindow::loadAllView()
{
clearView();
QDockWidget* containerPFD = new QDockWidget(tr("Primary Flight Display"), this);
containerPFD->setWidget(headDown1);
addDockWidget(Qt::RightDockWidgetArea, containerPFD);
QDockWidget* containerPayload = new QDockWidget(tr("Payload Status"), this);
containerPayload->setWidget(headDown2);
addDockWidget(Qt::RightDockWidgetArea, containerPayload);
headDown1->start();
headDown2->start();
if (headDown1DockWidget)
{
HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
if (hdd)
{
addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
headDown1DockWidget->show();
hdd->start();
}
}
if (headDown2DockWidget)
{
HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
if (hdd)
{
addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
headDown2DockWidget->show();
hdd->start();
}
}
// UAS CONTROL
QDockWidget* containerControl = new QDockWidget(tr("Control"), this);
containerControl->setWidget(control);
addDockWidget(Qt::LeftDockWidgetArea, containerControl);
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
QDockWidget* containerUASList = new QDockWidget(tr("Unmanned Systems"), this);
containerUASList->setWidget(list);
addDockWidget(Qt::BottomDockWidgetArea, containerUASList);
if (listDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// UAS STATUS
QDockWidget* containerStatus = new QDockWidget(tr("Status Details"), this);
containerStatus->setWidget(info);
addDockWidget(Qt::LeftDockWidgetArea, containerStatus);
if (infoDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
infoDockWidget->show();
}
// WAYPOINT LIST
QDockWidget* containerWaypoints = new QDockWidget(tr("Waypoint List"), this);
containerWaypoints->setWidget(waypoints);
addDockWidget(Qt::BottomDockWidgetArea, containerWaypoints);
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// DEBUG CONSOLE
QDockWidget* containerComm = new QDockWidget(tr("Communication Console"), this);
containerComm->setWidget(debugConsole);
addDockWidget(Qt::BottomDockWidgetArea, containerComm);
if (debugConsoleDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
debugConsoleDockWidget->show();
}
// OBJECT DETECTION
QDockWidget* containerObjRec = new QDockWidget(tr("Object Recognition"), this);
containerObjRec->setWidget(detection);
addDockWidget(Qt::RightDockWidgetArea, containerObjRec);
if (detectionDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
detectionDockWidget->show();
}
// LINE CHART
linechart->setActive(true);
centerStack->setCurrentWidget(linechart);
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
// ONBOARD PARAMETERS
QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
containerParams->setWidget(parameters);
addDockWidget(Qt::RightDockWidgetArea, containerParams);
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
this->show();
}

41
src/ui/MainWindow.h
Unescape View File

@ -154,24 +154,26 @@ protected: @@ -154,24 +154,26 @@ protected:
LinkInterface* udpLink;
QSettings settings;
UASControlWidget* control;
Linecharts* linechart;
UASInfoWidget* info;
CameraView* camera;
UASListWidget* list;
WaypointList* waypoints;
ObjectDetectionView* detection;
HUD* hud;
DebugConsole* debugConsole;
MapWidget* map;
ParameterInterface* parameters;
XMLCommProtocolWidget* protocol;
HDDisplay* headDown1;
HDDisplay* headDown2;
WatchdogControl* watchdogControl;
HSIDisplay* hsi;
QGCDataPlot2D* dataplot;
QGCRemoteControlView* rcView;
// Center widgets
QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget;
QPointer<MapWidget> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
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> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
// Popup widgets
JoystickWidget* joystickWidget;
@ -187,9 +189,6 @@ protected: @@ -187,9 +189,6 @@ protected:
QAction* killUASAct;
QAction* simulateUASAct;
QDockWidget* controlDock;
QStackedWidget* centerStack;
LogCompressor* comp;
QString screenFileName;
QTimer* videoTimer;

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