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633 lines
21 KiB
633 lines
21 KiB
/*===================================================================== |
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit |
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(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch> |
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This file is part of the PIXHAWK project |
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PIXHAWK is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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PIXHAWK is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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/** |
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* @file |
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* @brief Implementation of one airstrip |
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* |
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* @author Lorenz Meier <mavteam@student.ethz.ch> |
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* |
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*/ |
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#include <cmath> |
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#include <QDateTime> |
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#include <QDebug> |
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#include <QMenu> |
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#include <QInputDialog> |
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#include "QGC.h" |
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#include "MG.h" |
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#include "UASManager.h" |
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#include "UASView.h" |
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#include "UASWaypointManager.h" |
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#include "MainWindow.h" |
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#include "ui_UASView.h" |
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UASView::UASView(UASInterface* uas, QWidget *parent) : |
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QWidget(parent), |
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startTime(0), |
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timeout(false), |
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iconIsRed(true), |
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timeRemaining(0), |
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chargeLevel(0), |
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uas(uas), |
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load(0), |
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state("UNKNOWN"), |
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stateDesc(tr("Unknown state")), |
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mode("MAV_MODE_UNKNOWN"), |
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thrust(0), |
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isActive(false), |
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x(0), |
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y(0), |
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z(0), |
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totalSpeed(0), |
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lat(0), |
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lon(0), |
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alt(0), |
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groundDistance(0), |
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localFrame(false), |
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removeAction(new QAction("Delete this system", this)), |
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renameAction(new QAction("Rename..", this)), |
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selectAction(new QAction("Control this system", this )), |
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selectAirframeAction(new QAction("Choose Airframe", this)), |
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setBatterySpecsAction(new QAction("Set Battery Options", this)), |
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lowPowerModeEnabled(false), |
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m_ui(new Ui::UASView) |
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{ |
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// FIXME XXX |
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lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled(); |
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m_ui->setupUi(this); |
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// Setup communication |
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//connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(receiveValue(int,QString,double,quint64))); |
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connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int))); |
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connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*))); |
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connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double))); |
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connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64))); |
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connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); |
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connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64))); |
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connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString))); |
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connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString))); |
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connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double))); |
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connect(uas, SIGNAL(heartbeatTimeout()), this, SLOT(heartbeatTimeout())); |
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connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int))); |
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connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16))); |
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connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint))); |
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connect(UASManager::instance(), SIGNAL(activeUASStatusChanged(UASInterface*,bool)), this, SLOT(updateActiveUAS(UASInterface*,bool))); |
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connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(showStatusText(int, int, int, QString))); |
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connect(uas, SIGNAL(navModeChanged(int, int, QString)), this, SLOT(updateNavMode(int, int, QString))); |
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// Setup UAS selection |
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connect(m_ui->uasViewFrame, SIGNAL(clicked(bool)), this, SLOT(setUASasActive(bool))); |
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// Setup user interaction |
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connect(m_ui->liftoffButton, SIGNAL(clicked()), uas, SLOT(launch())); |
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connect(m_ui->haltButton, SIGNAL(clicked()), uas, SLOT(halt())); |
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connect(m_ui->continueButton, SIGNAL(clicked()), uas, SLOT(go())); |
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connect(m_ui->landButton, SIGNAL(clicked()), uas, SLOT(home())); |
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connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP())); |
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connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL())); |
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connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown())); |
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// Allow to delete this widget |
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connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater())); |
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connect(renameAction, SIGNAL(triggered()), this, SLOT(rename())); |
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connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected())); |
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connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe())); |
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connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs())); |
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connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater())); |
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// Name changes |
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connect(uas, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString))); |
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// Set static values |
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// Name |
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if (uas->getUASName() == "") { |
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m_ui->nameLabel->setText(tr("UAS") + QString::number(uas->getUASID())); |
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} else { |
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m_ui->nameLabel->setText(uas->getUASName()); |
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} |
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setBackgroundColor(); |
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// Heartbeat fade |
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refreshTimer = new QTimer(this); |
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connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh())); |
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if (lowPowerModeEnabled) |
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{ |
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refreshTimer->start(updateInterval*10); |
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} else { |
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refreshTimer->start(updateInterval); |
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} |
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// Hide kill and shutdown buttons per default |
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m_ui->killButton->hide(); |
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m_ui->shutdownButton->hide(); |
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// Set state and mode |
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updateMode(uas->getUASID(), uas->getShortMode(), ""); |
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updateState(uas, uas->getShortState(), ""); |
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setSystemType(uas, uas->getSystemType()); |
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} |
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UASView::~UASView() |
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{ |
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delete m_ui; |
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delete removeAction; |
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delete renameAction; |
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delete selectAction; |
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} |
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void UASView::heartbeatTimeout() |
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{ |
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timeout = true; |
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} |
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void UASView::updateNavMode(int uasid, int mode, const QString& text) |
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{ |
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Q_UNUSED(uasid); |
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Q_UNUSED(mode); |
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m_ui->navLabel->setText(text); |
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} |
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void UASView::showStatusText(int uasid, int componentid, int severity, QString text) |
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{ |
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Q_UNUSED(uasid); |
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Q_UNUSED(componentid); |
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Q_UNUSED(severity); |
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//m_ui->statusTextLabel->setText(text); |
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stateDesc = text; |
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} |
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/** |
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* Set the background color based on the MAV color. If the MAV is selected as the |
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* currently actively controlled system, the frame color is highlighted |
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*/ |
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void UASView::setBackgroundColor() |
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{ |
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// UAS color |
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QColor uasColor = uas->getColor(); |
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QString colorstyle; |
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QString borderColor = "#4A4A4F"; |
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if (isActive) { |
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borderColor = "#FA4A4F"; |
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uasColor = uasColor.darker(475); |
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} else { |
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uasColor = uasColor.darker(675); |
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} |
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colorstyle = colorstyle.sprintf("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X; border: 2px solid %s; }", |
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uasColor.red(), uasColor.green(), uasColor.blue(), borderColor.toStdString().c_str()); |
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m_ui->uasViewFrame->setStyleSheet(colorstyle); |
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} |
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void UASView::setUASasActive(bool active) |
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{ |
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if (active) { |
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UASManager::instance()->setActiveUAS(this->uas); |
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} |
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} |
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void UASView::updateActiveUAS(UASInterface* uas, bool active) |
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{ |
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if (uas == this->uas) { |
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this->isActive = active; |
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setBackgroundColor(); |
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} |
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} |
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void UASView::updateMode(int sysId, QString status, QString description) |
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{ |
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Q_UNUSED(description); |
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//int aa=this->uas->getUASID(); |
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if (sysId == this->uas->getUASID()) m_ui->modeLabel->setText(status); |
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m_ui->modeLabel->setText(status); |
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} |
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void UASView::mouseDoubleClickEvent (QMouseEvent * event) |
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{ |
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Q_UNUSED(event); |
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UASManager::instance()->setActiveUAS(uas); |
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qDebug() << __FILE__ << __LINE__ << "DOUBLECLICKED"; |
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} |
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void UASView::enterEvent(QEvent* event) |
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{ |
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if (event->type() == QEvent::MouseMove) { |
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emit uasInFocus(uas); |
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if (uas != UASManager::instance()->getActiveUAS()) { |
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grabMouse(QCursor(Qt::PointingHandCursor)); |
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} |
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} |
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qDebug() << __FILE__ << __LINE__ << "IN FOCUS"; |
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if (event->type() == QEvent::MouseButtonDblClick) { |
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qDebug() << __FILE__ << __LINE__ << "UAS CLICKED!"; |
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} |
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} |
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void UASView::leaveEvent(QEvent* event) |
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{ |
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if (event->type() == QEvent::MouseMove) { |
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emit uasOutFocus(uas); |
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releaseMouse(); |
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} |
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} |
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void UASView::showEvent(QShowEvent* event) |
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{ |
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// React only to internal (pre-display) |
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// events |
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Q_UNUSED(event); |
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refreshTimer->start(updateInterval*10); |
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} |
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void UASView::hideEvent(QHideEvent* event) |
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{ |
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// React only to internal (pre-display) |
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// events |
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Q_UNUSED(event); |
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refreshTimer->stop(); |
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} |
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void UASView::receiveHeartbeat(UASInterface* uas) |
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{ |
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Q_UNUSED(uas); |
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heartbeatColor = QColor(20, 200, 20); |
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QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 0px; border: 0px; background-color: %1; }"); |
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m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name())); |
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if (timeout) setBackgroundColor(); |
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timeout = false; |
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} |
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void UASView::updateName(const QString& name) |
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{ |
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if (uas) m_ui->nameLabel->setText(name); |
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} |
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/** |
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* The current system type is represented through the system icon. |
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* |
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* @param uas Source system, has to be the same as this->uas |
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* @param systemType type ID, following the MAVLink system type conventions |
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* @see http://pixhawk.ethz.ch/software/mavlink |
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*/ |
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void UASView::setSystemType(UASInterface* uas, unsigned int systemType) |
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{ |
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if (uas == this->uas) { |
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// Set matching icon |
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switch (systemType) { |
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case 0: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/generic.svg")); |
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break; |
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case 1: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/fixed-wing.svg")); |
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break; |
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case 2: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/quadrotor.svg")); |
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break; |
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case 3: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/coaxial.svg")); |
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break; |
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case 4: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/helicopter.svg")); |
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break; |
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case 5: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg")); |
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break; |
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case 6: { |
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// A groundstation is a special system type, update widget |
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QString result; |
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m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID())); |
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m_ui->waypointLabel->setText(""); |
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m_ui->timeRemainingLabel->setText("Online:"); |
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m_ui->batteryBar->hide(); |
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m_ui->thrustBar->hide(); |
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m_ui->stateLabel->hide(); |
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m_ui->statusTextLabel->hide(); |
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m_ui->waypointLabel->hide(); |
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m_ui->liftoffButton->hide(); |
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m_ui->haltButton->hide(); |
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m_ui->landButton->hide(); |
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m_ui->shutdownButton->hide(); |
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m_ui->abortButton->hide(); |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg")); |
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} |
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break; |
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default: |
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m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg")); |
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break; |
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} |
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} |
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} |
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void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec) |
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{ |
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Q_UNUSED(usec); |
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Q_UNUSED(uas); |
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this->x = x; |
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this->y = y; |
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this->z = z; |
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if (!localFrame) { |
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localFrame = true; |
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} |
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} |
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void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec) |
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{ |
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Q_UNUSED(uas); |
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Q_UNUSED(usec); |
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this->lon = lon; |
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this->lat = lat; |
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this->alt = alt; |
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} |
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void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 usec) |
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{ |
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Q_UNUSED(usec); |
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totalSpeed = sqrt(x*x + y*y + z*z); |
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} |
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void UASView::currentWaypointUpdated(quint16 waypoint) |
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{ |
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m_ui->waypointLabel->setText(tr("WP") + QString::number(waypoint)); |
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} |
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void UASView::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current) |
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{ |
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Q_UNUSED(x); |
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Q_UNUSED(y); |
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Q_UNUSED(z); |
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Q_UNUSED(yaw); |
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Q_UNUSED(autocontinue); |
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if (uasId == this->uas->getUASID()) { |
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if (current) { |
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m_ui->waypointLabel->setText(tr("WP") + QString::number(id)); |
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} |
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} |
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} |
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void UASView::selectWaypoint(int uasId, int id) |
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{ |
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if (uasId == this->uas->getUASID()) { |
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m_ui->waypointLabel->setText(tr("WP") + QString::number(id)); |
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} |
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} |
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void UASView::updateThrust(UASInterface* uas, double thrust) |
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{ |
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if (this->uas == uas) { |
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this->thrust = thrust; |
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} |
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} |
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void UASView::updateBattery(UASInterface* uas, double voltage, double percent, int seconds) |
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{ |
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Q_UNUSED(voltage); |
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if (this->uas == uas) { |
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timeRemaining = seconds; |
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chargeLevel = percent; |
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} |
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} |
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void UASView::updateState(UASInterface* uas, QString uasState, QString stateDescription) |
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{ |
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if (this->uas == uas) { |
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state = uasState; |
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stateDesc = stateDescription; |
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} |
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} |
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void UASView::updateLoad(UASInterface* uas, double load) |
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{ |
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if (this->uas == uas) { |
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this->load = load; |
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} |
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} |
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void UASView::contextMenuEvent (QContextMenuEvent* event) |
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{ |
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QMenu menu(this); |
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menu.addAction(selectAction); |
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menu.addSeparator(); |
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menu.addAction(renameAction); |
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if (timeout) { |
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menu.addAction(removeAction); |
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} |
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menu.addAction(selectAirframeAction); |
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menu.addAction(setBatterySpecsAction); |
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menu.exec(event->globalPos()); |
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} |
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void UASView::setBatterySpecs() |
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{ |
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if (uas) { |
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bool ok; |
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QString newName = QInputDialog::getText(this, tr("Set Battery Specifications for %1").arg(uas->getUASName()), |
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tr("Specs: (empty,warn,full), e.g. (9V,9.5V,12.6V) or just warn level in percent (e.g. 15%) to use estimate from MAV"), QLineEdit::Normal, |
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uas->getBatterySpecs(), &ok); |
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if (ok && !newName.isEmpty()) uas->setBatterySpecs(newName); |
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} |
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} |
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void UASView::rename() |
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{ |
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if (uas) { |
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bool ok; |
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QString newName = QInputDialog::getText(this, tr("Rename System %1").arg(uas->getUASName()), |
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tr("System Name:"), QLineEdit::Normal, |
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uas->getUASName(), &ok); |
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if (ok && !newName.isEmpty()) uas->setUASName(newName); |
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} |
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} |
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void UASView::selectAirframe() |
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{ |
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if (uas) { |
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// Get list of airframes from UAS |
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QStringList airframes; |
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airframes << "Generic" |
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<< "Multiplex Easystar" |
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<< "Multiplex Twinstar" |
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<< "Multiplex Merlin" |
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<< "Pixhawk Cheetah" |
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<< "Mikrokopter" |
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<< "Reaper" |
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<< "Predator" |
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<< "Coaxial" |
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<< "Pteryx"; |
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bool ok; |
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QString item = QInputDialog::getItem(this, tr("Select Airframe for %1").arg(uas->getUASName()), |
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tr("Airframe"), airframes, uas->getAirframe(), false, &ok); |
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if (ok && !item.isEmpty()) { |
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// Set this airframe as UAS airframe |
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uas->setAirframe(airframes.indexOf(item)); |
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} |
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} |
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} |
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void UASView::refresh() |
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{ |
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//setUpdatesEnabled(false); |
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//setUpdatesEnabled(true); |
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//repaint(); |
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static quint64 lastupdate = 0; |
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//qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate; |
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lastupdate = MG::TIME::getGroundTimeNow(); |
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// FIXME |
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static int generalUpdateCount = 0; |
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if (generalUpdateCount == 4) { |
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#if (QGC_EVENTLOOP_DEBUG) |
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qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; |
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#endif |
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generalUpdateCount = 0; |
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//qDebug() << "UPDATING EVERYTHING"; |
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// State |
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m_ui->stateLabel->setText(state); |
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m_ui->statusTextLabel->setText(stateDesc); |
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|
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// Battery |
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m_ui->batteryBar->setValue(static_cast<int>(this->chargeLevel)); |
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//m_ui->loadBar->setValue(static_cast<int>(this->load)); |
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m_ui->thrustBar->setValue(this->thrust); |
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|
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// Position |
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QString position; |
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position = position.sprintf("%05.1f %05.1f %06.1f m", x, y, z); |
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m_ui->positionLabel->setText(position); |
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QString globalPosition; |
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QString latIndicator; |
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if (lat > 0) { |
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latIndicator = "N"; |
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} else { |
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latIndicator = "S"; |
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} |
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QString lonIndicator; |
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if (lon > 0) { |
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lonIndicator = "E"; |
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} else { |
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lonIndicator = "W"; |
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} |
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globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %06.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt); |
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m_ui->positionLabel->setText(globalPosition); |
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|
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// Altitude |
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if (groundDistance == 0 && alt != 0) { |
|
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt, 6, 'f', 1, '0')); |
|
} else { |
|
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance, 6, 'f', 1, '0')); |
|
} |
|
|
|
// Speed |
|
QString speed("%1 m/s"); |
|
m_ui->speedLabel->setText(speed.arg(totalSpeed, 4, 'f', 1, '0')); |
|
|
|
// Thrust |
|
m_ui->thrustBar->setValue(thrust * 100); |
|
|
|
if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME) { |
|
// Filter output to get a higher stability |
|
static double filterTime = static_cast<int>(this->timeRemaining); |
|
filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining); |
|
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60); |
|
int min = static_cast<int>(filterTime / 60); |
|
int hours = static_cast<int>(filterTime - min * 60 - sec); |
|
|
|
QString timeText; |
|
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec); |
|
m_ui->timeRemainingLabel->setText(timeText); |
|
} else { |
|
m_ui->timeRemainingLabel->setText(tr("Calc..")); |
|
} |
|
|
|
// Time Elapsed |
|
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime()); |
|
|
|
quint64 filterTime = uas->getUptime() / 1000; |
|
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60); |
|
int min = static_cast<int>(filterTime / 60); |
|
int hours = static_cast<int>(filterTime - min * 60 - sec); |
|
QString timeText; |
|
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec); |
|
m_ui->timeElapsedLabel->setText(timeText); |
|
} |
|
generalUpdateCount++; |
|
|
|
QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 0px; border: 0px; background-color: %1; }"); |
|
|
|
if (timeout) { |
|
// CRITICAL CONDITION, NO HEARTBEAT |
|
|
|
QString borderColor = "#FFFF00"; |
|
if (isActive) { |
|
borderColor = "#FA4A4F"; |
|
} |
|
|
|
if (iconIsRed) { |
|
QColor warnColor(Qt::red); |
|
m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name())); |
|
QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name()); |
|
m_ui->uasViewFrame->setStyleSheet(style); |
|
} else { |
|
QColor warnColor(Qt::black); |
|
m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name())); |
|
QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name()); |
|
m_ui->uasViewFrame->setStyleSheet(style); |
|
} |
|
iconIsRed = !iconIsRed; |
|
} else { |
|
if (!lowPowerModeEnabled) |
|
{ |
|
// Fade heartbeat icon |
|
// Make color darker |
|
heartbeatColor = heartbeatColor.darker(150); |
|
|
|
//m_ui->heartbeatIcon->setAutoFillBackground(true); |
|
m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name())); |
|
} |
|
} |
|
//setUpdatesEnabled(true); |
|
|
|
//setUpdatesEnabled(false); |
|
} |
|
|
|
void UASView::changeEvent(QEvent *e) |
|
{ |
|
QWidget::changeEvent(e); |
|
switch (e->type()) { |
|
case QEvent::LanguageChange: |
|
m_ui->retranslateUi(this); |
|
break; |
|
default: |
|
break; |
|
} |
|
}
|
|
|