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Commit 1d0feb3d authored by Don Gagne's avatar Don Gagne
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Remove HDD, HUD, HSI 

These use OpenGL implementation which prevented moving to ANGLE
support. Since they are rarely used they are being remove instead of
being upgrade.
parent 46fd2413
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QGCApplication.pro
View file @ 1d0feb3d
...@@ -162,7 +162,6 @@ INCLUDEPATH += \ ...@@ -162,7 +162,6 @@ INCLUDEPATH += \
FORMS += \ FORMS += \
src/QGCQmlWidgetHolder.ui \ src/QGCQmlWidgetHolder.ui \
src/ui/HDDisplay.ui \
src/ui/Linechart.ui \ src/ui/Linechart.ui \
src/ui/LogReplayLinkConfigurationWidget.ui \ src/ui/LogReplayLinkConfigurationWidget.ui \
src/ui/MainWindow.ui \ src/ui/MainWindow.ui \
...@@ -272,9 +271,6 @@ HEADERS += \ ...@@ -272,9 +271,6 @@ HEADERS += \
src/uas/UASInterface.h \ src/uas/UASInterface.h \
src/uas/UASMessageHandler.h \ src/uas/UASMessageHandler.h \
src/uas/UASWaypointManager.h \ src/uas/UASWaypointManager.h \
src/ui/HDDisplay.h \
src/ui/HSIDisplay.h \
src/ui/HUD.h \
src/ui/linechart/ChartPlot.h \ src/ui/linechart/ChartPlot.h \
src/ui/linechart/IncrementalPlot.h \ src/ui/linechart/IncrementalPlot.h \
src/ui/linechart/LinechartPlot.h \ src/ui/linechart/LinechartPlot.h \
...@@ -314,7 +310,6 @@ HEADERS += \ ...@@ -314,7 +310,6 @@ HEADERS += \
src/ui/QGCMAVLinkInspector.h \ src/ui/QGCMAVLinkInspector.h \
src/ui/QGCMAVLinkLogPlayer.h \ src/ui/QGCMAVLinkLogPlayer.h \
src/ui/QGCPluginHost.h \ src/ui/QGCPluginHost.h \
src/ui/QGCRGBDView.h \
src/ui/QGCTabbedInfoView.h \ src/ui/QGCTabbedInfoView.h \
src/ui/QGCTCPLinkConfiguration.h \ src/ui/QGCTCPLinkConfiguration.h \
src/ui/QGCUASFileView.h \ src/ui/QGCUASFileView.h \
...@@ -405,9 +400,6 @@ SOURCES += \ ...@@ -405,9 +400,6 @@ SOURCES += \
src/uas/UAS.cc \ src/uas/UAS.cc \
src/uas/UASMessageHandler.cc \ src/uas/UASMessageHandler.cc \
src/uas/UASWaypointManager.cc \ src/uas/UASWaypointManager.cc \
src/ui/HDDisplay.cc \
src/ui/HSIDisplay.cc \
src/ui/HUD.cc \
src/ui/linechart/ChartPlot.cc \ src/ui/linechart/ChartPlot.cc \
src/ui/linechart/IncrementalPlot.cc \ src/ui/linechart/IncrementalPlot.cc \
src/ui/linechart/LinechartPlot.cc \ src/ui/linechart/LinechartPlot.cc \
...@@ -447,7 +439,6 @@ SOURCES += \ ...@@ -447,7 +439,6 @@ SOURCES += \
src/ui/QGCMAVLinkInspector.cc \ src/ui/QGCMAVLinkInspector.cc \
src/ui/QGCMAVLinkLogPlayer.cc \ src/ui/QGCMAVLinkLogPlayer.cc \
src/ui/QGCPluginHost.cc \ src/ui/QGCPluginHost.cc \
src/ui/QGCRGBDView.cc \
src/ui/QGCTabbedInfoView.cpp \ src/ui/QGCTabbedInfoView.cpp \
src/ui/QGCTCPLinkConfiguration.cc \ src/ui/QGCTCPLinkConfiguration.cc \
src/ui/QGCUASFileView.cc \ src/ui/QGCUASFileView.cc \
......
src/ui/HDDisplay.cc deleted 100644 → 0
View file @ 46fd2413
This diff is collapsed.
src/ui/HDDisplay.h deleted 100644 → 0
View file @ 46fd2413
/*=====================================================================
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 Head Down Display (HDD)
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef HDDISPLAY_H
#define HDDISPLAY_H
#include <QGraphicsView>
#include <QColor>
#include <QTimer>
#include <QFontDatabase>
#include <QMap>
#include <QContextMenuEvent>
#include <QPair>
#include <cmath>
#include "UASInterface.h"
#include "Vehicle.h"
namespace Ui
{
class HDDisplay;
}
/**
* @brief Head Down Display Widget
*
* This widget is used for any head down display as base widget. It handles the basic widget setup
* each head down instrument has a virtual screen size in millimeters as base coordinate system
* this virtual screen size is then scaled to pixels on the screen.
* When the pixel per millimeter ratio is known, a 1:1 representation is possible on the screen
*/
class HDDisplay : public QGraphicsView
{
Q_OBJECT
public:
HDDisplay(const QStringList& plotList, QString title="", QWidget *parent = 0);
~HDDisplay();
public slots:
/** @brief Update the HDD with new data */
void updateValue(const int uasId, const QString& name, const QString& unit, const QVariant &value, const quint64 msec);
/** @brief Connects a source to the updateValue() signals */
void addSource(QObject* obj);
/** @brief Disconnects a source to the updateValue() signals */
void removeSource(QObject* obj);
/** @brief Removes a plot item by the action data */
void removeItemByAction();
/** @brief Bring up the menu to add a gauge */
void addGauge();
/** @brief Add a gauge using this spec string */
void addGauge(const QString& gauge);
/** @brief Set the title of this widget and any existing parent dock widget */
void setTitle();
/** @brief Set the number of colums via popup */
void setColumns();
/** @brief Set the number of colums */
void setColumns(int cols);
/** @brief Save the current layout and state to disk */
void saveState();
/** @brief Restore the last layout and state from disk */
void restoreState();
protected slots:
void enableGLRendering(bool enable);
//void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
void renderOverlay();
void triggerUpdate();
/** @brief Adjust the size hint for the current gauge layout */
void adjustGaugeAspectRatio();
protected:
QSize sizeHint() const;
void changeEvent(QEvent* e);
void paintEvent(QPaintEvent* event);
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
void contextMenuEvent(QContextMenuEvent* event);
QList<QAction*> getItemRemoveActions();
void createActions();
float refLineWidthToPen(float line);
float refToScreenX(float x);
float refToScreenY(float y);
float screenToRefX(float x);
float screenToRefY(float y);
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
void drawPolygon(QPolygonF refPolygon, QPainter* painter);
void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter);
void drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter);
void drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter);
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
// //Holds the current centerpoint for the view, used for panning and zooming
// QPointF currentCenterPoint;
//
// //From panning the view
// QPoint lastPanPoint;
//
// //Set the current centerpoint in the
// void setCenter(const QPointF& centerPoint);
// QPointF getCenter() { return currentCenterPoint; }
//
// //Take over the interaction
// virtual void mousePressEvent(QMouseEvent* event);
// virtual void mouseReleaseEvent(QMouseEvent* event);
// virtual void mouseMoveEvent(QMouseEvent* event);
// virtual void wheelEvent(QWheelEvent* event);
// virtual void resizeEvent(QResizeEvent* event);
UASInterface* uas; ///< The uas currently monitored
QMap<QString, double> values; ///< The variables this HUD displays
QMap<QString, QString> units; ///< The units
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, bool> symmetric; ///< Draw the gauge / dial symmetric bool = yes
QMap<QString, bool> intValues; ///< Is the gauge value an integer?
QMap<QString, QString> customNames; ///< Custom names for the data names
QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
float vheight; ///< Virtual height of this window, 150 mm per default
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
// HUD colors
QColor backgroundColor; ///< Background color
QColor defaultColor; ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
QColor setPointColor; ///< Color for the current control set point, e.g. yaw desired
QColor warningColor; ///< Color for warning messages
QColor criticalColor; ///< Color for caution messages
QColor infoColor; ///< Color for normal/default messages
QColor fuelColor; ///< Current color for the fuel message, can be info, warning or critical color
// Blink rates
int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
QTimer* refreshTimer; ///< The main timer, controls the update rate
static const int updateInterval = 300; ///< Update interval in milliseconds
QPainter* hudPainter;
QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
bool hardwareAcceleration; ///< Enable hardware acceleration
float strongStrokeWidth; ///< Strong line stroke width, used throughout the HUD
float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
QStringList* acceptList; ///< Variable names to plot
QStringList* acceptUnitList; ///< Unit names to plot
quint64 lastPaintTime; ///< Last time this widget was refreshed
int columns; ///< Number of instrument columns
QAction* addGaugeAction; ///< Action adding a gauge
QAction* setTitleAction; ///< Action setting the title
QAction* setColumnsAction; ///< Action setting the number of columns
bool valuesChanged;
private slots:
void _activeVehicleChanged(Vehicle* vehicle);
private:
Ui::HDDisplay *m_ui;
};
#endif // HDDISPLAY_H
src/ui/HDDisplay.ui deleted 100644 → 0
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>HDDisplay</class>
<widget class="QWidget" name="HDDisplay">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGraphicsView" name="view"/>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/HSIDisplay.cc deleted 100644 → 0
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src/ui/HSIDisplay.h deleted 100644 → 0
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/*=====================================================================
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 of Horizontal Situation Indicator class
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef HSIDISPLAY_H
#define HSIDISPLAY_H
#include <QWidget>
#include <QColor>
#include <QTimer>
#include <QMap>
#include <QPair>
#include <QMouseEvent>
#include <cmath>
#include "HDDisplay.h"
#include "MG.h"
#include "Vehicle.h"
class HSIDisplay : public HDDisplay
{
Q_OBJECT
public:
HSIDisplay(QWidget *parent = 0);
~HSIDisplay();
public slots:
/** @brief Set the width in meters this widget shows from top */
void setMetricWidth(double width);
void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
void updateAttitudeSetpoints(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec);
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
void updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
void updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
void updateGlobalPosition(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
void updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time);
void UpdateNavErrors(UASInterface *uas, double altitudeError, double airspeedError, double crosstrackError);
void updatePositionLock(UASInterface* uas, bool lock);
void updateAttitudeControllerEnabled(bool enabled);
void updatePositionXYControllerEnabled(bool enabled);
void updatePositionZControllerEnabled(bool enabled);
/** @brief Optical flow status changed */
void updateOpticalFlowStatus(bool supported, bool enabled, bool ok) {
if (supported && enabled && ok) {
visionFix = true;
} else {
visionFix = false;
}
}
/** @brief Vision based localization status changed */
void updateVisionLocalizationStatus(bool supported, bool enabled, bool ok) {
if (enabled && ok) {
visionFix = true;
} else {
visionFix = false;
}
visionFixKnown = supported;
}
/** @brief Infrared / Ultrasound status changed */
void updateDistanceSensorStatus(bool supported, bool enabled, bool ok) {
if (enabled && ok) {
iruFix = true;
} else {
iruFix = false;
}
iruFixKnown = supported;
}
/** @brief Gyroscope status changed */
void updateGyroStatus(bool supported, bool enabled, bool ok) {
gyroKnown = supported;
gyroON = enabled;
gyroOK = ok;
}
/** @brief Accelerometer status changed */
void updateAccelStatus(bool supported, bool enabled, bool ok) {
accelKnown = supported;
accelON = enabled;
accelOK = ok;
}
/** @brief Magnetometer status changed */
void updateMagSensorStatus(bool supported, bool enabled, bool ok) {
magKnown = supported;
magON = enabled;
magOK = ok;
}
/** @brief Barometer status changed */
void updateBaroStatus(bool supported, bool enabled, bool ok) {
pressureKnown = supported;
pressureON = enabled;
pressureOK = ok;
}
/** @brief Differential pressure / airspeed status changed */
void updateAirspeedStatus(bool supported, bool enabled, bool ok) {
diffPressureKnown = supported;
diffPressureON = enabled;
diffPressureOK = ok;
}
/** @brief Actuator status changed */
void updateActuatorStatus(bool supported, bool enabled, bool ok) {
actuatorsKnown = supported;
actuatorsON = enabled;
actuatorsOK = ok;
}
/** @brief Laser scanner status changed */
void updateLaserStatus(bool supported, bool enabled, bool ok) {
laserKnown = supported;
laserON = enabled;
laserOK = ok;
}
/** @brief Vicon / Leica Geotracker status changed */
void updateGroundTruthSensorStatus(bool supported, bool enabled, bool ok) {
viconKnown = supported;
viconON = enabled;
viconOK = ok;
}
void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
/** @brief Heading control enabled/disabled */
void updatePositionYawControllerEnabled(bool enabled);
/** @brief Localization quality changed */
void updateLocalization(UASInterface* uas, int localization);
/** @brief GPS localization quality changed */
void updateGpsLocalization(UASInterface* uas, int localization);
/** @brief Vision localization quality changed */
void updateVisionLocalization(UASInterface* uas, int localization);
/** @brief Ultrasound/Infrared localization changed */
void updateInfraredUltrasoundLocalization(UASInterface* uas, int fix);
/** @brief Repaint the widget */
void paintEvent(QPaintEvent * event);
/** @brief Update state from joystick */
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
void pressKey(int key);
/** @brief Reset the state of the view */
void resetMAVState();
/** @brief Clear the status message */
void clearStatusMessage()
{
statusMessage = "";
if (actionPending) statusMessage = "TIMED OUT, NO ACTION";
statusClearTimer.start();
userSetPointSet = false;
actionPending = false;
}
signals:
void metricWidthChanged(double width);
protected slots:
void renderOverlay();
void drawGPS(QPainter &painter);
void drawObjects(QPainter &painter);
void drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
/** @brief Draw a status flag indicator */
void drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter);
void drawStatusFlag(float x, float y, QString label, bool status, bool known, bool ok, QPainter& painter);
/** @brief Draw a position lock indicator */
void drawPositionLock(float x, float y, QString label, int status, bool known, QPainter& painter);
void setBodySetpointCoordinateXY(double x, double y);
void setBodySetpointCoordinateYaw(double yaw);
void setBodySetpointCoordinateZ(double z);
/** @brief Send the current ui setpoint coordinates as new setpoint to the MAV */
void sendBodySetPointCoordinates();
/** @brief Draw one setpoint */
void drawSetpointXYZYaw(float x, float y, float z, float yaw, const QColor &color, QPainter &painter);
/** @brief Draw waypoints of this system */
void drawWaypoints(QPainter& painter);
/** @brief Draw one waypoint */
void drawWaypoint(QPainter& painter, const QColor& color, float width, const MissionItem *w, const QPointF& p);
/** @brief Draw the limiting safety area */
void drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight, const QColor &color, QPainter &painter);
/** @brief Receive mouse clicks */
void mouseDoubleClickEvent(QMouseEvent* event);
void mousePressEvent(QMouseEvent * event);
void mouseReleaseEvent(QMouseEvent * event);
void mouseMoveEvent(QMouseEvent * event);
/** @brief Receive mouse wheel events */
void wheelEvent(QWheelEvent* event);
/** @brief Read out send keys */
void keyPressEvent(QKeyEvent* event);
/** @brief Ignore context menu event */
void contextMenuEvent (QContextMenuEvent* event);
/** @brief Set status message on screen */
void setStatusMessage(const QString& message)
{
statusMessage = message;
statusClearTimer.start();
}
protected:
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
/** @brief Get color from GPS signal-to-noise colormap */
static QColor getColorForSNR(float snr);
/** @brief Metric world coordinates to metric body coordinates */
QPointF metricWorldToBody(QPointF world);
/** @brief Metric body coordinates to metric world coordinates */
QPointF metricBodyToWorld(QPointF body);
/** @brief Screen coordinates of widget to metric coordinates in body frame */
QPointF screenToMetricBody(QPointF ref);
/** @brief Reference coordinates to metric coordinates */
QPointF refToMetricBody(QPointF &ref);
/** @brief Metric coordinates to reference coordinates */
QPointF metricBodyToRef(QPointF &metric);
/** @brief Metric length to reference coordinates */
double metricToRef(double metric);
/** @bried Reference coordinates to metric length */
double refToMetric(double ref);
/** @brief Metric body coordinates to screen coordinates */
QPointF metricBodyToScreen(QPointF metric);
/**
* @brief Private data container class to be used within the HSI widget
*/
class GPSSatellite
{
public:
GPSSatellite(int id, float elevation, float azimuth, float snr, bool used) :
id(id),
elevation(elevation),
azimuth(azimuth),
snr(snr),
used(used),
lastUpdate(MG::TIME::getGroundTimeNowUsecs()) {
}
void update(int id, float elevation, float azimuth, float snr, bool used) {
this->id = id;
this->elevation = elevation;
this->azimuth = azimuth;
this->snr = snr;
this->used = used;
this->lastUpdate = MG::TIME::getGroundTimeNowUsecs();
}
int id;
float elevation;
float azimuth;
float snr;
bool used;
quint64 lastUpdate;
friend class HSIDisplay;
};
QMap<int, QString> objectNames;
QMap<int, int> objectTypes;
QMap<int, float> objectQualities;
QMap<int, float> objectBearings;
QMap<int, float> objectDistances;
bool dragStarted;
bool leftDragStarted;
bool mouseHasMoved;
float startX;
float startY;
QTimer statusClearTimer;
QString statusMessage;
bool actionPending;
bool directSending;
QMap<int, GPSSatellite*> gpsSatellites;
unsigned int satellitesUsed;
// Current controller values
float attXSet;
float attYSet;
float attYawSet;
float altitudeSet;
float posXSet;
float posYSet;
float posZSet;
// Controller saturation values
float attXSaturation;
float attYSaturation;
float attYawSaturation;
float posXSaturation;
float posYSaturation;
float altitudeSaturation;
// Position
float lat;
float lon;
float alt;
quint64 globalAvailable; ///< Last global position update time
float x;
float y;
float z;
float vx;
float vy;
float vz;
float speed;
quint64 localAvailable; ///< Last local position update time
float roll;
float pitch;
float yaw;
float bodyXSetCoordinate; ///< X Setpoint coordinate active on the MAV
float bodyYSetCoordinate; ///< Y Setpoint coordinate active on the MAV
float bodyZSetCoordinate; ///< Z Setpoint coordinate active on the MAV
float bodyYawSet; ///< Yaw setpoint coordinate active on the MAV
float uiXSetCoordinate; ///< X Setpoint coordinate wanted by the UI
float uiYSetCoordinate; ///< Y Setpoint coordinate wanted by the UI
float uiZSetCoordinate; ///< Z Setpoint coordinate wanted by the UI
float uiYawSet; ///< Yaw Setpoint wanted by the UI
double metricWidth; ///< Width the instrument represents in meters (the width of the ground shown by the widget)
// Navigation parameters
double crosstrackError; ///< The crosstrack error (m) reported by the UAS
//
float xCenterPos; ///< X center of instrument in virtual coordinates
float yCenterPos; ///< Y center of instrument in virtual coordinates
bool positionLock;
bool rateControlEnabled; ///< Rate control enabled
bool attControlEnabled; ///< Attitude control enabled
bool xyControlEnabled; ///< Horizontal control enabled
bool zControlEnabled; ///< Vertical control enabled
bool yawControlEnabled; ///< Yaw angle position control enabled
int positionFix; ///< Total dimensions the MAV is localizaed in
int gpsFix; ///< Localization dimensions based on GPS
int visionFix; ///< Localizaiton dimensions based on computer vision
int laserFix; ///< Localization dimensions based on laser
int iruFix; ///< Localization dimensions based on ultrasound
bool mavInitialized; ///< The MAV is initialized once the setpoint has been received
float topMargin; ///< Margin on top of the page, in virtual coordinates
float bottomMargin; ///< Margin on the bottom of the page, in virtual coordinates
bool rateControlKnown; ///< Rate control status known flag
bool attControlKnown; ///< Attitude control status known flag
bool xyControlKnown; ///< XY control status known flag
bool zControlKnown; ///< Z control status known flag
bool yawControlKnown; ///< Yaw control status known flag
// Position lock indicators
bool positionFixKnown; ///< Position fix status known flag
bool visionFixKnown; ///< Vision fix status known flag
bool gpsFixKnown; ///< GPS fix status known flag
bool iruFixKnown; ///< Infrared/Ultrasound fix status known flag
// System state indicators
bool gyroKnown;
bool gyroON;
bool gyroOK;
bool accelKnown;
bool accelON;
bool accelOK;
bool magKnown;
bool magON;
bool magOK;
bool pressureKnown;
bool pressureON;
bool pressureOK;
bool diffPressureKnown;
bool diffPressureON;
bool diffPressureOK;
bool flowKnown;
bool flowON;
bool flowOK;
bool laserKnown;
bool laserON;
bool laserOK;
bool viconKnown;
bool viconON;
bool viconOK;
bool actuatorsKnown;
bool actuatorsON;
bool actuatorsOK;
// Data indicators
bool setPointKnown; ///< Controller setpoint known status flag
bool positionSetPointKnown; ///< Position setpoint known status flag
bool userSetPointSet; ///< User set X, Y and Z
bool userXYSetPointSet; ///< User set the X/Y position already
bool userZSetPointSet; ///< User set the Z position already
bool userYawSetPointSet; ///< User set the YAW position already
private slots:
void _activeVehicleChanged(Vehicle* vehicle);
};
#endif // HSIDISPLAY_H
src/ui/HUD.cc deleted 100644 → 0
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src/ui/HUD.h deleted 100644 → 0
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src/ui/MainWindow.cc
View file @ 1d0feb3d
...@@ -55,7 +55,6 @@ This file is part of the QGROUNDCONTROL project ...@@ -55,7 +55,6 @@ This file is part of the QGROUNDCONTROL project
#include "QGCMapDisplay.h" #include "QGCMapDisplay.h"
#include "MAVLinkDecoder.h" #include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h" #include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "UASQuickView.h" #include "UASQuickView.h"
#include "QGCDataPlot2D.h" #include "QGCDataPlot2D.h"
#include "Linecharts.h" #include "Linecharts.h"
...@@ -96,11 +95,7 @@ const char* MainWindow::_customCommandWidgetName = "CUSTOM_COMMAND_DOCKWIDGET"; ...@@ -96,11 +95,7 @@ const char* MainWindow::_customCommandWidgetName = "CUSTOM_COMMAND_DOCKWIDGET";
const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET"; const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET";
const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET"; const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET";
const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET"; const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET";
const char* MainWindow::_hsiDockWidgetName = "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET";
const char* MainWindow::_hdd1DockWidgetName = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
const char* MainWindow::_hdd2DockWidgetName = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET"; const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
const char* MainWindow::_hudDockWidgetName = "HEAD_UP_DISPLAY_DOCKWIDGET";
const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET"; const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET";
static MainWindow* _instance = NULL; ///< @brief MainWindow singleton static MainWindow* _instance = NULL; ///< @brief MainWindow singleton
...@@ -403,11 +398,7 @@ void MainWindow::_buildCommonWidgets(void) ...@@ -403,11 +398,7 @@ void MainWindow::_buildCommonWidgets(void)
{ _filesDockWidgetName, "Onboard Files", Qt::RightDockWidgetArea }, { _filesDockWidgetName, "Onboard Files", Qt::RightDockWidgetArea },
{ _uasStatusDetailsDockWidgetName, "Status Details", Qt::RightDockWidgetArea }, { _uasStatusDetailsDockWidgetName, "Status Details", Qt::RightDockWidgetArea },
{ _mapViewDockWidgetName, "Map view", Qt::RightDockWidgetArea }, { _mapViewDockWidgetName, "Map view", Qt::RightDockWidgetArea },
{ _hsiDockWidgetName, "Horizontal Situation", Qt::BottomDockWidgetArea },
{ _hdd1DockWidgetName, "Flight Display", Qt::RightDockWidgetArea },
{ _hdd2DockWidgetName, "Actuator Status", Qt::RightDockWidgetArea },
{ _pfdDockWidgetName, "Primary Flight Display", Qt::RightDockWidgetArea }, { _pfdDockWidgetName, "Primary Flight Display", Qt::RightDockWidgetArea },
{ _hudDockWidgetName, "Video Downlink", Qt::RightDockWidgetArea },
{ _uasInfoViewDockWidgetName, "Info View", Qt::LeftDockWidgetArea }, { _uasInfoViewDockWidgetName, "Info View", Qt::LeftDockWidgetArea },
}; };
static const size_t cDockWidgetInfo = sizeof(rgDockWidgetInfo) / sizeof(rgDockWidgetInfo[0]); static const size_t cDockWidgetInfo = sizeof(rgDockWidgetInfo) / sizeof(rgDockWidgetInfo[0]);
...@@ -516,28 +507,8 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName) ...@@ -516,28 +507,8 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
widget = new UASInfoWidget(this); widget = new UASInfoWidget(this);
} else if (widgetName == _mapViewDockWidgetName) { } else if (widgetName == _mapViewDockWidgetName) {
widget = new QGCMapTool(this); widget = new QGCMapTool(this);
} else if (widgetName == _hsiDockWidgetName) {
widget = new HSIDisplay(this);
} else if (widgetName == _hdd1DockWidgetName) {
QStringList acceptList;
acceptList.append("-3.3,ATTITUDE.roll,rad,+3.3,s");
acceptList.append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
acceptList.append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
HDDisplay *hddisplay = new HDDisplay(acceptList,"Flight Display",this);
hddisplay->addSource(mavlinkDecoder);
widget = hddisplay;
} else if (widgetName == _hdd2DockWidgetName) {
QStringList acceptList;
acceptList.append("0,RAW_PRESSURE.pres_abs,hPa,65500");
HDDisplay *hddisplay = new HDDisplay(acceptList,"Actuator Status",this);
hddisplay->addSource(mavlinkDecoder);
widget = hddisplay;
} else if (widgetName == _pfdDockWidgetName) { } else if (widgetName == _pfdDockWidgetName) {
widget = new FlightDisplayWidget(this); widget = new FlightDisplayWidget(this);
} else if (widgetName == _hudDockWidgetName) {
widget = new HUD(320,240,this);
} else if (widgetName == _uasInfoViewDockWidgetName) { } else if (widgetName == _uasInfoViewDockWidgetName) {
QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(this); QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(this);
pInfoView->addSource(mavlinkDecoder); pInfoView->addSource(mavlinkDecoder);
......
src/ui/MainWindow.h
View file @ 1d0feb3d
...@@ -50,8 +50,6 @@ This file is part of the QGROUNDCONTROL project ...@@ -50,8 +50,6 @@ This file is part of the QGROUNDCONTROL project
#include "Mouse6dofInput.h" #include "Mouse6dofInput.h"
#endif // QGC_MOUSE_ENABLED_WIN #endif // QGC_MOUSE_ENABLED_WIN
#include "ParameterEditorWidget.h" #include "ParameterEditorWidget.h"
#include "HDDisplay.h"
#include "HSIDisplay.h"
#include "opmapcontrol.h" #include "opmapcontrol.h"
#include "MainToolBar.h" #include "MainToolBar.h"
#include "LogCompressor.h" #include "LogCompressor.h"
...@@ -298,11 +296,7 @@ private: ...@@ -298,11 +296,7 @@ private:
static const char* _filesDockWidgetName; static const char* _filesDockWidgetName;
static const char* _uasStatusDetailsDockWidgetName; static const char* _uasStatusDetailsDockWidgetName;
static const char* _mapViewDockWidgetName; static const char* _mapViewDockWidgetName;
static const char* _hsiDockWidgetName;
static const char* _hdd1DockWidgetName;
static const char* _hdd2DockWidgetName;
static const char* _pfdDockWidgetName; static const char* _pfdDockWidgetName;
static const char* _hudDockWidgetName;
static const char* _uasInfoViewDockWidgetName; static const char* _uasInfoViewDockWidgetName;
QMap<QString, QDockWidget*> _mapName2DockWidget; QMap<QString, QDockWidget*> _mapName2DockWidget;
......
src/ui/QGCRGBDView.cc deleted 100644 → 0
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src/ui/QGCRGBDView.h deleted 100644 → 0
View file @ 46fd2413
#ifndef QGCRGBDVIEW_H
#define QGCRGBDVIEW_H
#include "HUD.h"
#include "Vehicle.h"
class QGCRGBDView : public HUD
{
Q_OBJECT
public:
explicit QGCRGBDView(int width=640, int height=480, QWidget *parent = 0);
~QGCRGBDView();
signals:
public slots:
void clearData(void);
void enableRGB(bool enabled);
void enableDepth(bool enabled);
void updateData(UASInterface *uas);
protected:
bool rgbEnabled;
bool depthEnabled;
QAction* enableRGBAction;
QAction* enableDepthAction;
void contextMenuEvent (QContextMenuEvent* event);
/** @brief Store current configuration of widget */
void storeSettings();
/** @brief Load configuration of widget */
void loadSettings();
private slots:
void _activeVehicleChanged(Vehicle* vehicle);
};
#endif // QGCRGBDVIEW_H
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