diff --git a/files/mav_type_quadrotor/mav_autopilot_pixhawk/parameters/parameters-bravo.txt b/files/mav_type_quadrotor/mav_autopilot_pixhawk/parameters/parameters-bravo.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16ed4cb98604ed0fee4d795b3fac9389acae2bad
--- /dev/null
+++ b/files/mav_type_quadrotor/mav_autopilot_pixhawk/parameters/parameters-bravo.txt
@@ -0,0 +1,119 @@
+# Onboard parameters for system MAV 042
+#
+# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
+42 1 HANDLEWPDELAY 0.20000000298
+42 1 POSFILTER 1
+42 1 PROTDELAY 40
+42 1 PROTTIMEOUT 2
+42 1 SETPOINTDELAY 1
+42 1 YAWTOLERANCE 0.174500003457
+42 200 ACC_NAV_OFFS_X 0
+42 200 ACC_NAV_OFFS_Y 0
+42 200 ACC_NAV_OFFS_Z -1000
+42 200 ATT_KAL_KACC 0.00329999998212
+42 200 ATT_KAL_YAWMOD 3
+42 200 ATT_OFFSET_X 0
+42 200 ATT_OFFSET_Y 0
+42 200 ATT_OFFSET_Z -0.0799999982119
+42 200 CAL_ACC_X 0
+42 200 CAL_ACC_Y 0
+42 200 CAL_ACC_Z 0
+42 200 CAL_FIT_ACTIVE 0
+42 200 CAL_FIT_GYRO_X 31496.8007812
+42 200 CAL_FIT_GYRO_Y 29383.4003906
+42 200 CAL_FIT_GYRO_Z 30151.0996094
+42 200 CAL_GYRO_X 29767
+42 200 CAL_GYRO_Y 29654
+42 200 CAL_GYRO_Z 29570
+42 200 CAL_MAG_X 375
+42 200 CAL_MAG_Y -25
+42 200 CAL_MAG_Z -1000
+42 200 CAL_PRES_DIFF 10000
+42 200 CAL_TEMP 29051
+42 200 CAM_ANG_X_FAC 0
+42 200 CAM_ANG_X_OFF 0
+42 200 CAM_ANG_Y_FAC 0
+42 200 CAM_ANG_Y_OFF 0.428000003099
+42 200 CAM_EXP 1000
+42 200 CAM_INTERVAL 200000
+42 200 DEBUG_1 0
+42 200 DEBUG_2 0
+42 200 DEBUG_3 0
+42 200 DEBUG_4 0
+42 200 DEBUG_5 1
+42 200 DEBUG_6 0
+42 200 GPS_MODE 0
+42 200 KAL_VEL_AX 1
+42 200 KAL_VEL_AY 1
+42 200 KAL_VEL_BX 0
+42 200 KAL_VEL_BY 0
+42 200 MIX_OFFSET 0
+42 200 MIX_POSITION 0
+42 200 MIX_POS_YAW 0
+42 200 MIX_REMOTE 0
+42 200 MIX_Z_POSITION 0
+42 200 PID_ATT_AWU 0.300000011921
+42 200 PID_ATT_D 30
+42 200 PID_ATT_I 60
+42 200 PID_ATT_LIM 100
+42 200 PID_ATT_P 90
+42 200 PID_POS_AWU 5
+42 200 PID_POS_D 2
+42 200 PID_POS_I 0.20000000298
+42 200 PID_POS_LIM 0.20000000298
+42 200 PID_POS_P 1.79999995232
+42 200 PID_POS_Z_AWU 3
+42 200 PID_POS_Z_D 0.20000000298
+42 200 PID_POS_Z_I 0.300000011921
+42 200 PID_POS_Z_LIM 0.300000011921
+42 200 PID_POS_Z_P 0.25
+42 200 PID_YAWPOS_AWU 1
+42 200 PID_YAWPOS_D 1
+42 200 PID_YAWPOS_I 0.10000000149
+42 200 PID_YAWPOS_LIM 3
+42 200 PID_YAWPOS_P 5
+42 200 PID_YAWSPEED_D 0
+42 200 PID_YAWSPEED_I 5
+42 200 PID_YAWSPEED_P 15
+42 200 PID_YAWSPE_AWU 1
+42 200 PID_YAWSPE_LIM 50
+42 200 POS_HOV_TRUST 0.300000011921
+42 200 POS_SON_MODE 0
+42 200 POS_SON_SCALE 1
+42 200 POS_SP_ACCEPT 1
+42 200 POS_SP_X 0
+42 200 POS_SP_Y 0
+42 200 POS_SP_YAW 0
+42 200 POS_SP_Z -0.213201999664
+42 200 POS_TIMEOUT 2000000
+42 200 POS_YAW_TRACK 0
+42 200 RC_NICK_CHAN 1
+42 200 RC_ROLL_CHAN 2
+42 200 RC_SAFETY_CHAN 5
+42 200 RC_THRUST_CHAN 3
+42 200 RC_TRIM_CHAN 0
+42 200 RC_TUNE_CHAN1 5
+42 200 RC_TUNE_CHAN2 6
+42 200 RC_TUNE_CHAN3 7
+42 200 RC_TUNE_CHAN4 8
+42 200 RC_YAW_CHAN 4
+42 200 SEND_DEBUGCHAN 0
+42 200 SLOT_ATTITUDE 1
+42 200 SLOT_CONTROL 0
+42 200 SLOT_RAW_IMU 0
+42 200 SLOT_RC 0
+42 200 SYS_COMP_ID 200
+42 200 SYS_ID 42
+42 200 SYS_IMU_RESET 0
+42 200 SYS_SW_VER 2000
+42 200 SYS_TYPE 2
+42 200 UART_0_BAUD 115200
+42 200 UART_1_BAUD 115200
+42 200 VEL_DAMP 0.949999988079
+42 200 VEL_OFFSET_X 0
+42 200 VEL_OFFSET_Y 0
+42 200 VEL_OFFSET_Z 0
+42 200 VICON_MODE 0
+42 200 VICON_TKO_DIST 0.5
+42 200 VICON_TKO_TIME 2
+42 200 VIS_OUTL_TRESH 0.20000000298
diff --git a/files/mav_type_quadrotor/mav_autopilot_pixhawk/widgets/pixhawk-widget.qgw b/files/mav_type_quadrotor/mav_autopilot_pixhawk/widgets/pixhawk-widget.qgw
new file mode 100644
index 0000000000000000000000000000000000000000..6add259e9681ad6393eab8198607e1de20173825
--- /dev/null
+++ b/files/mav_type_quadrotor/mav_autopilot_pixhawk/widgets/pixhawk-widget.qgw
@@ -0,0 +1,14 @@
+[PIXHAWK%20Quadrotor%20Commands]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=BUTTON
+QGC_TOOL_WIDGET_ITEMS\1\QGC_ACTION_BUTTON_DESCRIPTION=CALIBRATE GYRO
+QGC_TOOL_WIDGET_ITEMS\1\QGC_ACTION_BUTTON_BUTTONTEXT=Calibrate
+QGC_TOOL_WIDGET_ITEMS\1\QGC_ACTION_BUTTON_ACTIONID=17
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=BUTTON
+QGC_TOOL_WIDGET_ITEMS\2\QGC_ACTION_BUTTON_DESCRIPTION=Record logfile and images
+QGC_TOOL_WIDGET_ITEMS\2\QGC_ACTION_BUTTON_BUTTONTEXT=Start
+QGC_TOOL_WIDGET_ITEMS\2\QGC_ACTION_BUTTON_ACTIONID=21
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=BUTTON
+QGC_TOOL_WIDGET_ITEMS\3\QGC_ACTION_BUTTON_DESCRIPTION=Stop recording
+QGC_TOOL_WIDGET_ITEMS\3\QGC_ACTION_BUTTON_BUTTONTEXT=Stop
+QGC_TOOL_WIDGET_ITEMS\3\QGC_ACTION_BUTTON_ACTIONID=23
+QGC_TOOL_WIDGET_ITEMS\size=3
diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri
index 407bc985898ccd61bc23fcf61f815cbe01e06712..59cc0514c0119c9f1b995403f12a35926d479b71 100644
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -84,6 +84,8 @@ macx {
# Copy audio files if needed
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
+ # Copy contributed files
+ QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy google earth starter file
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy CSS stylesheets
@@ -221,7 +223,10 @@ message("Compiling for linux 32")
DEFINES += QGC_LIBFREENECT_ENABLED
}
+ # Validated copy commands
+ QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$DESTDIR
+
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$DESTDIR
QMAKE_POST_LINK += && mkdir -p $$DESTDIR/images
QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$DESTDIR/images/Vera.ttf
@@ -295,6 +300,8 @@ linux-g++-64 {
DEFINES += QGC_LIBFREENECT_ENABLED
}
+ # Validated copy commands
+ QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$DESTDIR
QMAKE_POST_LINK += && mkdir -p $$DESTDIR/images
@@ -371,6 +378,7 @@ DEFINES += QGC_OSG_ENABLED
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\debug\\audio" /E /I $$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
@@ -391,6 +399,7 @@ DEFINES += QGC_OSG_ENABLED
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\release\\audio" /E /I $$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index c8ba5a25b5f7c2cb47103f00e205e408831a5165..18b36bed1fbf171ded47ff6abd37a64404f63763 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -137,12 +137,12 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
}
}
-GAudioOutput::~GAudioOutput()
-{
-#ifdef _MSC_VER2
- ::CoUninitialize();
-#endif
-}
+//GAudioOutput::~GAudioOutput()
+//{
+//#ifdef _MSC_VER2
+// ::CoUninitialize();
+//#endif
+//}
void GAudioOutput::mute(bool mute)
{
diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h
index 6154a315ce810a19cf3b1b0e814b0d5a76cf5417..2856ea19cbfde2f19c8e8abbb6f117bfcbab1ee1 100644
--- a/src/GAudioOutput.h
+++ b/src/GAudioOutput.h
@@ -124,7 +124,7 @@ protected:
bool muted;
private:
GAudioOutput(QObject* parent=NULL);
- ~GAudioOutput();
+// ~GAudioOutput();
};
#endif // AUDIOOUTPUT_H
diff --git a/src/QGC.cc b/src/QGC.cc
index 08467d7e51ec4794a3b057872dae5848a48ec269..17f4c226f16621363d51ffba79b960483e428700 100644
--- a/src/QGC.cc
+++ b/src/QGC.cc
@@ -49,28 +49,28 @@ quint64 groundTimeMilliseconds()
float limitAngleToPMPIf(float angle)
{
- while (angle > ((float)M_PI+FLT_EPSILON)) {
- angle -= 2.0f * (float)M_PI;
- }
+// while (angle > ((float)M_PI+FLT_EPSILON)) {
+// angle -= 2.0f * (float)M_PI;
+// }
- while (angle <= -((float)M_PI+FLT_EPSILON)) {
- angle += 2.0f * (float)M_PI;
- }
+// while (angle <= -((float)M_PI+FLT_EPSILON)) {
+// angle += 2.0f * (float)M_PI;
+// }
return angle;
}
double limitAngleToPMPId(double angle)
{
- if (angle < -M_PI) {
- while (angle < -M_PI) {
- angle += M_PI;
- }
- } else if (angle > M_PI) {
- while (angle > M_PI) {
- angle -= M_PI;
- }
- }
+// if (angle < -M_PI) {
+// while (angle < -M_PI) {
+// angle += M_PI;
+// }
+// } else if (angle > M_PI) {
+// while (angle > M_PI) {
+// angle -= M_PI;
+// }
+// }
return angle;
}
diff --git a/src/QGCCore.cc b/src/QGCCore.cc
index c1f460a0c75b0df5e0d1eff122da698a8f1a48f6..fa047198e25de952bbcd2c62894900dcaa3712ad 100644
--- a/src/QGCCore.cc
+++ b/src/QGCCore.cc
@@ -203,7 +203,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
QGCCore::~QGCCore()
{
//mainWindow->storeSettings();
- mainWindow->hide();
+ mainWindow->close();
mainWindow->deleteLater();
// Delete singletons
delete LinkManager::instance();
diff --git a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h
index 5faecda723b75dc518ed9d814dba6957fb4d0050..0ad3fcc93a7a7260fd467acb47cbda3707cc058a 100644
--- a/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h
+++ b/src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h
@@ -66,6 +66,22 @@ protected:
DomModel* model;
void changeEvent(QEvent *e);
+signals:
+ void visibilityChanged(bool visible);
+
+protected:
+ void showEvent(QShowEvent* event)
+ {
+ QWidget::showEvent(event);
+ emit visibilityChanged(true);
+ }
+
+ void hideEvent(QHideEvent* event)
+ {
+ QWidget::hideEvent(event);
+ emit visibilityChanged(false);
+ }
+
private:
Ui::XMLCommProtocolWidget *m_ui;
};
diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index 9168e0c4a1de42f6cb04fac6430636c72e2ab763..f85bdb25f5ae7b5e53bf6feae650bef72dc5f8bf 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -56,7 +56,6 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
// FIXME Kind of a hack to load data from disk
mavlink_image_triggered_t img;
mavlink_msg_image_triggered_decode(&message, &img);
- qDebug() << "IMAGE AVAILABLE:" << img.timestamp;
emit imageStarted(img.timestamp);
}
break;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 37aacd46dbe02e4593440d505ad55b31db6011f4..4805d91a365b3f36a6361191f7f12223b63e7c48 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -77,7 +77,9 @@ attitudeKnown(false),
paramManager(NULL),
attitudeStamped(false),
lastAttitude(0),
- simulation(new QGCFlightGearLink(this))
+simulation(new QGCFlightGearLink(this)),
+isLocalPositionKnown(false),
+isGlobalPositionKnown(false)
{
color = UASInterface::getNextColor();
setBattery(LIPOLY, 3);
@@ -343,40 +345,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit dropRateChanged(this->getUASID(), state.drop_rate_comm/10000.0f);
}
break;
- case MAVLINK_MSG_ID_RAW_IMU:
- {
- //mavlink_raw_imu_t raw;
- //mavlink_msg_raw_imu_decode(&message, &raw);
- //quint64 time = getUnixTime(raw.time_usec);
-
- // FIXME REMOVE LATER emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
- }
- break;
- case MAVLINK_MSG_ID_SCALED_IMU:
- {
- //mavlink_scaled_imu_t scaled;
- //mavlink_msg_scaled_imu_decode(&message, &scaled);
- //quint64 time = getUnixTime(scaled.time_boot_ms);
-
- // FIXME REMOVE LATER emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "mag x", "uTesla", scaled.xmag/100.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "mag y", "uTesla", scaled.ymag/100.0f, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "mag z", "uTesla", scaled.zmag/100.0f, time);
- }
- break;
case MAVLINK_MSG_ID_ATTITUDE:
{
mavlink_attitude_t attitude;
@@ -386,31 +354,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
roll = QGC::limitAngleToPMPIf(attitude.roll);
pitch = QGC::limitAngleToPMPIf(attitude.pitch);
yaw = QGC::limitAngleToPMPIf(attitude.yaw);
- // FIXME REMOVE LATER emit valueChanged(uasId, "roll", "rad", roll, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "pitch", "rad", pitch, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "yaw", "rad", yaw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
// Emit in angles
// Convert yaw angle to compass value
// in 0 - 360 deg range
float compass = (yaw/M_PI)*180.0+360.0f;
- while (compass > 360.0f) {
- compass -= 360.0f;
+ if (compass > -10000 && compass < 10000)
+ {
+ while (compass > 360.0f) {
+ compass -= 360.0f;
+ }
}
attitudeKnown = true;
-
- // FIXME REMOVE LATER emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "heading deg", "deg", compass, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
-
emit attitudeChanged(this, roll, pitch, yaw, time);
emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
}
@@ -428,12 +385,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_msg_vfr_hud_decode(&message, &hud);
quint64 time = getUnixTime();
// Display updated values
- // FIXME REMOVE LATER emit valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", hud.alt, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "heading", "deg", hud.heading, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
emit thrustChanged(this, hud.throttle/100.0);
if (!attitudeKnown)
@@ -443,26 +394,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
emit altitudeChanged(uasId, hud.alt);
- //yaw = (hud.heading-180.0f/360.0f)*M_PI;
emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time);
}
break;
- case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
- {
- //mavlink_nav_controller_output_t nav;
- //mavlink_msg_nav_controller_output_decode(&message, &nav);
- //quint64 time = getUnixTime();
- // Update UI
- // FIXME REMOVE LATER emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "alt err", "m", nav.alt_error, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time);
- }
- break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
@@ -473,25 +407,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
localX = pos.x;
localY = pos.y;
localZ = pos.z;
- // FIXME REMOVE LATER emit valueChanged(uasId, "x", "m", pos.x, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "y", "m", pos.y, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "z", "m", pos.z, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
- // qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
- // qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
-
- //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
// Set internal state
if (!positionLock) {
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
+ isLocalPositionKnown = true;
}
break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
@@ -507,11 +432,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
speedX = pos.vx/100.0;
speedY = pos.vy/100.0;
speedZ = pos.vz/100.0;
- // FIXME REMOVE LATER emit valueChanged(uasId, "latitude", "deg", latitude, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "longitude", "deg", longitude, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", altitude, time);
-// double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
emit globalPositionChanged(this, latitude, longitude, altitude, time);
emit speedChanged(this, speedX, speedY, speedZ, time);
// Set internal state
@@ -520,6 +440,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
+ isGlobalPositionKnown = true;
//TODO fix this hack for forwarding of global position for patch antenna tracking
forwardMessage(message);
}
@@ -534,14 +455,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// quint64 time = getUnixTime(pos.time_usec);
quint64 time = getUnixTime(pos.time_usec);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps latitude", "deg", pos.lat/(double)1E7, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps longitude", "deg", pos.lon/(double)1E7, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps speed", "m/s", pos.vel, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps eph", "m", pos.eph/(double)1E2, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps epv", "m", pos.eph/(double)1E2, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps fix", "raw", pos.fix_type, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "gps course", "raw", pos.cog, time);
-
if (pos.fix_type > 2) {
emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
latitude = pos.lat/(double)1E7;
@@ -587,29 +500,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit homePositionChanged(uasId, pos.latitude, pos.longitude, pos.altitude);
}
break;
- case MAVLINK_MSG_ID_RAW_PRESSURE:
- {
- //mavlink_raw_pressure_t pressure;
- //mavlink_msg_raw_pressure_decode(&message, &pressure);
- //quint64 time = this->getUnixTime(pressure.time_usec);
- // FIXME REMOVE LATER emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
- }
- break;
-
- case MAVLINK_MSG_ID_SCALED_PRESSURE:
- {
- //mavlink_scaled_pressure_t pressure;
- //mavlink_msg_scaled_pressure_decode(&message, &pressure);
- //quint64 time = this->getUnixTime(pressure.time_boot_ms);
- // FIXME REMOVE LATER emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
- }
- break;
-
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
mavlink_rc_channels_raw_t channels;
@@ -623,15 +513,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit remoteControlChannelRawChanged(5, channels.chan6_raw);
emit remoteControlChannelRawChanged(6, channels.chan7_raw);
emit remoteControlChannelRawChanged(7, channels.chan8_raw);
-// quint64 time = getUnixTime();
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #1", "us", channels.chan1_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #2", "us", channels.chan2_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #3", "us", channels.chan3_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #4", "us", channels.chan4_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #5", "us", channels.chan5_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #6", "us", channels.chan6_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #7", "us", channels.chan7_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #8", "us", channels.chan8_raw, time);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
@@ -820,34 +701,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
}
break;
- case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
- {
- //mavlink_servo_output_raw_t servos;
- //mavlink_msg_servo_output_raw_decode(&message, &servos);
- //quint64 time = getUnixTime();
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
- }
- break;
-
- case MAVLINK_MSG_ID_OPTICAL_FLOW:
- {
- //mavlink_optical_flow_t flow;
- //mavlink_msg_optical_flow_decode(&message, &flow);
- //quint64 time = getUnixTime(flow.time_usec);
-
- // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.x").arg(flow.sensor_id), "Pixel", flow.flow_x, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.y").arg(flow.sensor_id), "Pixel", flow.flow_y, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.qual").arg(flow.sensor_id), "0-255", flow.quality, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.dist").arg(flow.sensor_id), "m", flow.ground_distance, time);
- }
- break;
case MAVLINK_MSG_ID_STATUSTEXT:
{
QByteArray b;
@@ -912,17 +765,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
#endif
- case MAVLINK_MSG_ID_DEBUG_VECT:
- {
- //mavlink_debug_vect_t vect;
- //mavlink_msg_debug_vect_decode(&message, &vect);
- //QString str((const char*)vect.name);
- //quint64 time = getUnixTime(vect.time_usec);
- // FIXME REMOVE LATER emit valueChanged(uasId, str+".x", "raw", vect.x, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, str+".y", "raw", vect.y, time);
- // FIXME REMOVE LATER emit valueChanged(uasId, str+".z", "raw", vect.z, time);
- }
- break;
// case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
// {
// mavlink_object_detection_event_t event;
@@ -1027,6 +869,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
#endif
// Messages to ignore
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT:
+ case MAVLINK_MSG_ID_RAW_IMU:
+ case MAVLINK_MSG_ID_SCALED_IMU:
+ case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
+ case MAVLINK_MSG_ID_RAW_PRESSURE:
+ case MAVLINK_MSG_ID_SCALED_PRESSURE:
+ case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+ case MAVLINK_MSG_ID_OPTICAL_FLOW:
+ case MAVLINK_MSG_ID_DEBUG_VECT:
break;
default:
{
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 65a9318d7ad138486ac71b22908c5c0fbdc3713f..a0051b76f7288250f4f22184be76df1d02aefe76 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -108,6 +108,14 @@ public:
double getAltitude() const {
return altitude;
}
+ virtual bool localPositionKnown() const
+ {
+ return isLocalPositionKnown;
+ }
+ virtual bool globalPositionKnown() const
+ {
+ return isGlobalPositionKnown;
+ }
double getRoll() const {
return roll;
@@ -201,15 +209,17 @@ protected: //COMMENTS FOR TEST UNIT
quint64 imageStart;
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
- bool paramsOnceRequested; ///< If the parameter list has been read at least once
- int airframe; ///< The airframe type
- bool attitudeKnown; ///< True if attitude was received, false else
+ bool paramsOnceRequested; ///< If the parameter list has been read at least once
+ int airframe; ///< The airframe type
+ bool attitudeKnown; ///< True if attitude was received, false else
QGCUASParamManager* paramManager; ///< Parameter manager class
- QString shortStateText; ///< Short textual state description
- QString shortModeText; ///< Short textual mode description
- bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
- quint64 lastAttitude; ///< Timestamp of last attitude measurement
- QGCFlightGearLink* simulation; ///< Hardware in the loop simulation link
+ QString shortStateText; ///< Short textual state description
+ QString shortModeText; ///< Short textual mode description
+ bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
+ quint64 lastAttitude; ///< Timestamp of last attitude measurement
+ QGCFlightGearLink* simulation; ///< Hardware in the loop simulation link
+ bool isLocalPositionKnown; ///< If the local position has been received for this MAV
+ bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
public:
/** @brief Set the current battery type */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 4b1f2161fa429d2291cf07ce10776e5270c2f11c..8dce73f70c078052b3abd3ac256d67cb8b23d25f 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -76,10 +76,12 @@ public:
virtual double getLocalX() const = 0;
virtual double getLocalY() const = 0;
virtual double getLocalZ() const = 0;
+ virtual bool localPositionKnown() const = 0;
virtual double getLatitude() const = 0;
virtual double getLongitude() const = 0;
virtual double getAltitude() const = 0;
+ virtual bool globalPositionKnown() const = 0;
virtual double getRoll() const = 0;
virtual double getPitch() const = 0;
@@ -181,15 +183,15 @@ public:
/** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
virtual int getSystemType() = 0;
virtual QString getSystemTypeName() = 0;
+ /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
+ virtual int getAutopilotType() = 0;
+ virtual QString getAutopilotTypeName() = 0;
+ virtual void setAutopilotType(int apType)= 0;
QColor getColor() {
return color;
}
- virtual int getAutopilotType() = 0;
- virtual QString getAutopilotTypeName() = 0;
- virtual void setAutopilotType(int apType)= 0;
-
public slots:
/** @brief Set a new name for the system */
@@ -490,6 +492,6 @@ protected:
};
-Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");
+Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0")
#endif // _UASINTERFACE_H_
diff --git a/src/ui/CommConfigurationWindow.cc b/src/ui/CommConfigurationWindow.cc
index 10d30ec0ec85a4be522293a48e3ee78657f71f00..3874059930a71b750f2191a87920f9a2dd65112c 100644
--- a/src/ui/CommConfigurationWindow.cc
+++ b/src/ui/CommConfigurationWindow.cc
@@ -267,7 +267,7 @@ void CommConfigurationWindow::setLinkType(int linktype)
foreach (QAction* act, actions)
{
if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(tmpLink))
- {
+ {
act->trigger();
break;
}
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 0a717ecb339536c4b55148ed6c85e9cb7f1c1355..1d4725bb0ca36dd247dfbdce2b50932f196193f2 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -58,8 +58,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
posXSet(0.0f),
posYSet(0.0f),
posZSet(0.0f),
- attXSaturation(0.5f),
- attYSaturation(0.5f),
+ attXSaturation(0.2f),
+ attYSaturation(0.2f),
attYawSaturation(0.5f),
posXSaturation(0.05f),
posYSaturation(0.05f),
@@ -474,7 +474,7 @@ QPointF HSIDisplay::metricWorldToBody(QPointF world)
{
// First translate to body-centered coordinates
// Rotate around -yaw
- float angle = yaw + M_PI;
+ float angle = -yaw - M_PI;
QPointF result(cos(angle) * (x - world.x()) - sin(angle) * (y - world.y()), sin(angle) * (x - world.x()) + cos(angle) * (y - world.y()));
return result;
}
@@ -945,7 +945,7 @@ void HSIDisplay::drawPositionDirection(float xRef, float yRef, float radius, con
{
if (xyControlKnown && xyControlEnabled) {
// Draw the needle
- const float maxWidth = radius / 10.0f;
+ const float maxWidth = radius / 5.0f;
const float minWidth = maxWidth * 0.3f;
float angle = atan2(posXSet, -posYSet);
@@ -985,10 +985,9 @@ void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, con
const float maxWidth = radius / 10.0f;
const float minWidth = maxWidth * 0.3f;
- float angle = atan2(attXSet, attYSet);
- angle -= (float)M_PI/2.0f;
+ float angle = atan2(attYSet, -attXSet);
- radius *= sqrt(pow(attXSet, 2) + pow(attYSet, 2)) / sqrt(attXSaturation + attYSaturation);
+ radius *= sqrt(attXSet*attXSet + attYSet*attYSet) / sqrt(attXSaturation*attXSaturation + attYSaturation*attYSaturation);
QPolygonF p(6);
diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc
index d5bf4bf0a8a0392c473fbb8760390556f8ce8708..9bf493fdbe8d5919aa918893d1808be20029d18f 100644
--- a/src/ui/HUD.cc
+++ b/src/ui/HUD.cc
@@ -200,14 +200,16 @@ void HUD::showEvent(QShowEvent* event)
// events
QGLWidget::showEvent(event);
refreshTimer->start(updateInterval);
+ emit visibilityChanged(true);
}
void HUD::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
- QGLWidget::hideEvent(event);
refreshTimer->stop();
+ QGLWidget::hideEvent(event);
+ emit visibilityChanged(false);
}
void HUD::contextMenuEvent (QContextMenuEvent* event)
@@ -1047,10 +1049,10 @@ void HUD::paintPitchLines(float pitch, QPainter* painter)
float offset = pitch;
if (offset < 0) offset = -offset;
int offsetCount = 0;
- while (offset > lineDistance) {
- offset -= lineDistance;
- offsetCount++;
- }
+// while (offset > lineDistance) {
+// offset -= lineDistance;
+// offsetCount++;
+// }
int iPos = (int)(0.5f + lineDistance); ///< The first line
int iNeg = (int)(-0.5f - lineDistance); ///< The first line
diff --git a/src/ui/HUD.h b/src/ui/HUD.h
index 884a6db768093af6f7af8436500332ee19d17b9f..a6412ba7db91cba122cc7f8b6879b9cf13a8bc25 100644
--- a/src/ui/HUD.h
+++ b/src/ui/HUD.h
@@ -113,6 +113,9 @@ protected slots:
void drawPolygon(QPolygonF refPolygon, QPainter* painter);
+signals:
+ void visibilityChanged(bool visible);
+
protected:
void commitRawDataToGL();
/** @brief Convert reference coordinates to screen coordinates */
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index b085ef76d90c1f945ab368813c4ed0253aed96ae..2166f1e5fc46d575b9601c27211625ea5e6e6876 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -64,7 +64,8 @@ This file is part of the QGROUNDCONTROL project
MainWindow* MainWindow::instance()
{
static MainWindow* _instance = 0;
- if(_instance == 0) {
+ if(_instance == 0)
+ {
_instance = new MainWindow();
/* Set the application as parent to ensure that this object
@@ -83,44 +84,48 @@ MainWindow* MainWindow::instance()
**/
MainWindow::MainWindow(QWidget *parent):
QMainWindow(parent),
- toolsMenuActions(),
currentView(VIEW_UNCONNECTED),
aboutToCloseFlag(false),
changingViewsFlag(false),
styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
autoReconnect(false),
currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
- lowPowerMode(false)
+ lowPowerMode(false),
+ centerStackActionGroup(this)
{
loadSettings();
- if (!settings.contains("CURRENT_VIEW")) {
+ if (!settings.contains("CURRENT_VIEW"))
+ {
// Set this view as default view
settings.setValue("CURRENT_VIEW", currentView);
- } else {
+ }
+ else
+ {
// LOAD THE LAST VIEW
VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
if (currentViewCandidate != VIEW_ENGINEER &&
currentViewCandidate != VIEW_OPERATOR &&
- currentViewCandidate != VIEW_PILOT) {
+ currentViewCandidate != VIEW_PILOT &&
+ currentViewCandidate != VIEW_FULL)
+ {
currentView = currentViewCandidate;
}
}
- setDefaultSettingsForAp();
-
settings.sync();
+ // Setup UI state machines
+ centerStackActionGroup.setExclusive(true);
+
// Setup user interface
ui.setupUi(this);
- setVisible(false);
+ centerStack = new QStackedWidget(this);
+ setCentralWidget(centerStack);
buildCommonWidgets();
-
connectCommonWidgets();
- arrangeCommonCenterStack();
-
configureWindowName();
loadStyle(currentStyle);
@@ -133,18 +138,28 @@ MainWindow::MainWindow(QWidget *parent):
statusBar()->setSizeGripEnabled(true);
+ // Restore the window setup
+ if (settings.contains(getWindowStateKey()))
+ {
+ loadViewState();
+ }
+
// Restore the window position and size
- if (settings.contains(getWindowGeometryKey())) {
+ if (settings.contains(getWindowGeometryKey()))
+ {
// Restore the window geometry
restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
- } else {
+ }
+ else
+ {
// Adjust the size
adjustSize();
}
// Populate link menu
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
- foreach(LinkInterface* link, links) {
+ foreach(LinkInterface* link, links)
+ {
this->addLink(link);
}
@@ -165,11 +180,9 @@ MainWindow::MainWindow(QWidget *parent):
toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
toolBar->addPerspectiveChangeAction(ui.actionPilotsView);
- // Enable and update view
- presentView();
-
// Connect link
- if (autoReconnect) {
+ if (autoReconnect)
+ {
SerialLink* link = new SerialLink();
// Add to registry
LinkManager::instance()->add(link);
@@ -182,13 +195,12 @@ MainWindow::MainWindow(QWidget *parent):
// Initialize window state
windowStateVal = windowState();
+
+ show();
}
MainWindow::~MainWindow()
{
- // Store settings
- storeSettings();
-
delete mavlink;
delete joystick;
@@ -198,77 +210,34 @@ MainWindow::~MainWindow()
QObjectList::iterator i;
QDockWidget* dockWidget;
- for (i = childList.begin(); i != childList.end(); ++i) {
+ for (i = childList.begin(); i != childList.end(); ++i)
+ {
dockWidget = dynamic_cast<QDockWidget*>(*i);
- if (dockWidget) {
+ if (dockWidget)
+ {
// Remove dock widget from main window
removeDockWidget(dockWidget);
delete dockWidget->widget();
delete dockWidget;
}
- }
-}
-
-/**
- * Set default settings for this AP type.
- */
-void MainWindow::setDefaultSettingsForAp()
-{
- // Check if the settings exist, instantiate defaults if necessary
-
- // UNCONNECTED VIEW DEFAULT
- QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
- if (!settings.contains(centralKey)) {
- settings.setValue(centralKey,true);
-
- // ENABLE UAS LIST
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
- // ENABLE COMMUNICATION CONSOLE
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);
- }
-
- // OPERATOR VIEW DEFAULT
- centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
- if (!settings.contains(centralKey)) {
- settings.setValue(centralKey,true);
-
- // ENABLE UAS LIST
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
- // ENABLE HUD TOOL WIDGET
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true);
- // ENABLE WAYPOINTS
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true);
- }
-
- // ENGINEER VIEW DEFAULT
- centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
- if (!settings.contains(centralKey)) {
- settings.setValue(centralKey,true);
- // Enable Parameter widget
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true);
- }
-
- // MAVLINK VIEW DEFAULT
- centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
- if (!settings.contains(centralKey)) {
- settings.setValue(centralKey,true);
+ else
+ {
+ delete dynamic_cast<QObject*>(*i);
+ }
}
- // PILOT VIEW DEFAULT
- centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
- if (!settings.contains(centralKey)) {
- settings.setValue(centralKey,true);
- // Enable Flight display
- settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true);
- }
+ // Delete all UAS objects
}
void MainWindow::resizeEvent(QResizeEvent * event)
{
Q_UNUSED(event);
- if (height() < 800) {
+ if (height() < 800)
+ {
ui.statusBar->setVisible(false);
- } else {
+ }
+ else
+ {
ui.statusBar->setVisible(true);
ui.statusBar->setSizeGripEnabled(true);
}
@@ -288,22 +257,23 @@ QString MainWindow::getWindowGeometryKey()
void MainWindow::buildCustomWidget()
{
// Show custom widgets only if UAS is connected
- if (UASManager::instance()->getActiveUAS() != NULL) {
- // Enable custom widgets
- ui.actionNewCustomWidget->setEnabled(true);
-
+ if (UASManager::instance()->getActiveUAS() != NULL)
+ {
// Create custom widgets
QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);
- if (widgets.size() > 0) {
+ if (widgets.size() > 0)
+ {
ui.menuTools->addSeparator();
}
- for(int i = 0; i < widgets.size(); ++i) {
+ for(int i = 0; i < widgets.size(); ++i)
+ {
// Check if this widget already has a parent, do not create it in this case
QGCToolWidget* tool = widgets.at(i);
QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
- if (!dock) {
+ if (!dock)
+ {
QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
dock->setObjectName(tool->objectName()+"_DOCK");
dock->setWidget(tool);
@@ -315,9 +285,6 @@ void MainWindow::buildCustomWidget()
widgets.at(i)->setMainMenuAction(showAction);
ui.menuTools->addAction(showAction);
- // Load visibility for view (default is off)
- //dock->setVisible(tool->isVisible(currentView));
-
// Load dock widget location (default is bottom)
Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));
@@ -334,46 +301,52 @@ void MainWindow::buildCommonWidgets()
connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
// Dock widgets
- if (!controlDockWidget) {
+ if (!controlDockWidget)
+ {
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
controlDockWidget->setWidget( new UASControlWidget(this) );
- addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
+ addTool(controlDockWidget, tr("Control"), Qt::LeftDockWidgetArea);
}
- if (!listDockWidget) {
+ if (!listDockWidget)
+ {
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
- addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea);
+ addTool(listDockWidget, tr("Unmanned Systems"), Qt::RightDockWidgetArea);
}
- if (!waypointsDockWidget) {
+ if (!waypointsDockWidget)
+ {
waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this);
waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) );
waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
- addToToolsMenu (waypointsDockWidget, tr("Mission Plan"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
+ addTool(waypointsDockWidget, tr("Mission Plan"), Qt::BottomDockWidgetArea);
}
- if (!infoDockWidget) {
+ if (!infoDockWidget)
+ {
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
- addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea);
+ addTool(infoDockWidget, tr("Status Details"), Qt::RightDockWidgetArea);
}
- if (!debugConsoleDockWidget) {
+ if (!debugConsoleDockWidget)
+ {
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
- addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
+ addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea);
}
- if (!logPlayerDockWidget) {
+ if (!logPlayerDockWidget)
+ {
logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
- addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
+ addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea);
}
if (!mavlinkInspectorWidget)
@@ -381,36 +354,26 @@ void MainWindow::buildCommonWidgets()
mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this);
mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) );
mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET");
- addToToolsMenu(mavlinkInspectorWidget, tr("MAVLink Inspector"), SLOT(showToolWidget(bool)), MENU_MAVLINK_INSPECTOR, Qt::RightDockWidgetArea);
+ addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea);
}
// Center widgets
if (!mapWidget)
{
mapWidget = new QGCMapTool(this);
- addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
+ addCentralWidget(mapWidget, "Maps");
}
- if (!protocolWidget) {
+ if (!protocolWidget)
+ {
protocolWidget = new XMLCommProtocolWidget(this);
- addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
+ addCentralWidget(protocolWidget, "Mavlink Generator");
}
- if (!dataplotWidget) {
+ if (!dataplotWidget)
+ {
dataplotWidget = new QGCDataPlot2D(this);
- addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
- }
-
- if (!hudWidget) {
- hudWidget = new HUD(320, 240, this);
- addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD);
- }
-
- if (!hsiDockWidget) {
- hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
- hsiDockWidget->setWidget( new HSIDisplay(this) );
- hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
- addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
+ addCentralWidget(dataplotWidget, "Logfile Plot");
}
//FIXME: memory of acceptList will never be freed again
@@ -434,428 +397,84 @@ void MainWindow::buildCommonWidgets()
acceptList2->append("900,servo #8,us,2100,s");
acceptList2->append("0,abs pressure,hPa,65500");
- if (!headDown1DockWidget) {
- headDown1DockWidget = new QDockWidget(tr("Flight Instruments"), this);
- headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
- headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
- addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea);
- }
-
- if (!headDown2DockWidget) {
- headDown2DockWidget = new QDockWidget(tr("Payload Instruments"), this);
- headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) );
- headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
- addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea);
- }
-
- if (!rcViewDockWidget) {
- rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
- rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
- rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
- addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
- }
-
- if (!headUpDockWidget) {
- headUpDockWidget = new QDockWidget(tr("HUD"), this);
- headUpDockWidget->setWidget( new HUD(320, 240, this));
- headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
- addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea);
+ if (!hudWidget) {
+ hudWidget = new HUD(320, 240, this);
+ addCentralWidget(hudWidget, tr("Head Up Display"));
}
- if (!parametersDockWidget) {
- parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
- parametersDockWidget->setWidget( new ParameterInterface(this) );
- parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
- addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
+ if (!dataplotWidget) {
+ dataplotWidget = new QGCDataPlot2D(this);
+ addCentralWidget(dataplotWidget, tr("Logfile Plot"));
}
#ifdef QGC_OSG_ENABLED
if (!_3DWidget) {
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
- addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
+ addCentralWidget(_3DWidget, tr("Local 3D"));
}
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
if (!gEarthWidget) {
gEarthWidget = new QGCGoogleEarthView(this);
- addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
+ addCentralWidget(gEarthWidget, tr("Google Earth"));
}
#endif
}
-
-void MainWindow::buildPxWidgets()
+void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
{
- // Dock widgets
- if (!detectionDockWidget)
- {
- detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
- detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
- detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
- addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea);
- }
-
- if (!watchdogControlDockWidget)
- {
- watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
- watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
- watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
- addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
- }
-
- if (!video1DockWidget)
- {
- video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
- HUD* video1 = new HUD(160, 120, this);
- video1->enableHUDInstruments(false);
- video1->enableVideo(true);
- // FIXME select video stream as well
- video1DockWidget->setWidget(video1);
- video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
- addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea);
- }
-
- if (!video2DockWidget)
- {
- video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
- HUD* video2 = new HUD(160, 120, this);
- video2->enableHUDInstruments(false);
- video2->enableVideo(true);
- // FIXME select video stream as well
- video2DockWidget->setWidget(video2);
- video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
- addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea);
- }
-
- // Dialogue widgets
- //FIXME: free memory in destructor
-}
-
-void MainWindow::buildSlugsWidgets()
-{
- if (!linechartWidget) {
- // Center widgets
- linechartWidget = new Linecharts(this);
- addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
- }
-
- if (!headUpDockWidget) {
- // Dock widgets
- headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
- headUpDockWidget->setWidget( new HUD(320, 240, this));
- headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
- addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
- }
-
- if (!rcViewDockWidget) {
- rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
- rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
- rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
- addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
- }
-
-#if (defined _MSC_VER) | (defined Q_OS_MAC)
- if (!gEarthWidget) {
- gEarthWidget = new QGCGoogleEarthView(this);
- addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
- }
-
-#endif
-
- if (!slugsDataWidget) {
- // Dialog widgets
- slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
- slugsDataWidget->setWidget( new SlugsDataSensorView(this));
- slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
- addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
- }
-
-
- if (!slugsHilSimWidget) {
- slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
- slugsHilSimWidget->setWidget( new SlugsHilSim(this));
- slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
- addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
- }
-
- if (!controlParameterWidget) {
- controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
- controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
- controlParameterWidget->setWidget( new UASControlParameters(this) );
- addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
- }
-
- if (!parametersDockWidget) {
- parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
- parametersDockWidget->setWidget( new ParameterInterface(this) );
- parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
- addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
- }
-
- if (!slugsCamControlWidget) {
- slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this);
- slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this));
- slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
- addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
- }
-
-}
-
-
-void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
- const QString title,
- const char * slotName,
- TOOLS_WIDGET_NAMES centralWidget)
-{
- QAction* tempAction;
-
- tempAction = ui.menuMain->addAction(title);
+ QAction* tempAction = ui.menuTools->addAction(title);
tempAction->setCheckable(true);
- tempAction->setData(centralWidget);
-
- // populate the Hashes
- toolsMenuActions[centralWidget] = tempAction;
- dockWidgets[centralWidget] = widget;
-
- QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView);
-
- if (!settings.contains(chKey))
- {
- settings.setValue(chKey,false);
- tempAction->setChecked(false);
- }
- else
- {
- tempAction->setChecked(settings.value(chKey).toBool());
- }
-
- // connect the action
- connect(tempAction,SIGNAL(triggered(bool)),this, slotName);
+ QVariant var;
+ var.setValue((QWidget*)widget);
+ tempAction->setData(var);
+ connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+ connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
+ tempAction->setChecked(widget->isVisible());
+ addDockWidget(area, widget);
}
-void MainWindow::showCentralWidget()
+void MainWindow::showTool(bool show)
{
- QAction* senderAction = qobject_cast<QAction *>(sender());
-
- // Block sender action while manipulating state
- senderAction->blockSignals(true);
-
- int tool = senderAction->data().toInt();
- QString chKey;
-
- // check the current action
-
- if (senderAction && dockWidgets[tool])
- {
- // uncheck all central widget actions
- QHashIterator<int, QAction*> i(toolsMenuActions);
- while (i.hasNext()) {
- i.next();
- //qDebug() << "shCW" << i.key() << "read";
- if (i.value() && i.value()->data().toInt() > 255)
- {
- // Block signals and uncheck action
- // firing would be unneccesary
- i.value()->blockSignals(true);
- i.value()->setChecked(false);
- i.value()->blockSignals(false);
-
- // update the settings
- chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.value()->data().toInt()), currentView);
- settings.setValue(chKey,false);
- }
- }
-
- // check the current action
- //qDebug() << senderAction->text();
- senderAction->setChecked(true);
-
- // update the central widget
- centerStack->setCurrentWidget(dockWidgets[tool]);
-
- // store the selected central widget
- chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
- settings.setValue(chKey,true);
-
- // Unblock sender action
- senderAction->blockSignals(false);
-
- presentView();
- }
+ QAction* act = qobject_cast<QAction *>(sender());
+ QWidget* widget = qVariantValue<QWidget *>(act->data());
+ widget->setVisible(show);
}
-/**
- * Adds a widget to the tools menu and sets it visible if it was
- * enabled last time.
- */
-void MainWindow::addToToolsMenu ( QWidget* widget,
- const QString title,
- const char * slotName,
- TOOLS_WIDGET_NAMES tool,
- Qt::DockWidgetArea location)
+void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
{
- QAction* tempAction;
- QString posKey, chKey;
-
-
- if (toolsMenuActions[CENTRAL_SEPARATOR]) {
- tempAction = new QAction(title, this);
- ui.menuTools->insertAction(toolsMenuActions[CENTRAL_SEPARATOR],
- tempAction);
- } else {
- tempAction = ui.menuTools->addAction(title);
- }
-
- tempAction->setCheckable(true);
- tempAction->setData(tool);
-
- // populate the Hashes
- toolsMenuActions[tool] = tempAction;
- dockWidgets[tool] = widget;
- //qDebug() << widget;
-
- posKey = buildMenuKey (SUB_SECTION_LOCATION,tool, currentView);
-
- if (!settings.contains(posKey)) {
- settings.setValue(posKey,location);
- dockWidgetLocations[tool] = location;
- } else {
- dockWidgetLocations[tool] = static_cast <Qt::DockWidgetArea> (settings.value(posKey, Qt::RightDockWidgetArea).toInt());
- }
-
- chKey = buildMenuKey(SUB_SECTION_CHECKED,tool, currentView);
-
- if (!settings.contains(chKey)) {
- settings.setValue(chKey,false);
- tempAction->setChecked(false);
- widget->setVisible(false);
- } else {
- tempAction->setChecked(settings.value(chKey, false).toBool());
- widget->setVisible(settings.value(chKey, false).toBool());
- }
-
- // connect the action
- connect(tempAction,SIGNAL(toggled(bool)),this, slotName);
-
- connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
- SIGNAL(visibilityChanged(bool)), this, SLOT(showToolWidget(bool)));
-
- // connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
- // SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
-
- connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
- SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
-}
-
-void MainWindow::showToolWidget(bool visible)
-{
- if (!aboutToCloseFlag && !changingViewsFlag) {
- QAction* action = qobject_cast<QAction *>(sender());
-
- // Prevent this to fire if undocked
- if (action) {
- int tool = action->data().toInt();
-
- QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);
-
- if (dockWidget && dockWidget->isVisible() != visible) {
- if (visible) {
- addDockWidget(dockWidgetLocations[tool], dockWidget);
- dockWidget->show();
- } else {
- removeDockWidget(dockWidget);
- }
-
- QHashIterator<int, QWidget*> i(dockWidgets);
- while (i.hasNext()) {
- i.next();
- if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget) {
- QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
- settings.setValue(chKey,visible);
- //qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
- break;
- }
- }
- }
- }
-
- QDockWidget* dockWidget = qobject_cast<QDockWidget*>(QObject::sender());
+ // Check if this widget already has been added
+ if (centerStack->indexOf(widget) == -1)
+ {
+ centerStack->addWidget(widget);
- //qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
+ QAction* tempAction = ui.menuMain->addAction(title);
- if (dockWidget)
- {
- // Get action
- int tool = dockWidgets.key(dockWidget);
-
- //qDebug() << "Updating widget setting" << tool << "to" << visible;
-
- QAction* action = toolsMenuActions[tool];
- action->blockSignals(true);
- action->setChecked(visible);
- action->blockSignals(false);
-
- QHashIterator<int, QWidget*> i(dockWidgets);
- while (i.hasNext()) {
- i.next();
- if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget) {
- QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
- settings.setValue(chKey,visible);
- // qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
- break;
- }
- }
- }
+ tempAction->setCheckable(true);
+ QVariant var;
+ var.setValue((QWidget*)widget);
+ tempAction->setData(var);
+ centerStackActionGroup.addAction(tempAction);
+ connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
+ connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
+ tempAction->setChecked(widget->isVisible());
}
}
-void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
-{
- bool tempVisible;
- Qt::DockWidgetArea tempLocation;
- QDockWidget* tempWidget = static_cast <QDockWidget *>(dockWidgets[widget]);
-
- tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();
-
- //qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
-
- if (tempWidget) {
- toolsMenuActions[widget]->setChecked(tempVisible);
- }
-
-
- //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,widget,view) << tempVisible;
-
- tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt());
-
- if (tempWidget != NULL)
- {
- if (tempVisible)
- {
- addDockWidget(tempLocation, tempWidget);
- tempWidget->show();
- }
- }
-}
-
-QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view)
+void MainWindow::showCentralWidget()
{
- // Key is built as follows: autopilot_type/section_menu/view/tool/section
- int apType = 1;
-
- return (QString::number(apType) + "_" +
- QString::number(SECTION_MENU) + "_" +
- QString::number(view) + "_" +
- QString::number(tool) + "_" +
- QString::number(section) + "_" );
+ QAction* act = qobject_cast<QAction *>(sender());
+ QWidget* widget = qVariantValue<QWidget *>(act->data());
+ centerStack->setCurrentWidget(widget);
}
void MainWindow::closeEvent(QCloseEvent *event)
{
+ if (isVisible()) storeViewState();
storeSettings();
aboutToCloseFlag = true;
mavlink->storeSettings();
@@ -863,62 +482,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMainWindow::closeEvent(event);
}
-void MainWindow::showDockWidget (bool vis)
-{
- if (!aboutToCloseFlag && !changingViewsFlag) {
- QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
-
- if (temp) {
- QHashIterator<int, QWidget*> i(dockWidgets);
- while (i.hasNext()) {
- i.next();
- if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
- QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
- settings.setValue(chKey,vis);
- toolsMenuActions[i.key()]->setChecked(vis);
- break;
- }
- }
- }
- }
-}
-
-void MainWindow::updateVisibilitySettings (bool vis)
-{
- if (!aboutToCloseFlag && !changingViewsFlag) {
- QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
-
- if (temp) {
- QHashIterator<int, QWidget*> i(dockWidgets);
- while (i.hasNext()) {
- i.next();
- if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
- QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
- settings.setValue(chKey,vis);
- toolsMenuActions[i.key()]->setChecked(vis);
- break;
- }
- }
- }
- }
-}
-
-void MainWindow::updateLocationSettings (Qt::DockWidgetArea location)
-{
- QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
-
- QHashIterator<int, QWidget*> i(dockWidgets);
- while (i.hasNext()) {
- i.next();
- if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
- QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
- settings.setValue(posKey,location);
- break;
- }
- }
-}
-
-
/**
* Connect the signals and slots of the common window widgets
*/
@@ -958,19 +521,14 @@ void MainWindow::loadCustomWidget()
{
QString widgetFileExtension(".qgw");
QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
+ if (fileName != "") loadCustomWidget(fileName);
+}
- if (fileName.length() > 0)
+void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
+{
+ QGCToolWidget* tool = new QGCToolWidget("", this);
+ if (tool->loadSettings(fileName, true) || !singleinstance)
{
-
- QGCToolWidget* tool = new QGCToolWidget("", this);
- tool->loadSettings(fileName);
-
- if (QGCToolWidget::instances()->size() < 2)
- {
- // This is the first widget
- ui.menuTools->addSeparator();
- }
-
// Add widget to UI
QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
@@ -986,73 +544,36 @@ void MainWindow::loadCustomWidget()
this->addDockWidget(Qt::BottomDockWidgetArea, dock);
dock->setVisible(true);
}
-}
-
-void MainWindow::connectPxWidgets()
-{
- // No special connections necessary at this point
-}
-
-void MainWindow::connectSlugsWidgets()
-{
- if (slugsHilSimWidget && slugsHilSimWidget->widget()) {
- connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
- slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
- }
-
- if (slugsDataWidget && slugsDataWidget->widget()) {
- connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
- slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
- }
-
- if (controlParameterWidget && controlParameterWidget->widget()) {
- connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
- controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));
- }
-
- if(controlDockWidget && controlParameterWidget) {
- connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
+ else
+ {
+ return;
}
}
-void MainWindow::arrangeCommonCenterStack()
+void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
- centerStack = new QStackedWidget(this);
- centerStack->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
-
- if (!centerStack) return;
-
- if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget);
- if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
- if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget);
- if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
+ QString defaultsDir = qApp->applicationDirPath() + "/files/" + systemType.toLower() + "/" + autopilotType.toLower() + "/widgets/";
-#ifdef QGC_OSG_ENABLED
- if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget);
-#endif
-#if (defined _MSC_VER) | (defined Q_OS_MAC)
- if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
-#endif
- if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
- if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
-
- setCentralWidget(centerStack);
-}
-
-void MainWindow::arrangePxCenterStack()
-{
- if (!centerStack) {
- qDebug() << "Center Stack not Created!";
- return;
+ QDir widgets(defaultsDir);
+ QStringList files = widgets.entryList();
+ if (files.count() == 0)
+ {
+ qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
+ qDebug() << "Tried with path: " << defaultsDir;
+ showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
}
-}
-void MainWindow::arrangeSlugsCenterStack()
-{
- if (!centerStack)
+ // Load all custom widgets found in the AP folder
+ for(int i = 0; i < files.count(); ++i)
{
- qDebug() << "Center Stack not Created!";
- return;
+ QString file = files[i];
+ if (file.endsWith(".qgw"))
+ {
+ // Will only be loaded if not already a custom widget with
+ // the same name is present
+ loadCustomWidget(defaultsDir+"/"+file, true);
+ showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file));
+ }
}
}
@@ -1073,14 +594,17 @@ void MainWindow::storeSettings()
settings.setValue("AUTO_RECONNECT", autoReconnect);
settings.setValue("CURRENT_STYLE", currentStyle);
settings.endGroup();
- settings.setValue(getWindowGeometryKey(), saveGeometry());
- // Save the last current view in any case
- settings.setValue("CURRENT_VIEW", currentView);
- // Save the current window state, but only if a system is connected (else no real number of widgets would be present)
- if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
- // Save the current view only if a UAS is connected
- if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
- // Save the current power mode
+ if (!aboutToCloseFlag && isVisible())
+ {
+ settings.setValue(getWindowGeometryKey(), saveGeometry());
+ // Save the last current view in any case
+ settings.setValue("CURRENT_VIEW", currentView);
+ // Save the current window state, but only if a system is connected (else no real number of widgets would be present)
+ if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
+ // Save the current view only if a UAS is connected
+ if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
+ // Save the current power mode
+ }
settings.setValue("LOW_POWER_MODE", lowPowerMode);
settings.sync();
}
@@ -1093,9 +617,11 @@ void MainWindow::configureWindowName()
windowname.append(" (" + QHostInfo::localHostName() + ": ");
- for (int i = 0; i < hostAddresses.size(); i++) {
+ for (int i = 0; i < hostAddresses.size(); i++)
+ {
// Exclude loopback IPv4 and all IPv6 addresses
- if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":")) {
+ if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
+ {
if(prevAddr) windowname.append("/");
windowname.append(hostAddresses.at(i).toString());
prevAddr = true;
@@ -1140,7 +666,8 @@ void MainWindow::saveScreen()
QPixmap window = QPixmap::grabWindow(this->winId());
QString format = "bmp";
- if (!screenFileName.isEmpty()) {
+ if (!screenFileName.isEmpty())
+ {
window.save(screenFileName, format.toAscii());
}
}
@@ -1286,8 +813,6 @@ void MainWindow::showInfoMessage(const QString& title, const QString& message)
**/
void MainWindow::connectCommonActions()
{
- ui.actionNewCustomWidget->setEnabled(false);
-
// Bind together the perspective actions
QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
perspectives->addAction(ui.actionEngineersView);
@@ -1304,11 +829,6 @@ void MainWindow::connectCommonActions()
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
- // The pilot, engineer and operator view are not available on startup
- // since they only make sense with a system connected.
- ui.actionPilotsView->setEnabled(false);
- ui.actionOperatorsView->setEnabled(false);
- ui.actionEngineersView->setEnabled(false);
// The UAS actions are not enabled without connection to system
ui.actionLiftoff->setEnabled(false);
ui.actionLand->setEnabled(false);
@@ -1369,17 +889,6 @@ void MainWindow::connectCommonActions()
connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
}
-void MainWindow::connectPxActions()
-{
-
-
-}
-
-void MainWindow::connectSlugsActions()
-{
-
-}
-
void MainWindow::showHelp()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) {
@@ -1395,7 +904,7 @@ void MainWindow::showHelp()
void MainWindow::showCredits()
{
- if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits/"))) {
+ if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open credits in browser");
@@ -1447,8 +956,10 @@ void MainWindow::addLink()
// Go fishing for this link's configuration window
QList<QAction*> actions = ui.menuNetwork->actions();
- foreach (QAction* act, actions) {
- if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link)) {
+ foreach (QAction* act, actions)
+ {
+ if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link))
+ {
act->trigger();
break;
}
@@ -1517,16 +1028,6 @@ void MainWindow::UASCreated(UASInterface* uas)
if (uas != NULL)
{
- if (!linechartWidget) {
- // Center widgets
- linechartWidget = new Linecharts(this);
- linechartWidget->addSource(mavlinkDecoder);
- addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
- }
-
- // Set default settings
- setDefaultSettingsForAp();
-
// The pilot, operator and engineer views were not available on startup, enable them now
ui.actionPilotsView->setEnabled(true);
ui.actionOperatorsView->setEnabled(true);
@@ -1598,74 +1099,46 @@ void MainWindow::UASCreated(UASInterface* uas)
}
}
- switch (uas->getAutopilotType())
+ // Line chart
+ if (!linechartWidget)
{
- case (MAV_AUTOPILOT_SLUGS): {
- // Build Slugs Widgets
- buildSlugsWidgets();
-
- // Connect Slugs Widgets
- connectSlugsWidgets();
-
- // Arrange Slugs Centerstack
- arrangeSlugsCenterStack();
-
- // Connect Slugs Actions
- connectSlugsActions();
-
-// if(slugsDataWidget)
-// {
-// SlugsDataSensorView *mm = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
-// if(mm)
-// {
-// mm->addUAS(uas);
-// }
-// }
-
- // FIXME: This type checking might be redundant
-// // if (slugsDataWidget) {
-// // SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
-// // if (dataWidget) {
-// // SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-// // if (mav2) {
-// (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
-// // //loadSlugsView();
-// // loadGlobalOperatorView();
-// // }
-// // }
-// // }
-
+ // Center widgets
+ linechartWidget = new Linecharts(this);
+ addCentralWidget(linechartWidget, tr("Realtime Plot"));
}
- break;
- default:
- case (MAV_AUTOPILOT_GENERIC):
- break;
- case (MAV_AUTOPILOT_ARDUPILOTMEGA):
- break;
- case (MAV_AUTOPILOT_PIXHAWK): {
- // Build Pixhawk Widgets
- buildPxWidgets();
- // Connect Pixhawk Widgets
- connectPxWidgets();
+ // Load default custom widgets for this autopilot type
+ loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
- // Arrange Pixhawk Centerstack
- arrangePxCenterStack();
- // Connect Pixhawk Actions
- connectPxActions();
- }
- break;
+ if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
+ {
+ // Dock widgets
+ if (!detectionDockWidget)
+ {
+ detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
+ detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
+ detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
+ addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
+ }
+
+ if (!watchdogControlDockWidget) {
+ watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
+ watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
+ watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
+ addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
+ }
}
// Change the view only if this is the first UAS
// If this is the first connected UAS, it is both created as well as
// the currently active UAS
- if (UASManager::instance()->getUASList().size() == 1) {
+ if (UASManager::instance()->getUASList().size() == 1)
+ {
// Load last view if setting is present
- if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED")) {
- clearView();
+ if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
+ {
int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
switch (view) {
case VIEW_ENGINEER:
@@ -1685,7 +1158,9 @@ void MainWindow::UASCreated(UASInterface* uas)
loadOperatorView();
break;
}
- } else {
+ }
+ else
+ {
loadOperatorView();
}
}
@@ -1694,285 +1169,142 @@ void MainWindow::UASCreated(UASInterface* uas)
if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
- // Custom widgets, added last to all menus and layouts
- buildCustomWidget();
// Restore the mainwindow size
- if (settings.contains(getWindowGeometryKey())) {
+ if (settings.contains(getWindowGeometryKey()))
+ {
restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
}
}
/**
- * Clears the current view completely
+ * Stores the current view state
*/
-void MainWindow::clearView()
+void MainWindow::storeViewState()
{
- // Save current state
- if (UASManager::instance()->getUASList().count() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
- // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
- // therefore this state is stored here and restored after applying the rest of the settings in the new
- // perspective.
- windowStateVal = this->windowState();
- settings.setValue(getWindowGeometryKey(), saveGeometry());
-
- QAction* temp;
-
- // Set tool widget visibility settings for this view
- foreach (int key, toolsMenuActions.keys())
+ if (!aboutToCloseFlag)
{
- temp = toolsMenuActions[key];
- QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(key), currentView);
-
- if (temp) {
- //qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
- settings.setValue(chKey,temp->isChecked());
- } else {
- //qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
- settings.setValue(chKey,false);
- }
+ // Save current state
+ settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
+ settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex());
+ // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
+ // therefore this state is stored here and restored after applying the rest of the settings in the new
+ // perspective.
+ windowStateVal = this->windowState();
+ settings.setValue(getWindowGeometryKey(), saveGeometry());
}
+}
- changingViewsFlag = true;
- // Remove all dock widgets from main window
- QObjectList childList( this->children() );
+void MainWindow::loadViewState()
+{
+ // Restore center stack state
+ int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
+ // The offline plot view is usually the consequence of a logging run, always show the realtime view first
+ if (centerStack->indexOf(dataplotWidget) == index)
+ {
+ // Rewrite to realtime plot
+ index = centerStack->indexOf(linechartWidget);
+ }
- QObjectList::iterator i;
- QDockWidget* dockWidget;
- for (i = childList.begin(); i != childList.end(); ++i) {
- dockWidget = dynamic_cast<QDockWidget*>(*i);
- if (dockWidget) {
- // Remove dock widget from main window
- removeDockWidget(dockWidget);
- dockWidget->hide();
- //dockWidget->setVisible(false);
+ if (index != -1)
+ {
+ centerStack->setCurrentIndex(index);
+ }
+ else
+ {
+ // Load defaults
+ switch (currentView)
+ {
+ case VIEW_ENGINEER:
+ centerStack->setCurrentWidget(linechartWidget);
+ break;
+ case VIEW_PILOT:
+ centerStack->setCurrentWidget(hudWidget);
+ break;
+ case VIEW_MAVLINK:
+ centerStack->setCurrentWidget(protocolWidget);
+ break;
+ case VIEW_OPERATOR:
+ case VIEW_UNCONNECTED:
+ case VIEW_FULL:
+ default:
+ centerStack->setCurrentWidget(mapWidget);
+ break;
}
}
- changingViewsFlag = false;
+
+ // Restore the widget positions and size
+ if (settings.contains(getWindowStateKey()))
+ {
+ restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
+ }
}
void MainWindow::loadEngineerView()
{
if (currentView != VIEW_ENGINEER) {
- clearView();
+ storeViewState();
currentView = VIEW_ENGINEER;
ui.actionEngineersView->setChecked(true);
- presentView();
+ loadViewState();
}
}
void MainWindow::loadOperatorView()
{
if (currentView != VIEW_OPERATOR) {
- clearView();
+ storeViewState();
currentView = VIEW_OPERATOR;
ui.actionOperatorsView->setChecked(true);
- presentView();
+ loadViewState();
}
}
void MainWindow::loadUnconnectedView()
{
- if (currentView != VIEW_UNCONNECTED) {
- clearView();
+ if (currentView != VIEW_UNCONNECTED)
+ {
+ storeViewState();
currentView = VIEW_UNCONNECTED;
ui.actionUnconnectedView->setChecked(true);
- presentView();
+ loadViewState();
}
}
void MainWindow::loadPilotView()
{
- if (currentView != VIEW_PILOT) {
- clearView();
+ if (currentView != VIEW_PILOT)
+ {
+ storeViewState();
currentView = VIEW_PILOT;
ui.actionPilotsView->setChecked(true);
- presentView();
+ loadViewState();
}
}
void MainWindow::loadMAVLinkView()
{
- if (currentView != VIEW_MAVLINK) {
- clearView();
+ if (currentView != VIEW_MAVLINK)
+ {
+ storeViewState();
currentView = VIEW_MAVLINK;
ui.actionMavlinkView->setChecked(true);
- presentView();
- }
-}
-
-void MainWindow::presentView()
-{
- // LINE CHART
- showTheCentralWidget(CENTRAL_LINECHART, currentView);
-
- // MAP
- showTheCentralWidget(CENTRAL_MAP, currentView);
-
- // PROTOCOL
- showTheCentralWidget(CENTRAL_PROTOCOL, currentView);
-
- // HEAD UP DISPLAY
- showTheCentralWidget(CENTRAL_HUD, currentView);
-
- // GOOGLE EARTH
- showTheCentralWidget(CENTRAL_GOOGLE_EARTH, currentView);
-
- // LOCAL 3D VIEW
- showTheCentralWidget(CENTRAL_3D_LOCAL, currentView);
-
- // GLOBAL 3D VIEW
- showTheCentralWidget(CENTRAL_3D_MAP, currentView);
-
- // DATA PLOT
- showTheCentralWidget(CENTRAL_DATA_PLOT, currentView);
-
-
- // Show docked widgets based on current view and autopilot type
-
- // UAS CONTROL
- showTheWidget(MENU_UAS_CONTROL, currentView);
-
- showTheWidget(MENU_UAS_CONTROL_PARAM, currentView);
-
- // UAS LIST
- showTheWidget(MENU_UAS_LIST, currentView);
-
- // WAYPOINT LIST
- showTheWidget(MENU_WAYPOINTS, currentView);
-
- // UAS STATUS
- showTheWidget(MENU_STATUS, currentView);
-
- // DETECTION
- showTheWidget(MENU_DETECTION, currentView);
-
- // DEBUG CONSOLE
- showTheWidget(MENU_DEBUG_CONSOLE, currentView);
-
- // ONBOARD PARAMETERS
- showTheWidget(MENU_PARAMETERS, currentView);
-
- // WATCHDOG
- showTheWidget(MENU_WATCHDOG, currentView);
-
- // HUD
- showTheWidget(MENU_HUD, currentView);
- if (headUpDockWidget) {
- HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
- if (tmpHud) {
- if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()) {
- addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
- headUpDockWidget);
- headUpDockWidget->show();
- } else {
- headUpDockWidget->hide();
- }
- }
- }
-
-
- // RC View
- showTheWidget(MENU_RC_VIEW, currentView);
-
- // SLUGS DATA
- showTheWidget(MENU_SLUGS_DATA, currentView);
-
- // SLUGS PID
- showTheWidget(MENU_SLUGS_PID, currentView);
-
- // SLUGS HIL
- showTheWidget(MENU_SLUGS_HIL, currentView);
-
- // SLUGS CAMERA
- showTheWidget(MENU_SLUGS_CAMERA, currentView);
-
- // HORIZONTAL SITUATION INDICATOR
- showTheWidget(MENU_HSI, currentView);
-
- // HEAD DOWN 1
- showTheWidget(MENU_HDD_1, currentView);
-
- // HEAD DOWN 2
- showTheWidget(MENU_HDD_2, currentView);
-
- // MAVLINK LOG PLAYER
- showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView);
-
- // VIDEO 1
- showTheWidget(MENU_VIDEO_STREAM_1, currentView);
-
- // VIDEO 2
- showTheWidget(MENU_VIDEO_STREAM_2, currentView);
-
- // Restore window state
- if (UASManager::instance()->getUASList().count() > 0) {
-// // Restore the mainwindow size
-// if (settings.contains(getWindowGeometryKey()))
-// {
-// restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
-// }
-
- // Restore the widget positions and size
- if (settings.contains(getWindowStateKey())) {
- restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
- }
- }
-
- // ACTIVATE HUD WIDGET
- if (headUpDockWidget) {
- HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
- if (tmpHud) {
-
- }
- }
-
- //this->setWindowState(windowStateVal);
- this->show();
-}
-
-void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view)
-{
- bool tempVisible;
- QWidget* tempWidget = dockWidgets[centralWidget];
-
- tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
- //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
- if (toolsMenuActions[centralWidget]) {
- //qDebug() << "SETTING TO:" << tempVisible;
- toolsMenuActions[centralWidget]->setChecked(tempVisible);
- }
-
- if (centerStack && tempWidget && tempVisible) {
- //qDebug() << "ACTIVATING MAIN WIDGET";
- centerStack->setCurrentWidget(tempWidget);
+ loadViewState();
}
}
void MainWindow::loadDataView(QString fileName)
{
- clearView();
-
- // Unload line chart
- QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_LINECHART), currentView);
- settings.setValue(chKey,false);
-
- // Set data plot in settings as current widget and then run usual update procedure
- chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_DATA_PLOT), currentView);
- settings.setValue(chKey,true);
-
- presentView();
-
// Plot is now selected, now load data from file
- if (dataplotWidget) {
+ if (dataplotWidget)
+ {
+ dataplotWidget->loadFile(fileName);
+ }
+ QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+ if (centerStack)
+ {
+ centerStack->setCurrentWidget(dataplotWidget);
dataplotWidget->loadFile(fileName);
}
-// QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
-// if (centerStack)
-// {
-// centerStack->setCurrentWidget(dataplotWidget);
-// dataplotWidget->loadFile(fileName);
-// }
-// }
}
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 3caafc09a201f62b5ec7b1e64a278372c4bc1a4b..996e4bf733c7b67be4ce4d75a04c99eca4ed4dcb 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -113,9 +113,9 @@ public:
return lowPowerMode;
}
+ QList<QAction*> listLinkMenuActions(void);
+
public slots:
-// /** @brief Store the mainwindow settings */
-// void storeSettings();
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status, int timeout);
@@ -161,9 +161,6 @@ public slots:
/** @brief Show the project roadmap */
void showRoadMap();
- /** @brief Shows the widgets based on configuration and current view and autopilot */
- void presentView();
-
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
/** @brief Let the user select the CSS style sheet */
@@ -184,9 +181,15 @@ public slots:
/** @brief Add a custom tool widget */
void createCustomWidget();
- /** @brief Load a custom tool widget from a file */
+ /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
void loadCustomWidget();
+ /** @brief Load a custom tool widget from a file */
+ void loadCustomWidget(const QString& fileName, bool singleinstance=false);
+
+ /** @brief Load custom widgets from default file */
+ void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
+
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
@@ -195,100 +198,37 @@ public slots:
/**
* @brief Shows a Docked Widget based on the action sender
*
- * This slot is written to be used in conjunction with the addToToolsMenu function
+ * This slot is written to be used in conjunction with the addTool() function
* It shows the QDockedWidget based on the action sender
*
*/
- void showToolWidget(bool visible);
+ void showTool(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
*
- * This slot is written to be used in conjunction with the addToCentralWidgetsMenu function
+ * This slot is written to be used in conjunction with the addCentralWidget() function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
- /** @brief Change actively a QDockWidgets visibility by an action */
- void showDockWidget(bool vis);
- /** @brief Updates a QDockWidget's checked status based on its visibility */
- void updateVisibilitySettings(bool vis);
-
- /** @brief Updates a QDockWidget's location */
- void updateLocationSettings (Qt::DockWidgetArea location);
-
-public:
- QList<QAction*> listLinkMenuActions(void);
-
protected:
MainWindow(QWidget *parent = 0);
- /** @brief Set default window settings for the current autopilot type */
- void setDefaultSettingsForAp();
-
- // These defines are used to save the settings when selecting with
- // which widgets populate the views
- // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
- // this will be fixed in a future release.
- typedef enum _TOOLS_WIDGET_NAMES {
- MENU_UAS_CONTROL_PARAM,
- MENU_UAS_CONTROL,
- MENU_UAS_INFO,
- MENU_CAMERA,
- MENU_UAS_LIST,
- MENU_WAYPOINTS,
- MENU_STATUS,
- MENU_DETECTION,
- MENU_DEBUG_CONSOLE,
- MENU_PARAMETERS,
- MENU_HDD_1,
- MENU_HDD_2,
- MENU_WATCHDOG,
- MENU_HUD,
- MENU_HSI,
- MENU_RC_VIEW,
- MENU_SLUGS_DATA,
- MENU_SLUGS_PID,
- MENU_SLUGS_HIL,
- MENU_SLUGS_CAMERA,
- MENU_MAVLINK_LOG_PLAYER,
- MENU_VIDEO_STREAM_1,
- MENU_VIDEO_STREAM_2,
- MENU_MAVLINK_INSPECTOR,
- CENTRAL_SEPARATOR= 255, // do not change
- CENTRAL_LINECHART,
- CENTRAL_PROTOCOL,
- CENTRAL_MAP,
- CENTRAL_3D_LOCAL,
- CENTRAL_3D_MAP,
- CENTRAL_OSGEARTH,
- CENTRAL_GOOGLE_EARTH,
- CENTRAL_HUD,
- CENTRAL_DATA_PLOT,
-
- } TOOLS_WIDGET_NAMES;
-
- typedef enum _SETTINGS_SECTIONS {
- SECTION_MENU,
- SUB_SECTION_CHECKED,
- SUB_SECTION_LOCATION
- } SETTINGS_SECTIONS;
-
- typedef enum _VIEW_SECTIONS {
+ typedef enum _VIEW_SECTIONS
+ {
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
- VIEW_FULL ///< All widgets, mostly intended for multi-screen setups
+ VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
-
- QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
- QHash<int, QWidget*> dockWidgets; // Holds ptr to the Actual Dock widget
- QHash<int, Qt::DockWidgetArea> dockWidgetLocations; // Holds the location
+// QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
+// QHash<int, QWidget*> dockWidgets; // Holds ptr to the Actual Dock widget
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
@@ -297,24 +237,11 @@ protected:
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
- * @param widget The QDockedWidget being added
+ * @param widget The QDockWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
- * @param slotName The slot to which the triggered() signal of the menu action will be connected.
- * @param tool The ENUM defined in MainWindow.h that is associated to the widget
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
- void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
-
- /**
- * @brief Determines if a QDockWidget needs to be show and if so, shows it
- *
- * Based on the the autopilot and the current view it queries the settings and shows the
- * widget if necessary
- *
- * @param widget The QDockWidget requested to be shown
- * @param view The view for which the QDockWidget is requested
- */
- void showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view = VIEW_MAVLINK);
+ void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Adds an already instantiated QWidget to the center stack
@@ -326,21 +253,8 @@ protected:
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
- * @param slotName The slot to which the triggered() signal of the menu action will be connected.
- * @param centralWidget The ENUM defined in MainWindow.h that is associated to the widget
- */
- void addToCentralWidgetsMenu ( QWidget* widget, const QString title,const char * slotName, TOOLS_WIDGET_NAMES centralWidget);
-
- /**
- * @brief Determines if a QWidget needs to be show and if so, shows it
- *
- * Based on the the autopilot and the current view it queries the settings and shows the
- * widget if necessary
- *
- * @param centralWidget The QWidget requested to be shown
- * @param view The view for which the QWidget is requested
*/
- void showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view);
+ void addCentralWidget(QWidget* widget, const QString& title);
/** @brief Catch window resize events */
void resizeEvent(QResizeEvent * event);
@@ -350,25 +264,13 @@ protected:
bool aboutToCloseFlag;
bool changingViewsFlag;
- void clearView();
+ void storeViewState();
+ void loadViewState();
void buildCustomWidget();
void buildCommonWidgets();
- void buildPxWidgets();
- void buildSlugsWidgets();
-
void connectCommonWidgets();
- void connectPxWidgets();
- void connectSlugsWidgets();
-
- void arrangeCommonCenterStack();
- void arrangePxCenterStack();
- void arrangeSlugsCenterStack();
-
void connectCommonActions();
- void connectPxActions();
- void connectSlugsActions();
-
void configureWindowName();
void loadSettings();
@@ -382,12 +284,11 @@ protected:
QSettings settings;
QStackedWidget *centerStack;
+ QActionGroup centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
-
QPointer<HUD> hudWidget;
-
QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
@@ -400,6 +301,7 @@ protected:
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
+
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
@@ -460,7 +362,6 @@ protected:
private:
Ui::MainWindow ui;
- QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
QString getWindowStateKey();
QString getWindowGeometryKey();
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index 8d134a94c8c4e5bd8235d78204d8efea9b5ff895..bbc2231f2019a57de3342d25ccda9c03fe018a08 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -51,7 +51,7 @@
<x>0</x>
<y>0</y>
<width>800</width>
- <height>22</height>
+ <height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
diff --git a/src/ui/QGCDataPlot2D.h b/src/ui/QGCDataPlot2D.h
index edfd248f4ef60d62471dcbf0d4f636f3475a6536..f87498bbaaef0ddeda9911f0465c7adac372944f 100644
--- a/src/ui/QGCDataPlot2D.h
+++ b/src/ui/QGCDataPlot2D.h
@@ -46,7 +46,22 @@ public slots:
/** @brief Calculate and display regression function*/
bool calculateRegression();
+signals:
+ void visibilityChanged(bool visible);
+
protected:
+ void showEvent(QShowEvent* event)
+ {
+ QWidget::showEvent(event);
+ emit visibilityChanged(true);
+ }
+
+ void hideEvent(QHideEvent* event)
+ {
+ QWidget::hideEvent(event);
+ emit visibilityChanged(false);
+ }
+
void changeEvent(QEvent *e);
IncrementalPlot* plot;
LogCompressor* compressor;
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index e2013f5c21909b10a134b771750259cf27e03a65..bd1d9e97cc7933d7974df18211090aba3aa17b81 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -166,54 +166,74 @@ void WaypointList::read()
void WaypointList::add()
{
- if (uas) {
+ if (uas)
+ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
Waypoint *wp;
-
-
- if (waypoints.size() > 0) {
+ if (waypoints.size() > 0)
+ {
// Create waypoint with last frame
Waypoint *last = waypoints.at(waypoints.size()-1);
wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(),
last->getAutoContinue(), false, last->getFrame(), last->getAction());
uas->getWaypointManager()->addWaypoint(wp);
- } else {
- // Create global frame waypoint per default
- wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0.0, 0.0, 0.0, 0.0, true, true, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT);
- uas->getWaypointManager()->addWaypoint(wp);
+ }
+ else
+ {
+ // Create first waypoint at current MAV position
+ addCurrentPositonWaypoint();
}
}
}
void WaypointList::addCurrentPositonWaypoint()
{
- /* TODO: implement with new waypoint structure
if (uas)
{
- // For Global Waypoints
- //if(isGlobalWP)
- //{
- //isLocalWP = false;
- //}
- //else
+ const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+ Waypoint *wp;
+ Waypoint *last = 0;
+ if (waypoints.size() > 0)
{
- const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
- if (waypoints.size() > 0)
+ last = waypoints.at(waypoints.size()-1);
+ }
+
+ if (uas->globalPositionKnown())
+ {
+ float acceptanceRadiusGlobal = 10.0f;
+ float holdTime = 0.0f;
+ float yawGlobal = 0.0f;
+ if (last)
{
- Waypoint *last = waypoints.at(waypoints.size()-1);
- Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
- uas->getWaypointManager()->addWaypoint(wp);
+ acceptanceRadiusGlobal = last->getAcceptanceRadius();
+ holdTime = last->getHoldTime();
+ yawGlobal = last->getYaw();
}
- else
+ // Create global frame waypoint per default
+ wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), yawGlobal, acceptanceRadiusGlobal, holdTime, 0.0, true, true, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
+ uas->getWaypointManager()->addWaypoint(wp);
+ updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
+ }
+ else if (uas->localPositionKnown())
+ {
+ float acceptanceRadiusLocal = 0.2f;
+ float holdTime = 0.5f;
+ if (last)
{
- Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
- uas->getWaypointManager()->addWaypoint(wp);
+ acceptanceRadiusLocal = last->getAcceptanceRadius();
+ holdTime = last->getHoldTime();
}
-
- //isLocalWP = true;
+ // Create local frame waypoint as second option
+ wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+ uas->getWaypointManager()->addWaypoint(wp);
+ updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
+ }
+ else
+ {
+ // Do nothing
+ updateStatusLabel(tr("Not adding waypoint, no position known of MAV known yet."));
}
}
- */
}
void WaypointList::updateStatusLabel(const QString &string)
@@ -223,23 +243,30 @@ void WaypointList::updateStatusLabel(const QString &string)
void WaypointList::changeCurrentWaypoint(quint16 seq)
{
- if (uas) {
+ if (uas)
+ {
uas->getWaypointManager()->setCurrentWaypoint(seq);
}
}
void WaypointList::currentWaypointChanged(quint16 seq)
{
- if (uas) {
+ if (uas)
+ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
- if (seq < waypoints.size()) {
- for(int i = 0; i < waypoints.size(); i++) {
+ if (seq < waypoints.size())
+ {
+ for(int i = 0; i < waypoints.size(); i++)
+ {
WaypointView* widget = wpViews.find(waypoints[i]).value();
- if (waypoints[i]->getId() == seq) {
+ if (waypoints[i]->getId() == seq)
+ {
widget->setCurrent(true);
- } else {
+ }
+ else
+ {
widget->setCurrent(false);
}
}
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index 9a3fb8ec26545aac87a753bbb5f2a673209d74e0..e94073785d0439bdc5c44d42584fcf77c7398f11 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -18,6 +18,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
QWidget(parent),
mav(NULL),
mainMenuAction(NULL),
+ widgetTitle(title),
ui(new Ui::QGCToolWidget)
{
ui->setupUi(this);
@@ -41,6 +42,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
}
this->setWindowTitle(title);
+ setObjectName(title+"WIDGET");
QList<UASInterface*> systems = UASManager::instance()->getUASList();
foreach (UASInterface* uas, systems) {
@@ -58,6 +60,18 @@ QGCToolWidget::~QGCToolWidget()
delete ui;
}
+void QGCToolWidget::setParent(QWidget *parent)
+{
+ QWidget::setParent(parent);
+ // Try with parent
+ QDockWidget* dock = dynamic_cast<QDockWidget*>(parent);
+ if (dock)
+ {
+ dock->setWindowTitle(getTitle());
+ dock->setObjectName(getTitle()+"DOCK");
+ }
+}
+
/**
* @param parent Object later holding these widgets, usually the main window
* @return List of all widgets
@@ -107,14 +121,26 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
return instances()->values();
}
-void QGCToolWidget::loadSettings(const QString& settings)
+/**
+ * @param singleinstance If this is set to true, the widget settings will only be loaded if not another widget with the same title exists
+ */
+bool QGCToolWidget::loadSettings(const QString& settings, bool singleinstance)
{
QSettings set(settings, QSettings::IniFormat);
QStringList groups = set.childGroups();
- QString widgetName = groups.first();
- setTitle(widgetName);
- qDebug() << "WIDGET TITLE LOADED: " << widgetName;
- loadSettings(set);
+ if (groups.length() > 0)
+ {
+ QString widgetName = groups.first();
+ if (singleinstance && QGCToolWidget::instances()->keys().contains(widgetName)) return false;
+ setTitle(widgetName);
+ qDebug() << "WIDGET TITLE LOADED: " << widgetName;
+ loadSettings(set);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
void QGCToolWidget::loadSettings(QSettings& settings)
@@ -339,15 +365,9 @@ void QGCToolWidget::importWidget()
const QString QGCToolWidget::getTitle()
{
- QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
- if (parent) {
- return parent->windowTitle();
- } else {
- return this->windowTitle();
- }
+ return widgetTitle;
}
-
void QGCToolWidget::setTitle()
{
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
@@ -373,6 +393,7 @@ void QGCToolWidget::setTitle()
void QGCToolWidget::setTitle(QString title)
{
+ widgetTitle = title;
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
if (parent) {
QSettings settings;
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
index 81c9cf4eb10edaff9bdb5026359aa48892500714..ac3de309a6d8cd3da1a253e7200e45a3921d0928 100644
--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -33,6 +33,7 @@ public:
int isVisible(int view) { return viewVisible.value(view, false); }
Qt::DockWidgetArea getDockWidgetArea(int view) { return dockWidgetArea.value(view, Qt::BottomDockWidgetArea); }
+ void setParent(QWidget *parent);
public slots:
void addUAS(UASInterface* uas);
@@ -47,7 +48,7 @@ public slots:
/** @brief Load this widget from a QSettings object */
void loadSettings(QSettings& settings);
/** @brief Load this widget from a settings file */
- void loadSettings(const QString& settings);
+ bool loadSettings(const QString& settings, bool singleinstance=false);
/** @brief Store this widget to a QSettings object */
void storeSettings(QSettings& settings);
/** @brief Store this widget to a settings file */
@@ -71,6 +72,7 @@ protected:
QAction* mainMenuAction; ///< Main menu action
QMap<int, Qt::DockWidgetArea> dockWidgetArea; ///< Dock widget area desired by this widget
QMap<int, bool> viewVisible; ///< Visibility in one view
+ QString widgetTitle;
void contextMenuEvent(QContextMenuEvent* event);
void createActions();
diff --git a/src/ui/linechart/LinechartPlot.cc b/src/ui/linechart/LinechartPlot.cc
index 8c04d930bb8bf1b136c1cea7437aa9597867ea09..a46e56895d4cb2fd65b4ae4114d3b120917ed99d 100644
--- a/src/ui/linechart/LinechartPlot.cc
+++ b/src/ui/linechart/LinechartPlot.cc
@@ -417,9 +417,12 @@ void LinechartPlot::setVisible(QString id, bool visible)
{
if(curves.contains(id)) {
curves.value(id)->setVisible(visible);
- if(visible) {
+ if(visible)
+ {
curves.value(id)->attach(this);
- } else {
+ }
+ else
+ {
curves.value(id)->detach();
}
}
@@ -639,7 +642,7 @@ void LinechartPlot::paintRealtime()
windowLock.unlock();
// Defined both on windows 32- and 64 bit
-#ifndef _WIN32
+#if !(defined Q_OS_WIN)
// const bool cacheMode =
// canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached);
@@ -648,11 +651,11 @@ void LinechartPlot::paintRealtime()
const QPaintEngine *pe = canvas()->paintEngine();
bool directPaint = pe->hasFeature(QPaintEngine::PaintOutsidePaintEvent);
- if ( pe->type() == QPaintEngine::X11 ) {
+ //if ( pe->type() == QPaintEngine::X11 ) {
// Even if not recommended by TrollTech, Qt::WA_PaintOutsidePaintEvent
// works on X11. This has an tremendous effect on the performance..
directPaint = true;
- }
+ //}
canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, directPaint);
#endif
@@ -665,7 +668,7 @@ void LinechartPlot::paintRealtime()
replot();
}
-#ifndef _WIN32
+#if !(defined Q_OS_WIN)
canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, oldDirectPaint);
#endif
diff --git a/src/ui/linechart/LinechartPlot.h b/src/ui/linechart/LinechartPlot.h
index dac11fc5e0d9492c70430042231e7e13847b251e..ec4128c6efc94121a9b59eb27265b1aea4b28f41 100644
--- a/src/ui/linechart/LinechartPlot.h
+++ b/src/ui/linechart/LinechartPlot.h
@@ -219,7 +219,7 @@ public:
static const int SCALE_BEST_FIT = 1;
static const int SCALE_LOGARITHMIC = 2;
- static const int DEFAULT_REFRESH_RATE = 50; ///< The default refresh rate is 25 Hz / every 100 ms
+ static const int DEFAULT_REFRESH_RATE = 100; ///< The default refresh rate is 10 Hz / every 100 ms
static const int DEFAULT_PLOT_INTERVAL = 1000 * 8; ///< The default plot interval is 15 seconds
static const int DEFAULT_SCALE_INTERVAL = 1000 * 8;
diff --git a/src/ui/linechart/LinechartWidget.cc b/src/ui/linechart/LinechartWidget.cc
index 9ea49a887b027cdae144c4db09cef1d149056195..023d00039df430e11018b06b3c292a9ac057f1b7 100644
--- a/src/ui/linechart/LinechartWidget.cc
+++ b/src/ui/linechart/LinechartWidget.cc
@@ -143,7 +143,7 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent
//connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int)));
//connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int)));
- updateTimer->setInterval(300);
+ updateTimer->setInterval(updateInterval);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
readSettings();
}
@@ -433,6 +433,7 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
void LinechartWidget::refresh()
{
+ setUpdatesEnabled(false);
QString str;
// Value
QMap<QString, QLabel*>::iterator i;
@@ -484,6 +485,7 @@ void LinechartWidget::refresh()
str.sprintf("% 8.3e", activePlot->getVariance(l.key()));
l.value()->setText(str);
}
+ setUpdatesEnabled(true);
}
@@ -510,11 +512,6 @@ void LinechartWidget::startLogging()
// QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.csv *.txt);;"));
- if (!fileName.contains(".")) {
- // .csv is default extension
- fileName.append(".csv");
- }
-
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort && fileName != "") {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
@@ -522,14 +519,16 @@ void LinechartWidget::startLogging()
msgBox.setInformativeText("Please choose .txt or .csv as file extension. Click OK to change the file extension, cancel to not start logging.");
msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Ok);
- if(msgBox.exec() == QMessageBox::Cancel) {
+ if(msgBox.exec() != QMessageBox::Ok)
+ {
abort = true;
break;
}
- fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt, *.csv);;"));
-
+ fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt *.csv);;"));
}
+ qDebug() << "SAVE FILE" << fileName;
+
// Check if the user did not abort the file save dialog
if (!abort && fileName != "") {
logFile = new QFile(fileName);
@@ -626,6 +625,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
curvesWidgetLayout->addWidget(checkBox, labelRow, 0);
QWidget* colorIcon = new QWidget(this);
+ colorIcons.insert(curve+unit, colorIcon);
colorIcon->setMinimumSize(QSize(5, 14));
colorIcon->setMaximumSize(4, 14);
@@ -636,13 +636,11 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
//checkBox->setText(QString());
label->setText(curve);
- QColor color = plot->getColorForCurve(curve+unit);
- if(color.isValid()) {
- QString colorstyle;
- colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
- colorIcon->setStyleSheet(colorstyle);
- colorIcon->setAutoFillBackground(true);
- }
+ QColor color(Qt::gray);// = plot->getColorForCurve(curve+unit);
+ QString colorstyle;
+ colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
+ colorIcon->setStyleSheet(colorstyle);
+ colorIcon->setAutoFillBackground(true);
// Value
value = new QLabel(this);
@@ -854,8 +852,22 @@ void LinechartWidget::takeButtonClick(bool checked)
QCheckBox* button = qobject_cast<QCheckBox*>(QObject::sender());
- if(button != NULL) {
+ if(button != NULL)
+ {
activePlot->setVisible(button->objectName(), checked);
+
+ QColor color = activePlot->getColorForCurve(button->objectName());
+ if(color.isValid())
+ {
+ QString colorstyle;
+ colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
+ QWidget* colorIcon = colorIcons.value(button->objectName(), 0);
+ if (colorIcon)
+ {
+ colorIcon->setStyleSheet(colorstyle);
+ colorIcon->setAutoFillBackground(true);
+ }
+ }
}
}
diff --git a/src/ui/linechart/LinechartWidget.h b/src/ui/linechart/LinechartWidget.h
index 4e33d52ed3ec9f67d6f12308ea27c8a06bde27d1..77b28afb28b944afbab3638dad049c21f3026909 100644
--- a/src/ui/linechart/LinechartWidget.h
+++ b/src/ui/linechart/LinechartWidget.h
@@ -134,6 +134,7 @@ protected:
QMap<QString, QLabel*>* curveMedians; ///< References to the curve medians
QMap<QString, QLabel*>* curveVariances; ///< References to the curve variances
QMap<QString, int> intData; ///< Current values for integer-valued curves
+ QMap<QString, QWidget*> colorIcons; ///< Reference to color icons
QWidget* curvesWidget; ///< The QWidget containing the curve selection button
QGridLayout* curvesWidgetLayout; ///< The layout for the curvesWidget QWidget
@@ -161,7 +162,7 @@ protected:
LogCompressor* compressor;
QCheckBox* selectAllCheckBox;
int selectedMAV; ///< The MAV for which plot items are accepted, -1 for all systems
- static const int updateInterval = 400; ///< Time between number updates, in milliseconds
+ static const int updateInterval = 1000; ///< Time between number updates, in milliseconds
static const int MAX_CURVE_MENUITEM_NUMBER = 8;
static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;
diff --git a/src/ui/linechart/Linecharts.cc b/src/ui/linechart/Linecharts.cc
index be59afe9910bc347f6f67eef254b1abd1c11438e..b7f954d578ca8c3b2e04a123bcb6f84726c6b7e1 100644
--- a/src/ui/linechart/Linecharts.cc
+++ b/src/ui/linechart/Linecharts.cc
@@ -30,32 +30,35 @@ void Linecharts::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
- Q_UNUSED(event) {
- QWidget* prevWidget = currentWidget();
- if (prevWidget) {
- LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
- if (chart) {
- this->active = true;
- chart->setActive(true);
- }
+ Q_UNUSED(event)
+ QWidget* prevWidget = currentWidget();
+ if (prevWidget)
+ {
+ LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+ if (chart) {
+ this->active = true;
+ chart->setActive(true);
}
}
+ QWidget::showEvent(event);
+ emit visibilityChanged(true);
}
void Linecharts::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
- Q_UNUSED(event) {
- QWidget* prevWidget = currentWidget();
- if (prevWidget) {
- LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
- if (chart) {
- this->active = false;
- chart->setActive(false);
- }
+ Q_UNUSED(event)
+ QWidget* prevWidget = currentWidget();
+ if (prevWidget) {
+ LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+ if (chart) {
+ this->active = false;
+ chart->setActive(false);
}
}
+ QWidget::hideEvent(event);
+ emit visibilityChanged(false);
}
void Linecharts::selectSystem(int systemid)
diff --git a/src/ui/linechart/Linecharts.h b/src/ui/linechart/Linecharts.h
index 4d5d26b20b334565620672de2af0597acad2dc40..20474b760999e3a98f42832aceab582462ba60fb 100644
--- a/src/ui/linechart/Linecharts.h
+++ b/src/ui/linechart/Linecharts.h
@@ -17,6 +17,7 @@ public:
signals:
/** @brief This signal is emitted once a logfile has been finished writing */
void logfileWritten(QString fileName);
+ void visibilityChanged(bool visible);
public slots:
/** @brief Select plot for one system */
@@ -27,6 +28,7 @@ public slots:
void addSource(QObject* obj);
protected:
+
QMap<int, LinechartWidget*> plots;
QVector<QObject*> genericSources;
bool active;
diff --git a/src/ui/map/QGCMapTool.h b/src/ui/map/QGCMapTool.h
index 784bf786252a8e9b61a6a730eb169e7d1df55b5a..ca0e33ad917a89df4acd1e5c6cf182761439296b 100644
--- a/src/ui/map/QGCMapTool.h
+++ b/src/ui/map/QGCMapTool.h
@@ -20,6 +20,22 @@ public slots:
/** @brief Update slider zoom from map change */
void setZoom(int zoom);
+signals:
+ void visibilityChanged(bool visible);
+
+protected:
+ void showEvent(QShowEvent* event)
+ {
+ QWidget::showEvent(event);
+ emit visibilityChanged(true);
+ }
+
+ void hideEvent(QHideEvent* event)
+ {
+ QWidget::hideEvent(event);
+ emit visibilityChanged(false);
+ }
+
private:
Ui::QGCMapTool *ui;
};
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index 2c16bb010a0b2125b23a81226c030a3fe27ff98b..67550c75581a6c31a2e4b78d65f7bc3c5fbe604c 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -376,18 +376,20 @@ void QGCGoogleEarthView::moveToPosition()
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
{
- Q_UNUSED(event);
updateTimer->stop();
+ QWidget::hideEvent(event);
+ emit visibilityChanged(false);
}
void QGCGoogleEarthView::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
- Q_UNUSED(event)
+ QWidget::showEvent(event);
// Enable widget, initialize on first run
- if (!webViewInitialized) {
+ if (!webViewInitialized)
+ {
#if (defined Q_OS_MAC)
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
@@ -404,9 +406,12 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
gEarthInitialized = false;
QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
- } else {
+ }
+ else
+ {
updateTimer->start(refreshRateMs);
}
+ emit visibilityChanged(true);
}
void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3)
diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h
index b572678bce8f65b1a078fda6a0640e02fa550e6c..117239aa4f9bf92880635e6fac7717409f8fa324 100644
--- a/src/ui/map3D/QGCGoogleEarthView.h
+++ b/src/ui/map3D/QGCGoogleEarthView.h
@@ -137,6 +137,9 @@ public:
/** @brief Get a document element */
QVariant documentElement(QString name);
+signals:
+ void visibilityChanged(bool visible);
+
protected:
void changeEvent(QEvent *e);
QTimer* updateTimer;