QGCToolBar.cc 26.3 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

#include <QToolButton>
#include <QLabel>
26
#include <QSpacerItem>
27 28
#include "QGCToolBar.h"
#include "UASManager.h"
lm's avatar
lm committed
29
#include "MainWindow.h"
30 31 32

QGCToolBar::QGCToolBar(QWidget *parent) :
    QToolBar(parent),
33
    mav(NULL),
lm's avatar
lm committed
34 35 36 37 38
    player(NULL),
    changed(true),
    batteryPercent(0),
    batteryVoltage(0),
    wpId(0),
39
    wpDistance(0),
40
    systemArmed(false),
41 42
    currentLink(NULL),
    firstAction(NULL)
43 44
{
    setObjectName("QGC_TOOLBAR");
lm's avatar
lm committed
45

46 47
    // Do not load UI, wait for actions
}
lm's avatar
lm committed
48

49 50 51 52 53 54 55 56 57 58
void QGCToolBar::globalPositionChanged(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
{
    Q_UNUSED(uas);
    Q_UNUSED(lat);
    Q_UNUSED(lon);
    Q_UNUSED(usec);
    altitudeMSL = alt;
    changed = true;
}

59 60 61 62 63 64 65 66
void QGCToolBar::heartbeatTimeout(bool timeout, unsigned int ms)
{
    // set timeout label visible
    if (timeout)
    {
        // Alternate colors to increase visibility
        if ((ms / 1000) % 2 == 0)
        {
67
            toolBarTimeoutLabel->setStyleSheet(QString("QLabel { margin: 3px 2px; padding: 2px; padding-left: 4px; padding-right: 4px; font: 14px; color: %1; background-color: %2; border-radius: 4px;}").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
68 69 70
        }
        else
        {
71
            toolBarTimeoutLabel->setStyleSheet(QString("QLabel { margin: 3px 2px; padding: 2px; padding-left: 4px; padding-right: 4px; font: 14px; color: %1; background-color: %2; border-radius: 4px;}").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.dark(250).name()));
72 73 74 75 76 77 78 79 80 81 82 83 84
        }
        toolBarTimeoutLabel->setText(tr("CONNECTION LOST: %1 s").arg((ms / 1000.0f), 2, 'f', 1, ' '));
    }
    else
    {
        // Check if loss text is present, reset once
        if (toolBarTimeoutLabel->text() != "")
        {
            toolBarTimeoutLabel->setText("");
            toolBarTimeoutLabel->setStyleSheet(QString(""));
        }
    }
}
lm's avatar
lm committed
85

86 87
void QGCToolBar::createUI()
{
88
    setStyleSheet("QToolBar {margin: 0px; border-bottom: 1px solid #484848; border-top: 1px solid #969696; background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 #8B8B8B, stop:0.3 #808080, stop:0.34 #747474, stop:1 #484848);}");
Lorenz Meier's avatar
Lorenz Meier committed
89

lm's avatar
lm committed
90 91 92 93
    // CREATE TOOLBAR ITEMS
    // Add internal actions
    // Add MAV widget
    symbolButton = new QToolButton(this);
Lorenz Meier's avatar
Lorenz Meier committed
94
    symbolButton->setStyleSheet("QWidget { margin-left: 10px; background-color: #050508; color: #DDDDDF; background-clip: border; }");
95
    addWidget(symbolButton);
96

LM's avatar
LM committed
97
    toolBarNameLabel = new QLabel("------", this);
98
    toolBarNameLabel->setToolTip(tr("Currently controlled vehicle"));
Lorenz Meier's avatar
Lorenz Meier committed
99
    toolBarNameLabel->setAlignment(Qt::AlignCenter);
100 101
    addWidget(toolBarNameLabel);

102 103
    toolBarTimeoutLabel = new QLabel("UNCONNECTED", this);
    toolBarTimeoutLabel->setToolTip(tr("System timed out, interval since last message"));
104
    toolBarTimeoutLabel->setStyleSheet(QString("QLabel { margin: 3px 2px; padding: 2px; padding-left: 4px; padding-right: 4px; font: 14px; color: %1; background-color: %2; border-radius: 4px;}").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
Lorenz Meier's avatar
Lorenz Meier committed
105
    toolBarTimeoutLabel->setAlignment(Qt::AlignCenter);
106 107
    addWidget(toolBarTimeoutLabel);

108
    toolBarSafetyLabel = new QLabel("SAFE", this);
109
    toolBarSafetyLabel->setStyleSheet("QLabel { margin: 3px 2px; padding: 2px; padding-left: 4px; padding-right: 4px; font: 14px; color: #14C814; }");
110
    toolBarSafetyLabel->setToolTip(tr("Vehicle safety state"));
Lorenz Meier's avatar
Lorenz Meier committed
111
    toolBarSafetyLabel->setAlignment(Qt::AlignCenter);
112 113
    addWidget(toolBarSafetyLabel);

LM's avatar
LM committed
114
    toolBarModeLabel = new QLabel("------", this);
Lorenz Meier's avatar
Lorenz Meier committed
115
    toolBarModeLabel->setStyleSheet("QLabel { margin: 3px 2px; font: 14px; color: #ACEBFE; }");
116
    toolBarModeLabel->setToolTip(tr("Vehicle mode"));
Lorenz Meier's avatar
Lorenz Meier committed
117
    toolBarModeLabel->setAlignment(Qt::AlignCenter);
118 119
    addWidget(toolBarModeLabel);

LM's avatar
LM committed
120
    toolBarStateLabel = new QLabel("------", this);
Lorenz Meier's avatar
Lorenz Meier committed
121
    toolBarStateLabel->setStyleSheet("QLabel { margin: 3px 2px; font: 14px; color: #FEC654; }");
122
    toolBarStateLabel->setToolTip(tr("Vehicle state"));
Lorenz Meier's avatar
Lorenz Meier committed
123
    toolBarStateLabel->setAlignment(Qt::AlignCenter);
124 125
    addWidget(toolBarStateLabel);

LM's avatar
LM committed
126
    toolBarBatteryBar = new QProgressBar(this);
Lorenz Meier's avatar
Lorenz Meier committed
127
    toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 14px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: green; }");
LM's avatar
LM committed
128 129
    toolBarBatteryBar->setMinimum(0);
    toolBarBatteryBar->setMaximum(100);
130
    toolBarBatteryBar->setMinimumWidth(20);
131
    toolBarBatteryBar->setMaximumWidth(100);
Lorenz Meier's avatar
Lorenz Meier committed
132
    toolBarBatteryBar->setValue(0);
lm's avatar
lm committed
133
    toolBarBatteryBar->setToolTip(tr("Battery charge level"));
134 135
    addWidget(toolBarBatteryBar);

136
    toolBarBatteryVoltageLabel = new QLabel("xx.x V");
137
    toolBarBatteryVoltageLabel->setStyleSheet(QString("QLabel { margin: 0px 0px 0px 4px; font: 14px; color: %1; }").arg(QColor(Qt::green).name()));
138
    toolBarBatteryVoltageLabel->setToolTip(tr("Battery voltage"));
Lorenz Meier's avatar
Lorenz Meier committed
139
    toolBarBatteryVoltageLabel->setAlignment(Qt::AlignCenter);
140
    addWidget(toolBarBatteryVoltageLabel);
141 142

    toolBarWpLabel = new QLabel("WP--", this);
Lorenz Meier's avatar
Lorenz Meier committed
143
    toolBarWpLabel->setStyleSheet("QLabel { margin: 3px 2px; font: 18px; color: #ACEBFE; }");
144
    toolBarWpLabel->setToolTip(tr("Current waypoint"));
Lorenz Meier's avatar
Lorenz Meier committed
145
    toolBarWpLabel->setAlignment(Qt::AlignCenter);
LM's avatar
LM committed
146
    addWidget(toolBarWpLabel);
147 148

    toolBarDistLabel = new QLabel("--- ---- m", this);
149
    toolBarDistLabel->setToolTip(tr("Distance to current waypoint"));
Lorenz Meier's avatar
Lorenz Meier committed
150
    toolBarDistLabel->setAlignment(Qt::AlignCenter);
LM's avatar
LM committed
151
    addWidget(toolBarDistLabel);
152

Lorenz Meier's avatar
Lorenz Meier committed
153
    toolBarMessageLabel = new QLabel("", this);
Lorenz Meier's avatar
Lorenz Meier committed
154
    toolBarMessageLabel->setStyleSheet("QLabel { margin: 3px 2px; font: 14px; color: #ACEBFE; }");
155
    toolBarMessageLabel->setToolTip(tr("Most recent system message"));
LM's avatar
LM committed
156
    addWidget(toolBarMessageLabel);
lm's avatar
lm committed
157

158 159
    QWidget* spacer = new QWidget();
    spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
160
    spacer->setStyleSheet("* { margin: 0px; background-color: transparent; min-height: 24px}");
161 162
    addWidget(spacer);

163 164
    connectButton = new QPushButton(tr("Connect"), this);
    connectButton->setToolTip(tr("Connect wireless link to MAV"));
165
    connectButton->setCheckable(true);
166
    connectButton->setStyleSheet("QPushButton { min-height: 24px; max-height: 24px; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #5AAA49, stop: 1 #106B38);  margin-left: 4px; margin-right: 4px; border-radius: 4px; border: 1px solid #085B35; } QPushButton:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #FF9000, stop: 1 #FFD450); color: #222222; border-color: #D1892A}");
167 168 169
    addWidget(connectButton);
    connect(connectButton, SIGNAL(clicked(bool)), this, SLOT(connectLink(bool)));

lm's avatar
lm committed
170 171
    // DONE INITIALIZING BUTTONS

172
    // Configure the toolbar for the current default UAS
173 174
    setActiveUAS(UASManager::instance()->getActiveUAS());
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
lm's avatar
lm committed
175

176 177 178 179
    if (LinkManager::instance()->getLinks().count() > 2)
        addLink(LinkManager::instance()->getLinks().last());
    // XXX implies that connect button is always active for the last used link
    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
180
    connect(LinkManager::instance(), SIGNAL(linkRemoved(LinkInterface*)), this, SLOT(removeLink(LinkInterface*)));
181 182 183 184 185 186

    // Update label if required
    if (LinkManager::instance()->getLinks().count() < 3) {
        connectButton->setText(tr("New Link"));
    }

187
    // Set the toolbar to be updated every 2s
lm's avatar
lm committed
188 189
    connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateViewTimer.start(2000);
190 191

    loadSettings();
Lorenz Meier's avatar
Lorenz Meier committed
192 193

    changed = false;
194 195
}

Lorenz Meier's avatar
Lorenz Meier committed
196
void QGCToolBar::setPerspectiveChangeActions(const QList<QAction*> &actions)
197
{
Lorenz Meier's avatar
Lorenz Meier committed
198 199
    if (actions.count() > 1)
    {
200
        group = new QButtonGroup(this);
Lorenz Meier's avatar
Lorenz Meier committed
201 202 203 204 205 206 207 208 209 210
        group->setExclusive(true);

        QToolButton *first = new QToolButton(this);
        // Add first button
        first->setIcon(actions.first()->icon());
        first->setText(actions.first()->text());
        first->setToolTip(actions.first()->toolTip());
        first->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
        first->setCheckable(true);
        connect(first, SIGNAL(clicked(bool)), actions.first(), SIGNAL(triggered(bool)));
211
        connect(actions.first(),SIGNAL(triggered(bool)),first,SLOT(setChecked(bool)));
212
        first->setStyleSheet("QToolButton { min-height: 24px; max-height: 24px; min-width: 60px; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A2A3A4, stop: 1 #B6B7B8); margin-left: 8px; margin-right: 0px; padding-left: 4px; padding-right: 8px; border-radius: 0px; border : 0px solid blue; border-bottom-left-radius: 6px; border-top-left-radius: 6px; border-left: 1px solid #484848; border-top: 1px solid #484848; border-bottom: 1px solid #484848; } QToolButton:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555555, stop: 1 #787878); color: #DDDDDD; }");
Lorenz Meier's avatar
Lorenz Meier committed
213 214 215
        addWidget(first);
        group->addButton(first);

216
        for (int i = 1; i < actions.count(); i++)
Lorenz Meier's avatar
Lorenz Meier committed
217 218 219 220 221 222 223 224 225 226
        {
            // Add last button
            QToolButton *btn = new QToolButton(this);
            // Add first button
            btn->setIcon(actions.at(i)->icon());
            btn->setText(actions.at(i)->text());
            btn->setToolTip(actions.at(i)->toolTip());
            btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
            btn->setCheckable(true);
            connect(btn, SIGNAL(clicked(bool)), actions.at(i), SIGNAL(triggered(bool)));
227
            connect(actions.at(i),SIGNAL(triggered(bool)),btn,SLOT(setChecked(bool)));
228
            btn->setStyleSheet("QToolButton { min-height: 24px; max-height: 24px; min-width: 60px; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A2A3A4, stop: 1 #B6B7B8);  margin-left: -2px; margin-right: -2px; padding-left: 0px; padding-right: 0px; border-radius: 0px; border-top: 1px solid #484848; border-bottom: 1px solid #484848; } QToolButton:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555555, stop: 1 #787878); color: #DDDDDD; }");
Lorenz Meier's avatar
Lorenz Meier committed
229 230 231 232 233
            addWidget(btn);
            group->addButton(btn);
        }

        // Add last button
234
        advancedButton = new QPushButton(this);
Lorenz Meier's avatar
Lorenz Meier committed
235
        // Add first button
236 237 238 239
        advancedButton->setIcon(QIcon(":/files/images/apps/utilities-system-monitor.svg"));
        advancedButton->setText(tr("Pro"));
        advancedButton->setToolTip(tr("Options for advanced users"));
        advancedButton->setCheckable(true);
240
        advancedButton->setStyleSheet("QPushButton { min-height: 24px; max-height: 24px; min-width: 60px; font-weight: bold; text-align: left; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A2A3A4, stop: 1 #B6B7B8);  margin-left: 0px; margin-right: 13px; padding-left: 4px; padding-right: 8px; border-radius: 0px; border : 0px solid blue; border-bottom-right-radius: 6px; border-top-right-radius: 6px; border-right: 1px solid #484848; border-top: 1px solid #484848; border-bottom: 1px solid #484848; } QPushButton:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555555, stop: 1 #787878); color: #DDDDDD; }");
241 242
        addWidget(advancedButton);
        group->addButton(advancedButton);
243
    } else {
Lorenz Meier's avatar
Lorenz Meier committed
244
        qDebug() << __FILE__ << __LINE__ << "Not enough perspective change actions provided";
245
    }
Lorenz Meier's avatar
Lorenz Meier committed
246 247 248

    // Add the "rest"
    createUI();
249 250
}

251 252 253 254 255 256 257 258 259 260 261 262
void QGCToolBar::setPerspectiveChangeAdvancedActions(const QList<QAction*> &actions)
{
    if (actions.count() > 1)
    {
        QMenu *menu = new QMenu(advancedButton);

        for (int i = 0; i < actions.count(); i++)
        {

            menu->addAction(actions.at(i));
        }

263
        menu->setStyleSheet("QMenu { font-weight: bold; min-width: 70px; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A2A3A4, stop: 1 #B6B7B8); border: 1px solid #484848; } QMenu::item:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555555, stop: 1 #787878); color: #DDDDDD; }");
264 265

        advancedButton->setMenu(menu);
266
        connect(menu, SIGNAL(triggered(QAction*)), this, SLOT(advancedActivityTriggered(QAction*)));
267 268 269 270 271 272

    } else {
        qDebug() << __FILE__ << __LINE__ << "Not enough perspective change actions provided";
    }
}

273 274 275 276 277 278
void QGCToolBar::advancedActivityTriggered(QAction* action)
{
    if (action->isChecked())
        advancedButton->setChecked(true);
}

279 280 281 282 283 284 285 286 287 288 289 290
void QGCToolBar::setActiveUAS(UASInterface* active)
{
    // Do nothing if system is the same or NULL
    if ((active == NULL) || mav == active) return;

    if (mav)
    {
        // Disconnect old system
        disconnect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
        disconnect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
        disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
        disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
LM's avatar
LM committed
291
        disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
dongfang's avatar
dongfang committed
292
        disconnect(mav, SIGNAL(batteryChanged(UASInterface*, double, double, double,int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int)));
293
        disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
294
        disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
295
        disconnect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
296 297
        if (mav->getWaypointManager())
        {
298
            disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
299 300
            disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
        }
301 302 303 304 305 306 307 308
    }

    // Connect new system
    mav = active;
    connect(active, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
    connect(active, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
    connect(active, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
    connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
LM's avatar
LM committed
309
    connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
dongfang's avatar
dongfang committed
310
    connect(active, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int)));
311
    connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
312
    connect(active, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
313
    connect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
314 315 316 317 318
    if (active->getWaypointManager())
    {
        connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
        connect(active->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
    }
319 320

    // Update all values once
321
    systemName = mav->getUASName();
322
    systemArmed = mav->isArmed();
LM's avatar
LM committed
323 324
    toolBarNameLabel->setText(mav->getUASName());
    toolBarNameLabel->setStyleSheet(QString("QLabel { font: bold 16px; color: %1; }").arg(mav->getColor().name()));
Lorenz Meier's avatar
Lorenz Meier committed
325
    symbolButton->setStyleSheet(QString("QWidget { background-color: %1; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 14px; border: 0px solid #484848; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 4px 0px 20px; background-color: none; }").arg(mav->getColor().name()));
LM's avatar
LM committed
326 327
    toolBarModeLabel->setText(mav->getShortMode());
    toolBarStateLabel->setText(mav->getShortState());
328 329
    toolBarTimeoutLabel->setStyleSheet(QString(""));
    toolBarTimeoutLabel->setText("");
330
    toolBarDistLabel->setText("");
331 332 333 334 335 336 337 338
    setSystemType(mav, mav->getSystemType());
}

void QGCToolBar::createCustomWidgets()
{

}

339 340 341 342
void QGCToolBar::updateArmingState(bool armed)
{
    systemArmed = armed;
    changed = true;
Lorenz Meier's avatar
Lorenz Meier committed
343 344
    /* important, immediately update */
    updateView();
345 346
}

lm's avatar
lm committed
347 348 349
void QGCToolBar::updateView()
{
    if (!changed) return;
350 351 352
    //toolBarDistLabel->setText(tr("%1 m").arg(wpDistance, 6, 'f', 2, '0'));
    // XXX add also rel altitude
    toolBarDistLabel->setText(QString("%1 m MSL").arg(altitudeMSL, 6, 'f', 2, '0'));
lm's avatar
lm committed
353 354
    toolBarWpLabel->setText(tr("WP%1").arg(wpId));
    toolBarBatteryBar->setValue(batteryPercent);
Lorenz Meier's avatar
Lorenz Meier committed
355 356 357 358 359 360
    if (batteryPercent < 30 && toolBarBatteryBar->value() >= 30) {
        toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 14px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: yellow; }");
    } else if (batteryPercent >= 30 && toolBarBatteryBar->value() < 30){
        toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 14px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: green; }");
    }

lm's avatar
lm committed
361 362 363 364
    toolBarBatteryVoltageLabel->setText(tr("%1 V").arg(batteryVoltage, 4, 'f', 1, ' '));
    toolBarStateLabel->setText(tr("%1").arg(state));
    toolBarModeLabel->setText(tr("%1").arg(mode));
    toolBarNameLabel->setText(systemName);
365 366
    // expire after 15 seconds
    if (QGC::groundTimeMilliseconds() - lastSystemMessageTimeMs < 15000) {
Lorenz Meier's avatar
Lorenz Meier committed
367
        toolBarMessageLabel->setText(tr("%1").arg(lastSystemMessage));
368
    } else {
Lorenz Meier's avatar
Lorenz Meier committed
369
        toolBarMessageLabel->setText(tr("%1").arg(""));
370
    }
371 372 373

    if (systemArmed)
    {
374
        toolBarSafetyLabel->setStyleSheet(QString("QLabel { margin: 3px 2px; padding: 2px; padding-left: 4px; padding-right: 4px; font: 14px; color: %1; background-color: %2; border-radius: 4px;}").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name()));
375 376 377 378
        toolBarSafetyLabel->setText(tr("ARMED"));
    }
    else
    {
379
        toolBarSafetyLabel->setStyleSheet("QLabel { margin: 3px 2px; padding: 2px; padding-left: 4px; padding-right: 4px; font: 14px; color: #14C814; }");
380 381 382
        toolBarSafetyLabel->setText(tr("SAFE"));
    }

lm's avatar
lm committed
383
    changed = false;
lm's avatar
lm committed
384 385
}

386 387
void QGCToolBar::updateWaypointDistance(double distance)
{
lm's avatar
lm committed
388 389
    if (wpDistance != distance) changed = true;
    wpDistance = distance;
390 391 392 393
}

void QGCToolBar::updateCurrentWaypoint(quint16 id)
{
lm's avatar
lm committed
394
    if (wpId != id) changed = true;
lm's avatar
lm committed
395
    wpId = id;
396 397
}

dongfang's avatar
dongfang committed
398
void QGCToolBar::updateBatteryRemaining(UASInterface* uas, double voltage, double current, double percent, int seconds)
LM's avatar
LM committed
399
{
400 401
    Q_UNUSED(uas);
    Q_UNUSED(seconds);
lm's avatar
lm committed
402
    if (batteryPercent != percent || batteryVoltage != voltage) changed = true;
lm's avatar
lm committed
403 404
    batteryPercent = percent;
    batteryVoltage = voltage;
LM's avatar
LM committed
405 406
}

407 408 409 410
void QGCToolBar::updateState(UASInterface* system, QString name, QString description)
{
    Q_UNUSED(system);
    Q_UNUSED(description);
lm's avatar
lm committed
411
    if (state != name) changed = true;
lm's avatar
lm committed
412
    state = name;
Lorenz Meier's avatar
Lorenz Meier committed
413 414
    /* important, immediately update */
    updateView();
415 416 417 418 419 420
}

void QGCToolBar::updateMode(int system, QString name, QString description)
{
    Q_UNUSED(system);
    Q_UNUSED(description);
lm's avatar
lm committed
421 422
    if (mode != name) changed = true;
    mode = name;
Lorenz Meier's avatar
Lorenz Meier committed
423 424
    /* important, immediately update */
    updateView();
425 426 427 428
}

void QGCToolBar::updateName(const QString& name)
{
Lorenz Meier's avatar
Lorenz Meier committed
429 430 431 432
    if (systemName != name)
    {
        changed = true;
    }
lm's avatar
lm committed
433
    systemName = name;
434 435 436 437 438 439 440 441 442 443 444 445 446 447
}

/**
 * The current system type is represented through the system icon.
 *
 * @param uas Source system, has to be the same as this->uas
 * @param systemType type ID, following the MAVLink system type conventions
 * @see http://pixhawk.ethz.ch/software/mavlink
 */
void QGCToolBar::setSystemType(UASInterface* uas, unsigned int systemType)
{
    Q_UNUSED(uas);
        // Set matching icon
        switch (systemType) {
448
        case MAV_TYPE_GENERIC:
449
            symbolButton->setIcon(QIcon(":/files/images/mavs/generic.svg"));
450
            break;
451
        case MAV_TYPE_FIXED_WING:
452
            symbolButton->setIcon(QIcon(":/files/images/mavs/fixed-wing.svg"));
453
            break;
454
        case MAV_TYPE_QUADROTOR:
455
            symbolButton->setIcon(QIcon(":/files/images/mavs/quadrotor.svg"));
456
            break;
457
        case MAV_TYPE_COAXIAL:
458
            symbolButton->setIcon(QIcon(":/files/images/mavs/coaxial.svg"));
459
            break;
460
        case MAV_TYPE_HELICOPTER:
461
            symbolButton->setIcon(QIcon(":/files/images/mavs/helicopter.svg"));
462
            break;
463
        case MAV_TYPE_ANTENNA_TRACKER:
barthess's avatar
barthess committed
464
            symbolButton->setIcon(QIcon(":/files/images/mavs/antenna-tracker.svg"));
465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500
            break;
        case MAV_TYPE_GCS:
            symbolButton->setIcon(QIcon(":files/images/mavs/groundstation.svg"));
            break;
        case MAV_TYPE_AIRSHIP:
            symbolButton->setIcon(QIcon(":files/images/mavs/airship.svg"));
            break;
        case MAV_TYPE_FREE_BALLOON:
            symbolButton->setIcon(QIcon(":files/images/mavs/free-balloon.svg"));
            break;
        case MAV_TYPE_ROCKET:
            symbolButton->setIcon(QIcon(":files/images/mavs/rocket.svg"));
            break;
        case MAV_TYPE_GROUND_ROVER:
            symbolButton->setIcon(QIcon(":files/images/mavs/ground-rover.svg"));
            break;
        case MAV_TYPE_SURFACE_BOAT:
            symbolButton->setIcon(QIcon(":files/images/mavs/surface-boat.svg"));
            break;
        case MAV_TYPE_SUBMARINE:
            symbolButton->setIcon(QIcon(":files/images/mavs/submarine.svg"));
            break;
        case MAV_TYPE_HEXAROTOR:
            symbolButton->setIcon(QIcon(":files/images/mavs/hexarotor.svg"));
            break;
        case MAV_TYPE_OCTOROTOR:
            symbolButton->setIcon(QIcon(":files/images/mavs/octorotor.svg"));
            break;
        case MAV_TYPE_TRICOPTER:
            symbolButton->setIcon(QIcon(":files/images/mavs/tricopter.svg"));
            break;
        case MAV_TYPE_FLAPPING_WING:
            symbolButton->setIcon(QIcon(":files/images/mavs/flapping-wing.svg"));
            break;
        case MAV_TYPE_KITE:
            symbolButton->setIcon(QIcon(":files/images/mavs/kite.svg"));
501 502
            break;
        default:
503
            symbolButton->setIcon(QIcon(":/files/images/mavs/unknown.svg"));
504 505 506 507
            break;
        }
}

LM's avatar
LM committed
508 509 510 511 512
void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QString text)
{
    Q_UNUSED(uasid);
    Q_UNUSED(componentid);
    Q_UNUSED(severity);
lm's avatar
lm committed
513
    if (lastSystemMessage != text) changed = true;
lm's avatar
lm committed
514
    lastSystemMessage = text;
515
    lastSystemMessageTimeMs = QGC::groundTimeMilliseconds();
LM's avatar
LM committed
516 517
}

518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543
void QGCToolBar::addLink(LinkInterface* link)
{
    // XXX magic number
    if (LinkManager::instance()->getLinks().count() > 2) {
        currentLink = link;
        connect(currentLink, SIGNAL(connected(bool)), this, SLOT(updateLinkState(bool)));
        updateLinkState(link->isConnected());
    }
}

void QGCToolBar::removeLink(LinkInterface* link)
{
    if (link == currentLink) {
        currentLink = NULL;
        // XXX magic number
        if (LinkManager::instance()->getLinks().count() > 2) {
            currentLink = LinkManager::instance()->getLinks().last();
            updateLinkState(currentLink->isConnected());
        } else {
            connectButton->setText(tr("New Link"));
        }
    }
}

void QGCToolBar::updateLinkState(bool connected)
{
544
    Q_UNUSED(connected);
545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560
    if (currentLink && currentLink->isConnected())
    {
        connectButton->setText(tr("Disconnect"));
        connectButton->blockSignals(true);
        connectButton->setChecked(true);
        connectButton->blockSignals(false);
    }
    else
    {
        connectButton->setText(tr("Connect"));
        connectButton->blockSignals(true);
        connectButton->setChecked(false);
        connectButton->blockSignals(false);
    }
}

561 562
void QGCToolBar::connectLink(bool connect)
{
563 564
    // No serial port yet present
    // XXX magic number
565 566 567 568 569 570 571 572 573 574
    if (connect && LinkManager::instance()->getLinks().count() < 3)
    {
        MainWindow::instance()->addLink();
    } else if (connect) {
        LinkManager::instance()->getLinks().last()->connect();
    } else if (!connect && LinkManager::instance()->getLinks().count() > 2) {
        LinkManager::instance()->getLinks().last()->disconnect();
    }
}

575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590

void QGCToolBar::loadSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_TOOLBAR");
    settings.endGroup();
}

void QGCToolBar::storeSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_TOOLBAR");
    settings.endGroup();
    settings.sync();
}

591 592
void QGCToolBar::clearStatusString()
{
Lorenz Meier's avatar
Lorenz Meier committed
593 594 595 596 597
    if (toolBarMessageLabel->text().length() > 0)
    {
        lastSystemMessage = "";
        changed = true;
    }
598 599
}

600 601
QGCToolBar::~QGCToolBar()
{
602
    storeSettings();
603
}