UASView.cc 14 KB
Newer Older
pixhawk's avatar
pixhawk committed
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
/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

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

/**
 * @file
pixhawk's avatar
pixhawk committed
26
 *   @brief Implementation of one airstrip
pixhawk's avatar
pixhawk committed
27 28 29 30 31 32 33 34 35 36 37 38
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <cmath>
#include <QDateTime>
#include <QDebug>

#include "MG.h"
#include "UASManager.h"
#include "UASView.h"
39
#include "UASWaypointManager.h"
pixhawk's avatar
pixhawk committed
40 41 42 43
#include "ui_UASView.h"

UASView::UASView(UASInterface* uas, QWidget *parent) :
        QWidget(parent),
44
        startTime(0),
pixhawk's avatar
pixhawk committed
45
        timeRemaining(0),
46 47 48
        chargeLevel(0),
        uas(uas),
        load(0),
pixhawk's avatar
pixhawk committed
49 50
        state("UNKNOWN"),
        stateDesc(tr("Unknown system state")),
pixhawk's avatar
pixhawk committed
51 52
        mode("MAV_MODE_UNKNOWN"),
        thrust(0),
53
        isActive(false),
54 55 56 57 58 59 60 61
        x(0),
        y(0),
        z(0),
        totalSpeed(0),
        lat(0),
        lon(0),
        alt(0),
        groundDistance(0),
pixhawk's avatar
pixhawk committed
62 63 64 65 66
        m_ui(new Ui::UASView)
{
    m_ui->setupUi(this);

    // Setup communication
pixhawk's avatar
pixhawk committed
67
    //connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(receiveValue(int,QString,double,quint64)));
pixhawk's avatar
pixhawk committed
68 69 70 71 72 73 74
    connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
    connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
    connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
    connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
    connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
    connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
pixhawk's avatar
pixhawk committed
75
    connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
pixhawk's avatar
pixhawk committed
76 77 78
    connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
    //connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
    connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
79
    connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
pixhawk's avatar
pixhawk committed
80
    connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
81
    connect(UASManager::instance(), SIGNAL(activeUASStatusChanged(UASInterface*,bool)), this, SLOT(updateActiveUAS(UASInterface*,bool)));
pixhawk's avatar
pixhawk committed
82 83

    // Setup UAS selection
84
    connect(m_ui->uasViewFrame, SIGNAL(clicked(bool)), this, SLOT(setUASasActive(bool)));
pixhawk's avatar
pixhawk committed
85 86 87 88 89

    // Setup user interaction
    connect(m_ui->liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
    connect(m_ui->haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
    connect(m_ui->continueButton, SIGNAL(clicked()), uas, SLOT(go()));
pixhawk's avatar
pixhawk committed
90 91
    connect(m_ui->landButton, SIGNAL(clicked()), uas, SLOT(home()));
    connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
pixhawk's avatar
pixhawk committed
92 93 94 95 96 97 98 99 100 101 102 103 104 105 106
    connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
    connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));

    // Set static values

    // Name
    if (uas->getUASName() == "")
    {
        m_ui->nameLabel->setText(tr("UAS") + QString::number(uas->getUASID()));
    }
    else
    {
        m_ui->nameLabel->setText(uas->getUASName());
    }

107
    setBackgroundColor();
pixhawk's avatar
pixhawk committed
108 109 110 111

    // Heartbeat fade
    refreshTimer = new QTimer(this);
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
112
    refreshTimer->start(updateInterval);
pixhawk's avatar
pixhawk committed
113 114 115 116 117 118 119
}

UASView::~UASView()
{
    delete m_ui;
}

120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144
/**
 * Set the background color based on the MAV color. If the MAV is selected as the
 * currently actively controlled system, the frame color is highlighted
 */
void UASView::setBackgroundColor()
{
    // UAS color
    QColor uasColor = uas->getColor();
    QString colorstyle;
    QString borderColor = "#4A4A4F";
    if (isActive)
    {
        borderColor = "#FA4A4F";
        uasColor = uasColor.darker(475);
    }
    else
    {
        uasColor = uasColor.darker(675);
    }
    colorstyle = colorstyle.sprintf("QGroupBox { border-radius: 5px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X; border: 2px solid %s; }",
                                    uasColor.red(), uasColor.green(), uasColor.blue(), borderColor.toStdString().c_str());
    m_ui->uasViewFrame->setStyleSheet(colorstyle);
}

void UASView::setUASasActive(bool active)
pixhawk's avatar
pixhawk committed
145
{
146 147 148 149 150 151 152 153 154 155 156 157 158
    if (active)
    {
        UASManager::instance()->setActiveUAS(this->uas);
    }
}

void UASView::updateActiveUAS(UASInterface* uas, bool active)
{
    if (uas == this->uas)
    {
        this->isActive = active;
        setBackgroundColor();
    }
pixhawk's avatar
pixhawk committed
159 160
}

pixhawk's avatar
pixhawk committed
161 162
void UASView::updateMode(int sysId, QString status, QString description)
{
163
    Q_UNUSED(description);
pixhawk's avatar
pixhawk committed
164 165 166
    if (sysId == this->uas->getUASID()) m_ui->modeLabel->setText(status);
}

pixhawk's avatar
pixhawk committed
167 168
void UASView::mouseDoubleClickEvent (QMouseEvent * event)
{
169
    Q_UNUSED(event);
pixhawk's avatar
pixhawk committed
170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196
    UASManager::instance()->setActiveUAS(uas);
    qDebug() << __FILE__ << __LINE__ << "DOUBLECLICKED";
}

void UASView::enterEvent(QEvent* event)
{
    if (event->MouseMove) emit uasInFocus(uas);
    qDebug() << __FILE__ << __LINE__ << "IN FOCUS";
}

void UASView::leaveEvent(QEvent* event)
{
    if (event->MouseMove) emit uasOutFocus(uas);
    qDebug() << __FILE__ << __LINE__ << "OUT OF FOCUS";
}

void UASView::receiveHeartbeat(UASInterface* uas)
{
    if (uas == this->uas)
    {
        refreshTimer->stop();
        QString colorstyle;
        heartbeatColor = QColor(20, 200, 20);
        colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
                                        heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
        m_ui->heartbeatIcon->setStyleSheet(colorstyle);
        m_ui->heartbeatIcon->setAutoFillBackground(true);
pixhawk's avatar
pixhawk committed
197
        refreshTimer->stop();
198
        refreshTimer->start(updateInterval);
pixhawk's avatar
pixhawk committed
199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242
    }
}

/**
 * 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 UASView::setSystemType(UASInterface* uas, unsigned int systemType)
{
    if (uas == this->uas)
    {
        // Set matching icon
        switch (systemType)
        {
        case 0:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/generic.svg"));
            break;
        case 1:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/fixed-wing.svg"));
            break;
        case 2:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/quadrotor.svg"));
            break;
        case 3:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/coaxial.svg"));
            break;
        case 4:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/helicopter.svg"));
            break;
        case 5:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
            break;
        default:
            m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
            break;
        }
    }
}

void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec)
{
243
    Q_UNUSED(usec);
pixhawk's avatar
pixhawk committed
244 245
    if (uas == this->uas)
    {
pixhawk's avatar
pixhawk committed
246 247 248
        this->x = x;
        this->y = y;
        this->z = z;
pixhawk's avatar
pixhawk committed
249 250 251
    }
}

252
void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
pixhawk's avatar
pixhawk committed
253
{
254 255
    Q_UNUSED(uas);
    Q_UNUSED(usec);
pixhawk's avatar
pixhawk committed
256 257 258
    this->lon = lon;
    this->lat = lat;
    this->alt = alt;
pixhawk's avatar
pixhawk committed
259 260 261 262
}

void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 usec)
{
263
    Q_UNUSED(usec);
pixhawk's avatar
pixhawk committed
264
    totalSpeed = sqrt((pow(x, 2) + pow(y, 2) + pow(z, 2)));
pixhawk's avatar
pixhawk committed
265 266
}

267 268 269 270 271
void UASView::currentWaypointUpdated(quint16 waypoint)
{
    m_ui->waypointLabel->setText(tr("WP") + QString::number(waypoint));
}

pixhawk's avatar
pixhawk committed
272 273
void UASView::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
{
274 275 276 277 278
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
    Q_UNUSED(autocontinue);
pixhawk's avatar
pixhawk committed
279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299
    if (uasId == this->uas->getUASID())
    {
        if (current)
        {
            m_ui->waypointLabel->setText(tr("WP") + QString::number(id));
        }
    }
}

void UASView::selectWaypoint(int uasId, int id)
{
    if (uasId == this->uas->getUASID())
    {
        m_ui->waypointLabel->setText(tr("WP") + QString::number(id));
    }
}

void UASView::updateThrust(UASInterface* uas, double thrust)
{
    if (this->uas == uas)
    {
pixhawk's avatar
pixhawk committed
300
        this->thrust = thrust;
pixhawk's avatar
pixhawk committed
301 302 303 304 305
    }
}

void UASView::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
306
    Q_UNUSED(voltage);
pixhawk's avatar
pixhawk committed
307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332
    if (this->uas == uas)
    {
        timeRemaining = seconds;
        chargeLevel = percent;
    }
}

void UASView::updateState(UASInterface* uas, QString uasState, QString stateDescription)
{
    if (this->uas == uas)
    {
        state = uasState;
        stateDesc = stateDescription;
    }
}

void UASView::updateLoad(UASInterface* uas, double load)
{
    if (this->uas == uas)
    {
        this->load = load;
    }
}

void UASView::refresh()
{
333
    //setUpdatesEnabled(false);
334 335
    //setUpdatesEnabled(true);
    //repaint();
336 337 338 339 340 341 342 343 344 345 346 347

    static quint64 lastupdate = 0;
    qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
    lastupdate = MG::TIME::getGroundTimeNow();

    // FIXME
    static int generalUpdateCount = 0;

    if (generalUpdateCount == 4)
    {
        generalUpdateCount = 0;
        qDebug() << "UPDATING EVERYTHING";
pixhawk's avatar
pixhawk committed
348 349 350 351 352 353
    // State
    m_ui->stateLabel->setText(state);
    m_ui->statusTextLabel->setText(stateDesc);

    // Battery
    m_ui->batteryBar->setValue(static_cast<int>(this->chargeLevel));
pixhawk's avatar
pixhawk committed
354 355
    //m_ui->loadBar->setValue(static_cast<int>(this->load));
    m_ui->thrustBar->setValue(this->thrust);
pixhawk's avatar
pixhawk committed
356

pixhawk's avatar
pixhawk committed
357
    // Position
358
    QString position;
pixhawk's avatar
pixhawk committed
359 360 361
    position = position.sprintf("%02.2f %02.2f %02.2f m", x, y, z);
    m_ui->positionLabel->setText(position);
    QString globalPosition;
362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380
    QString latIndicator;
    if (lat > 0)
    {
        latIndicator = "N";
    }
    else
    {
        latIndicator = "S";
    }
    QString lonIndicator;
    if (lon > 0)
    {
        lonIndicator = "E";
    }
    else
    {
        lonIndicator = "W";
    }
    globalPosition = globalPosition.sprintf("%02.2f%s %02.2f%s %02.2f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
pixhawk's avatar
pixhawk committed
381 382
    m_ui->gpsLabel->setText(globalPosition);

383 384 385 386 387 388 389 390 391 392
    // Altitude
    if (groundDistance == 0 && alt != 0)
    {
        m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt));
    }
    else
    {
        m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance));
    }

pixhawk's avatar
pixhawk committed
393
    // Speed
394
    QString speed;
pixhawk's avatar
pixhawk committed
395 396 397 398 399 400
    speed = speed.sprintf("%02.2f m/s", totalSpeed);
    m_ui->speedLabel->setText(speed);

    // Thrust
    m_ui->thrustBar->setValue(thrust * 100);

pixhawk's avatar
pixhawk committed
401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428
    if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
    {
        // Filter output to get a higher stability
        static double filterTime = static_cast<int>(this->timeRemaining);
        filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
        int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60);
        int min = static_cast<int>(filterTime / 60);
        int hours = static_cast<int>(filterTime - min * 60 - sec);

        QString timeText;
        timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
        m_ui->timeRemainingLabel->setText(timeText);
    }
    else
    {
        m_ui->timeRemainingLabel->setText(tr("Calculating"));
    }

    // Time Elapsed
    //QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());

    quint64 filterTime = uas->getUptime() / 1000;
    int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60);
    int min = static_cast<int>(filterTime / 60);
    int hours = static_cast<int>(filterTime - min * 60 - sec);
    QString timeText;
    timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
    m_ui->timeElapsedLabel->setText(timeText);
429 430
}
    generalUpdateCount++;
pixhawk's avatar
pixhawk committed
431 432 433 434 435 436 437 438 439 440

    // Fade heartbeat icon
    // Make color darker
    heartbeatColor = heartbeatColor.darker(110);

    QString colorstyle;
    colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
                                    heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
    m_ui->heartbeatIcon->setStyleSheet(colorstyle);
    m_ui->heartbeatIcon->setAutoFillBackground(true);
441
    //setUpdatesEnabled(true);
442 443

    //setUpdatesEnabled(false);
pixhawk's avatar
pixhawk committed
444 445 446 447 448 449 450 451 452 453 454 455 456
}

void UASView::changeEvent(QEvent *e)
{
    QWidget::changeEvent(e);
    switch (e->type()) {
    case QEvent::LanguageChange:
        m_ui->retranslateUi(this);
        break;
    default:
        break;
    }
}