UASView.h 5.31 KB
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/*=====================================================================

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QGroundControl Open Source Ground Control Station
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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    QGROUNDCONTROL is free software: you can redistribute it and/or modify
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    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

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    QGROUNDCONTROL is distributed in the hope that it will be useful,
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    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
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    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/

/**
 * @file
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 *   @brief Definition of class UASView
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 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef UASVIEW_H
#define UASVIEW_H

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#include <QWidget>
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#include <QString>
#include <QTimer>
#include <QMouseEvent>
#include <UASInterface.h>

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namespace Ui
{
class UASView;
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}

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class UASView : public QWidget
{
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    Q_OBJECT
public:
    UASView(UASInterface* uas, QWidget *parent = 0);
    ~UASView();
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    UASInterface* uas;
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public slots:
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    /** @brief Update the name of the system */
    void updateName(const QString& name);
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    void receiveHeartbeat(UASInterface* uas);
    void updateThrust(UASInterface* uas, double thrust);
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    void updateBattery(UASInterface* uas, double voltage, double current, double percent, int seconds);
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    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
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    void updateGlobalPosition(UASInterface*, double lon, double lat, double altAMSL, double altWGS84, quint64 usec);
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    void updateSpeed(UASInterface*, double x, double y, double z, quint64 usec);
    void updateState(UASInterface*, QString uasState, QString stateDescription);
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    /** @brief Update the MAV mode */
    void updateMode(int sysId, QString status, QString description);
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    void updateLoad(UASInterface* uas, double load);
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    //void receiveValue(int uasid, QString id, double value, quint64 time);
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    /**
     * Request that the UASManager deletes this UAS. This doesn't delete this widget
     * yet, it waits for the approprait uasDeleted signal.
     */
    void triggerUASDeletion();
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    void refresh();
    /** @brief Receive new waypoint information */
    void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
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    /** @brief Update the current active waypoint */
    void currentWaypointUpdated(quint16 waypoint);
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    /** @brief Set waypoint as current target */
    void selectWaypoint(int uasId, int id);
    /** @brief Set the current system type */
    void setSystemType(UASInterface* uas, unsigned int systemType);
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    /** @brief Set the current UAS as the globally active system */
    void setUASasActive(bool);
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    /** @brief Update the view if an UAS has been set to active */
    void updateActiveUAS(UASInterface* uas, bool active);
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    /** @brief Set the widget into critical mode */
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    void heartbeatTimeout(bool timeout, unsigned int ms);
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    /** @brief Bring up the dialog to rename the system */
    void rename();
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    /** @brief Select airframe for this vehicle */
    void selectAirframe();
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    /** @brief Select the battery type */
    void setBatterySpecs();
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    /** @brief Show a status text message */
    void showStatusText(int uasid, int componentid, int severity, QString text);
    /** @brief Update the navigation mode state */
    void updateNavMode(int uasid, int mode, const QString& text);
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protected:
    void changeEvent(QEvent *e);
    QTimer* refreshTimer;
    QColor heartbeatColor;
    quint64 startTime;
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    bool timeout;
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    bool iconIsRed;
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    bool disconnected;
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    int timeRemaining;
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    float chargeLevel;
    float load;
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    QString state;
    QString stateDesc;
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    QString mode;
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    double thrust; ///< Current vehicle thrust: 0 - 1.0 for 100% thrust
    bool isActive; ///< Is this MAV selected by the user?
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    float x;
    float y;
    float z;
    float totalSpeed;
    float lat;
    float lon;
    float alt;
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    float groundDistance;
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    bool localFrame;
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    bool globalFrameKnown;
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    QAction* removeAction;
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    QAction* renameAction;
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    QAction* selectAction;
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    QAction* hilAction;
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    QAction* hilXAction;
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    QAction* selectAirframeAction;
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    QAction* setBatterySpecsAction;
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    static const int updateInterval = 800;
    static const int errorUpdateInterval = 200;
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    bool lowPowerModeEnabled; ///< Low power mode reduces update rates
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    unsigned int generalUpdateCount; ///< Skip counter for updates
    double filterTime; ///< Filter time estimate of battery
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    /**
     * If a user double-clicks on this view, set the active UAS to this one.
     */
    void mouseDoubleClickEvent(QMouseEvent *event);
    /**
     * Right-clicking on the view provides a custom menu for interacting
     * with the UAS.
     */
    void contextMenuEvent(QContextMenuEvent *event);
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private:
    Ui::UASView *m_ui;

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    /**
     * Implement paintEvent() so that stylesheets work for our custom widget.
     */
    virtual void paintEvent(QPaintEvent *event);
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};

#endif // UASVIEW_H