Merge pull request #5296 from mavlink/rtk_status

[WIP] First stab at GPS RTK indicator

qgroundcontrol.pro

@@ -812,6 +812,7 @@ HEADERS+= \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/Vehicle/MultiVehicleManager.h \
+    src/Vehicle/GPSRTKFactGroup.h \
     src/Vehicle/Vehicle.h \
     src/VehicleSetup/VehicleComponent.h \
 
@@ -836,6 +837,7 @@ SOURCES += \
     src/FirmwarePlugin/FirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/Vehicle/MultiVehicleManager.cc \
+    src/Vehicle/GPSRTKFactGroup.cc \
     src/Vehicle/Vehicle.cc \
     src/VehicleSetup/VehicleComponent.cc \
 

qgroundcontrol.qrc

@@ -6,6 +6,7 @@
         <file alias="ArmedIndicator.qml">src/ui/toolbar/ArmedIndicator.qml</file>
         <file alias="BatteryIndicator.qml">src/ui/toolbar/BatteryIndicator.qml</file>
         <file alias="GPSIndicator.qml">src/ui/toolbar/GPSIndicator.qml</file>
+        <file alias="GPSRTKIndicator.qml">src/ui/toolbar/GPSRTKIndicator.qml</file>
         <file alias="MessageIndicator.qml">src/ui/toolbar/MessageIndicator.qml</file>
         <file alias="ModeIndicator.qml">src/ui/toolbar/ModeIndicator.qml</file>
         <file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
@@ -210,6 +211,7 @@
         <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
         <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
         <file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
+        <file alias="Vehicle/GPSRTKFact.json">src/Vehicle/GPSRTKFact.json</file>
         <file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
         <file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
         <file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -334,6 +334,7 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")));
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ModeIndicator.qml")));
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ArmedIndicator.qml")));
+        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSRTKIndicator.qml")));
     }
     return _toolBarIndicatorList;
 }

src/GPS/GPSManager.cc

@@ -43,7 +43,10 @@ void GPSManager::connectGPS(const QString& device)
     //test: connect to position update
     connect(_gpsProvider, &GPSProvider::positionUpdate, this, &GPSManager::GPSPositionUpdate);
     connect(_gpsProvider, &GPSProvider::satelliteInfoUpdate, this, &GPSManager::GPSSatelliteUpdate);
+    connect(_gpsProvider, &GPSProvider::finished, this, &GPSManager::onDisconnect);
+    connect(_gpsProvider, &GPSProvider::surveyInStatus, this, &GPSManager::surveyInStatus);
 
+    emit onConnect();
 }
 
 void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
@@ -53,6 +56,7 @@ void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
 void GPSManager::GPSSatelliteUpdate(GPSSatelliteMessage msg)
 {
     qCDebug(RTKGPSLog) << QString("GPS: got satellite info update, %1 satellites").arg((int)msg.satellite_data.count);
+    emit satelliteUpdate(msg.satellite_data.count);
 }
 
 void GPSManager::cleanup()

src/GPS/GPSManager.h

@@ -31,6 +31,12 @@ public:
     void connectGPS(const QString& device);
     bool connected(void) const { return _gpsProvider && _gpsProvider->isRunning(); }
 
+signals:
+    void onConnect();
+    void onDisconnect();
+    void surveyInStatus(float duration, float accuracyMM, bool valid, bool active);
+    void satelliteUpdate(int numSats);
+
 private slots:
     void GPSPositionUpdate(GPSPositionMessage msg);
     void GPSSatelliteUpdate(GPSSatelliteMessage msg);

src/GPS/GPSProvider.cc

@@ -172,6 +172,7 @@ int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
         {
             SurveyInStatus* status = (SurveyInStatus*)data1;
             qCDebug(RTKGPSLog) << QString("Survey-in status: %1s cur accuracy: %2mm valid: %3 active: %4").arg(status->duration).arg(status->mean_accuracy).arg((int)(status->flags & 1)).arg((int)((status->flags>>1) & 1));
+            emit surveyInStatus(status->duration, status->mean_accuracy, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
         }
             break;
 

src/GPS/GPSProvider.h

@@ -40,6 +40,7 @@ signals:
     void positionUpdate(GPSPositionMessage message);
     void satelliteInfoUpdate(GPSSatelliteMessage message);
     void RTCMDataUpdate(QByteArray message);
+    void surveyInStatus(float duration, float accuracyMM, bool valid, bool active);
 
 protected:
     void run();

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -62,6 +62,16 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
     _corePlugin             = toolbox->corePlugin();
     _firmwarePluginManager  = toolbox->firmwarePluginManager();
     _settingsManager        = toolbox->settingsManager();
+
+#ifndef __mobile__
+   GPSManager *gpsManager = toolbox->gpsManager();
+   if (gpsManager) {
+       connect(gpsManager, &GPSManager::onConnect, this, &QGroundControlQmlGlobal::_onGPSConnect);
+       connect(gpsManager, &GPSManager::onDisconnect, this, &QGroundControlQmlGlobal::_onGPSDisconnect);
+       connect(gpsManager, &GPSManager::surveyInStatus, this, &QGroundControlQmlGlobal::_GPSSurveyInStatus);
+       connect(gpsManager, &GPSManager::satelliteUpdate, this, &QGroundControlQmlGlobal::_GPSNumSatellites);
+   }
+#endif /* __mobile__ */
 }
 
 void QGroundControlQmlGlobal::saveGlobalSetting (const QString& key, const QString& value)
@@ -230,3 +240,24 @@ void QGroundControlQmlGlobal::setFlightMapZoom(double zoom)
         emit flightMapZoomChanged(zoom);
     }
 }
+
+void QGroundControlQmlGlobal::_onGPSConnect()
+{
+    _gpsRtkFactGroup.connected()->setRawValue(true);
+}
+void QGroundControlQmlGlobal::_onGPSDisconnect()
+{
+    _gpsRtkFactGroup.connected()->setRawValue(false);
+}
+void QGroundControlQmlGlobal::_GPSSurveyInStatus(float duration, float accuracyMM, bool valid, bool active)
+{
+    _gpsRtkFactGroup.currentDuration()->setRawValue(duration);
+    _gpsRtkFactGroup.currentAccuracy()->setRawValue(accuracyMM);
+    _gpsRtkFactGroup.valid()->setRawValue(valid);
+    _gpsRtkFactGroup.active()->setRawValue(active);
+}
+void QGroundControlQmlGlobal::_GPSNumSatellites(int numSatellites)
+{
+    _gpsRtkFactGroup.numSatellites()->setRawValue(numSatellites);
+}
+

src/QmlControls/QGroundControlQmlGlobal.h

@@ -22,6 +22,10 @@
 #include "SimulatedPosition.h"
 #include "QGCLoggingCategory.h"
 #include "AppSettings.h"
+#ifndef __mobile__
+#include "GPS/GPSManager.h"
+#endif /* __mobile__ */
+#include "GPSRTKFactGroup.h"
 
 #ifdef QT_DEBUG
 #include "MockLink.h"
@@ -48,6 +52,7 @@ public:
     Q_PROPERTY(MAVLinkLogManager*   mavlinkLogManager   READ mavlinkLogManager      CONSTANT)
     Q_PROPERTY(QGCCorePlugin*       corePlugin          READ corePlugin             CONSTANT)
     Q_PROPERTY(SettingsManager*     settingsManager     READ settingsManager        CONSTANT)
+    Q_PROPERTY(FactGroup*           gpsRtk              READ gpsRtkFactGroup        CONSTANT)
 
     Q_PROPERTY(int      supportedFirmwareCount          READ supportedFirmwareCount CONSTANT)
 
@@ -136,6 +141,7 @@ public:
     MAVLinkLogManager*      mavlinkLogManager   ()  { return _mavlinkLogManager; }
     QGCCorePlugin*          corePlugin          ()  { return _corePlugin; }
     SettingsManager*        settingsManager     ()  { return _settingsManager; }
+    FactGroup*              gpsRtkFactGroup     ()  { return &_gpsRtkFactGroup; }
     static QGeoCoordinate   flightMapPosition   ();
     static double           flightMapZoom       ();
 
@@ -177,6 +183,12 @@ signals:
     void flightMapZoomChanged           (double flightMapZoom);
     void skipSetupPageChanged           ();
 
+private slots:
+    void _onGPSConnect();
+    void _onGPSDisconnect();
+    void _GPSSurveyInStatus(float duration, float accuracyMM, bool valid, bool active);
+    void _GPSNumSatellites(int numSatellites);
+
 private:
     double                  _flightMapInitialZoom;
     LinkManager*            _linkManager;
@@ -189,6 +201,7 @@ private:
     QGCCorePlugin*          _corePlugin;
     FirmwarePluginManager*  _firmwarePluginManager;
     SettingsManager*        _settingsManager;
+    GPSRTKFactGroup         _gpsRtkFactGroup;
 
     bool                    _skipSetupPage;
 

src/Vehicle/GPSRTKFact.json

+[
+{
+    "name":             "connected",
+    "shortDescription": "Connected",
+    "type":             "bool"
+},
+{
+    "name":             "currentAccuracy",
+    "shortDescription": "Current Accuracy",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "units":            "mm"
+},
+{
+    "name":             "currentDuration",
+    "shortDescription": "Current Duration",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "units":            "s"
+},
+{
+    "name":             "valid",
+    "shortDescription": "Survey-in Valid",
+    "type":             "bool"
+},
+{
+    "name":             "active",
+    "shortDescription": "Survey-in Active",
+    "type":             "bool"
+},
+{
+    "name":             "numSatellites",
+    "shortDescription": "Number of Satellites",
+    "type":             "int32"
+}
+]

src/Vehicle/GPSRTKFactGroup.cc

+/****************************************************************************
+ *
+ *   (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "GPSRTKFactGroup.h"
+
+const char* GPSRTKFactGroup::_connectedFactName =                "connected";
+const char* GPSRTKFactGroup::_currentAccuracyFactName =          "currentAccuracy";
+const char* GPSRTKFactGroup::_currentDurationFactName =          "currentDuration";
+const char* GPSRTKFactGroup::_validFactName =                    "valid";
+const char* GPSRTKFactGroup::_activeFactName =                   "active";
+const char* GPSRTKFactGroup::_numSatellitesFactName =            "numSatellites";
+
+GPSRTKFactGroup::GPSRTKFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/GPSRTKFact.json", parent)
+    , _connected             (false, _connectedFactName,          FactMetaData::valueTypeBool)
+    , _currentDuration       (0, _currentDurationFactName,        FactMetaData::valueTypeDouble)
+    , _currentAccuracy       (0, _currentAccuracyFactName,        FactMetaData::valueTypeDouble)
+    , _valid                 (false, _validFactName,              FactMetaData::valueTypeBool)
+    , _active                (false, _activeFactName,             FactMetaData::valueTypeBool)
+    , _numSatellites         (false, _numSatellitesFactName,      FactMetaData::valueTypeInt32)
+{
+    _addFact(&_connected,          _connectedFactName);
+    _addFact(&_currentDuration,    _currentDurationFactName);
+    _addFact(&_currentAccuracy,    _currentAccuracyFactName);
+    _addFact(&_valid,              _validFactName);
+    _addFact(&_active,             _activeFactName);
+    _addFact(&_numSatellites,      _numSatellitesFactName);
+}
+

src/Vehicle/GPSRTKFactGroup.h

+/****************************************************************************
+ *
+ *   (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#pragma once
+
+#include "Vehicle.h"
+
+class GPSRTKFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    GPSRTKFactGroup(QObject* parent = NULL);
+
+    Q_PROPERTY(Fact* connected            READ connected            CONSTANT)
+    Q_PROPERTY(Fact* currentDuration      READ currentDuration      CONSTANT)
+    Q_PROPERTY(Fact* currentAccuracy      READ currentAccuracy      CONSTANT)
+    Q_PROPERTY(Fact* valid                READ valid                CONSTANT)
+    Q_PROPERTY(Fact* active               READ active               CONSTANT)
+    Q_PROPERTY(Fact* numSatellites        READ numSatellites        CONSTANT)
+
+    Fact* connected                    (void) { return &_connected; }
+    Fact* currentDuration              (void) { return &_currentDuration; }
+    Fact* currentAccuracy              (void) { return &_currentAccuracy; }
+    Fact* valid                        (void) { return &_valid; }
+    Fact* active                       (void) { return &_active; }
+    Fact* numSatellites                (void) { return &_numSatellites; }
+
+    static const char* _connectedFactName;
+    static const char* _currentDurationFactName;
+    static const char* _currentAccuracyFactName;
+    static const char* _validFactName;
+    static const char* _activeFactName;
+    static const char* _numSatellitesFactName;
+
+private:
+    Fact        _connected; ///< is an RTK gps connected?
+    Fact        _currentDuration; ///< survey-in status in [s]
+    Fact        _currentAccuracy; ///< survey-in accuracy in [mm]
+    Fact        _valid; ///< survey-in valid?
+    Fact        _active; ///< survey-in active?
+    Fact        _numSatellites; ///< number of satellites
+};

src/ui/toolbar/GPSRTKIndicator.qml

+/****************************************************************************
+ *
+ *   (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Layouts  1.2
+
+import QGroundControl                       1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.Palette               1.0
+
+//-------------------------------------------------------------------------
+//-- GPS Indicator
+Item {
+    id:             satelitte
+    width:          (gpsValuesColumn.x + gpsValuesColumn.width) * 1.1
+    anchors.top:    parent.top
+    anchors.bottom: parent.bottom
+    visible:        QGroundControl.gpsRtk.connected.value
+
+    Component {
+        id: gpsInfo
+
+        Rectangle {
+            width:  gpsCol.width   + ScreenTools.defaultFontPixelWidth  * 3
+            height: gpsCol.height  + ScreenTools.defaultFontPixelHeight * 2
+            radius: ScreenTools.defaultFontPixelHeight * 0.5
+            color:  qgcPal.window
+            border.color:   qgcPal.text
+
+            Column {
+                id:                 gpsCol
+                spacing:            ScreenTools.defaultFontPixelHeight * 0.5
+                width:              Math.max(gpsGrid.width, gpsLabel.width)
+                anchors.margins:    ScreenTools.defaultFontPixelHeight
+                anchors.centerIn:   parent
+
+                QGCLabel {
+                    id:             gpsLabel
+                    text: (QGroundControl.gpsRtk.active.value) ? qsTr("Survey-in Active") : qsTr("RTK Streaming")
+                    font.family:    ScreenTools.demiboldFontFamily
+                    anchors.horizontalCenter: parent.horizontalCenter
+                }
+
+                GridLayout {
+                    id:                 gpsGrid
+                    visible:            true
+                    anchors.margins:    ScreenTools.defaultFontPixelHeight
+                    columnSpacing:      ScreenTools.defaultFontPixelWidth
+                    anchors.horizontalCenter: parent.horizontalCenter
+                    columns: 2
+
+                    QGCLabel {
+                        text: qsTr("Duration:")
+                        visible: QGroundControl.gpsRtk.active.value
+                        }
+                    QGCLabel {
+                        text: QGroundControl.gpsRtk.currentDuration.value + ' s'
+                        visible: QGroundControl.gpsRtk.active.value
+                        }
+                    QGCLabel {
+                        // during survey-in show the current accuracy, after that show the final accuracy
+                        text: QGroundControl.gpsRtk.valid.value ? qsTr("Accuracy:") : qsTr("Current Accuracy:")
+                        }
+                    QGCLabel {
+                        text: (QGroundControl.gpsRtk.currentAccuracy.value/1000).toFixed(1) + ' m'
+                        }
+                    QGCLabel { text: qsTr("Satellites:") }
+                    QGCLabel { text: QGroundControl.gpsRtk.numSatellites.value }
+                }
+            }
+
+            Component.onCompleted: {
+                var pos = mapFromItem(toolBar, centerX - (width / 2), toolBar.height)
+                x = pos.x
+                y = pos.y + ScreenTools.defaultFontPixelHeight
+            }
+        }
+    }
+
+    QGCColoredImage {
+        id:                 gpsIcon
+        width:              height
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        source:             "/qmlimages/Gps.svg"
+        fillMode:           Image.PreserveAspectFit
+        sourceSize.height:  height
+        opacity:            1
+        color:              QGroundControl.gpsRtk.active.value ? qgcPal.colorRed : qgcPal.buttonText
+    }
+
+    Column {
+        id:                     gpsValuesColumn
+        anchors.verticalCenter: parent.verticalCenter
+        anchors.leftMargin:     ScreenTools.defaultFontPixelWidth / 2
+        anchors.left:           gpsIcon.right
+
+        QGCLabel {
+            anchors.horizontalCenter:   numSatValue.horizontalCenter
+            color:                      qgcPal.buttonText
+            text:                       QGroundControl.gpsRtk.numSatellites.value
+        }
+
+        QGCLabel {
+            id:         numSatValue
+            color:      qgcPal.buttonText
+            text:       qsTr("RTK")
+        }
+    }
+    
+    MouseArea {
+        anchors.fill:   parent
+        onClicked: {
+            var centerX = mapToItem(toolBar, x, y).x + (width / 2)
+            mainWindow.showPopUp(gpsInfo, centerX)
+        }
+    }
+}