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Commit 124997d0 authored by pixhawk's avatar pixhawk
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Minor UI improvements, pushed implementation of some UI elements

parent dfae554b
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Showing with 40 additions and 134 deletions
images/style-mission.css
View file @ 124997d0
......@@ -88,7 +88,8 @@ QDockWidget::close-button, QDockWidget::float-button {
QDockWidget::title {
text-align: left;
background: #222224;
background: #121214;
color: #4A4A4F;
padding-left: 5px;
height: 10px;
border-bottom: 1px solid #555555;
......@@ -194,24 +195,24 @@ QPushButton:checked#controlButton {
}
QProgressBar {
border: 1px solid #EEEEEE;
border: 1px solid #4A4A4F;
border-radius: 4px;
text-align: center;
padding: 2px;
color: white;
color: #DDDDDF;
background-color: #111118;
}
QProgressBar:horizontal {
height 12px;
height: 9px;
}
QProgressBar:vertical {
width 12px;
width: 9px;
}
QProgressBar::chunk {
background-color: #656565;
background-color: #3C7B9E;
}
QProgressBar::chunk#batteryBar {
......@@ -224,28 +225,4 @@ QProgressBar::chunk#speedBar {
QProgressBar::chunk#thrustBar {
background-color: orange;
}
QProgressBar::chunk#bandwidthBar {
background-color: orange;
}
QProgressBar::chunk#loadBar {
background-color: yellow;
}
QProgressBar::chunk#topRotorBar {
background-color: yellow;
}
QProgressBar::chunk#botRotorBar {
background-color: yellow;
}
QProgressBar::chunk#leftServoBar {
background-color: #99BFDD;
}
QProgressBar::chunk#rightServoBar
{
background-color: blue;
}
}
src/comm/MAVLinkSimulationLink.cc
View file @ 124997d0
......@@ -484,7 +484,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
status.mode = MAV_MODE_AUTO;
break;
case MAV_ACTION_RETURN:
status.status = MAV_STATE_LANDING;
break;
case MAV_ACTION_MOTORS_START:
status.status = MAV_STATE_ACTIVE;
......@@ -498,6 +498,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
status.status = MAV_STATE_EMERGENCY;
status.mode = MAV_MODE_MANUAL;
break;
case MAV_ACTION_SHUTDOWN:
status.status = MAV_STATE_POWEROFF;
status.mode = MAV_MODE_LOCKED;
break;
}
}
break;
......
src/uas/UAS.cc
View file @ 124997d0
......@@ -157,92 +157,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit voltageChanged(message.sysid, state.vbat/1000.0f);
}
break;
/*
case MAVLINK_MSG_ID_SYSTEM:
// std::cerr << std::endl;
// std::cerr << "System Message received" << std::endl;
currentVoltage = message_system_get_voltage(message.payload)/1000.0f;
filterVoltage(currentVoltage);
if (startVoltage == 0) startVoltage = currentVoltage;
timeRemaining = calculateTimeRemaining();
//qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
emit batteryChanged(this, filterVoltage(), getChargeLevel(), timeRemaining);
emit voltageChanged(message.acid, message_system_get_voltage(message.payload)/1000.0f);
emit loadChanged(this, message_system_get_cpu_usage(message.payload)/100.0f);
emit valueChanged(uasId, "Battery", message_system_get_voltage(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "CPU Load", message_system_get_cpu_usage(message.payload), MG::TIME::getGroundTimeNow());
break;
case MAVLINK_MSG_ID_ACTUATORS:
emit actuatorChanged(this, 0, message_actuator_get_act1(message.payload));
emit valueChanged(this->getUASID(), "Top Rotor", message_actuator_get_act1(message.payload), MG::TIME::getGroundTimeNow());
emit actuatorChanged(this, 1, message_actuator_get_act2(message.payload));
emit valueChanged(this->getUASID(), "Bottom Rotor", message_actuator_get_act2(message.payload), MG::TIME::getGroundTimeNow());
emit actuatorChanged(this, 2, message_actuator_get_act3(message.payload));
emit valueChanged(this->getUASID(), "Left Servo", message_actuator_get_act3(message.payload), MG::TIME::getGroundTimeNow());
emit actuatorChanged(this, 3, message_actuator_get_act4(message.payload));
emit valueChanged(this->getUASID(), "Right Servo", message_actuator_get_act4(message.payload), MG::TIME::getGroundTimeNow());
// Calculate thrust sum
thrustSum = (message_actuator_get_act1(message.payload) + message_actuator_get_act2(message.payload)) / 2;
emit thrustChanged(this, thrustSum);
break;
case MAVLINK_MSG_ID_STATE:
emit valueChanged(uasId, "State", message_state_get_state(message.payload), MG::TIME::getGroundTimeNow());
getStatusForCode(message_state_get_state(message.payload), uasState, stateDescription);
emit statusChanged(this, uasState, stateDescription);
break;
case MAVLINK_MSG_ID_POSITION:
// Position message is displayed in meters and degrees
{
quint64 time = MG::TIME::getGroundTimeNow();//message_position_get_msec(message.payload);
emit valueChanged(this, "x", message_position_get_posX(message.payload), time);
emit valueChanged(this, "y", message_position_get_posY(message.payload), time);
emit valueChanged(this, "z", message_position_get_posZ(message.payload), time);
emit valueChanged(this, "roll", message_position_get_roll(message.payload), time);
emit valueChanged(this, "pitch", message_position_get_pitch(message.payload), time);
emit valueChanged(this, "yaw", message_position_get_yaw(message.payload), time);
emit valueChanged(this, "x speed", message_position_get_speedX(message.payload), time);
emit valueChanged(this, "y speed", message_position_get_speedY(message.payload), time);
emit valueChanged(this, "z speed", message_position_get_speedZ(message.payload), time);
emit valueChanged(this, "roll speed", message_position_get_speedRoll(message.payload), time);
emit valueChanged(this, "pitch speed", message_position_get_speedPitch(message.payload), time);
emit valueChanged(this, "yaw speed", message_position_get_speedYaw(message.payload), time);
emit localPositionChanged(this, message_position_get_posX(message.payload), message_position_get_posY(message.payload), message_position_get_posZ(message.payload), time);
emit valueChanged(uasId, "x", message_position_get_posX(message.payload), time);
emit valueChanged(uasId, "y", message_position_get_posY(message.payload), time);
emit valueChanged(uasId, "z", message_position_get_posZ(message.payload), time);
emit valueChanged(uasId, "roll", message_position_get_roll(message.payload), time);
emit valueChanged(uasId, "pitch", message_position_get_pitch(message.payload), time);
emit valueChanged(uasId, "yaw", message_position_get_yaw(message.payload), time);
emit valueChanged(uasId, "x speed", message_position_get_speedX(message.payload), time);
emit valueChanged(uasId, "y speed", message_position_get_speedY(message.payload), time);
emit valueChanged(uasId, "z speed", message_position_get_speedZ(message.payload), time);
emit valueChanged(uasId, "roll speed", message_position_get_speedRoll(message.payload), time);
emit valueChanged(uasId, "pitch speed", message_position_get_speedPitch(message.payload), time);
emit valueChanged(uasId, "yaw speed", message_position_get_speedYaw(message.payload), time);
}
break;
case MAVLINK_MSG_ID_MARKER:
emit valueChanged(uasId, "marker confidence", message_marker_get_confidence(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker x", message_marker_get_posX(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker y", message_marker_get_posY(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker z", message_marker_get_posZ(message.payload), MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker roll", message_marker_get_roll(message.payload)/M_PI*180.0f, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker pitch", message_marker_get_pitch(message.payload)/M_PI*180.0f, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "marker yaw", message_marker_get_yaw(message.payload)/M_PI*180.0f, MG::TIME::getGroundTimeNow());
break;
case MAVLINK_MSG_ID_IMAGE:
//std::cerr << std::endl;
//std::cerr << "IMAGE DATA RECEIVED" << std::endl;
emit imageStarted(message_image_get_rid(message.payload), message_image_get_width(message.payload), message_image_get_height(message.payload), message_image_get_depth(message.payload), message_image_get_channels(message.payload));
break;
case MAVLINK_MSG_ID_BYTES:
//std::cerr << std::endl;
//std::cerr << "BYTES RESSOURCE RECEIVED" << std::endl;
emit imageDataReceived(message_bytestream_get_rid(message.payload), message_bytestream_get_data(message.payload), message_bytestream_get_length(message.payload), message_bytestream_get_index(message.payload));
break;
*/
case MAVLINK_MSG_ID_RAW_IMU:
{
raw_imu_t raw;
......
src/ui/HUD.cc
View file @ 124997d0
......@@ -190,7 +190,7 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
lastUpdate.insert(name, msec);
//}
qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
//qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
}
}
......
src/ui/UASControl.ui
View file @ 124997d0
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>395</width>
<height>215</height>
<width>387</width>
<height>212</height>
</rect>
</property>
<property name="windowTitle">
......@@ -17,6 +17,9 @@
<property name="margin">
<number>20</number>
</property>
<property name="spacing">
<number>6</number>
</property>
<item row="0" column="0" colspan="4">
<widget class="QLabel" name="controlStatusLabel">
<property name="text">
......@@ -128,6 +131,9 @@
<property name="text">
<string>No actions executed so far</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
</layout>
......
src/ui/uas/UASControlWidget.cc
View file @ 124997d0
......@@ -64,13 +64,9 @@ void UASControlWidget::setUAS(UASInterface* uas)
disconnect(ui.controlButton, SIGNAL(clicked()), uas, SLOT(enable_motors()));
disconnect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
disconnect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
//disconnect(ui.haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
//disconnect(ui.continueButton, SIGNAL(clicked()), uas, SLOT(go()));
//disconnect(ui.forceLandButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
disconnect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
//disconnect(uas, SIGNAL(autoModeChanged(bool)), ui.autoButton, SLOT(setChecked(bool)));
//disconnect(ui.autoButton, SIGNAL(clicked(bool)), uas, SLOT(setAutoMode(bool)));
//disconnect(ui.motorsStopButton, SIGNAL(clicked()), uas, SLOT(disable_motors()));
disconnect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
disconnect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
}
else
{
......@@ -78,14 +74,9 @@ void UASControlWidget::setUAS(UASInterface* uas)
connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
//connect(ui.haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
//connect(ui.continueButton, SIGNAL(clicked()), uas, SLOT(go()));
//connect(ui.forceLandButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
//connect(ui.autoButton, SIGNAL(clicked(bool)), uas, SLOT(setAutoMode(bool)));
//connect(uas, SIGNAL(autoModeChanged(bool)), ui.autoButton, SLOT(setChecked(bool)));
//connect(ui.motorsStopButton, SIGNAL(clicked()), uas, SLOT(disable_motors()));
connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
ui.modeComboBox->insertItem(0, "Select..");
ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
......@@ -100,6 +91,7 @@ UASControlWidget::~UASControlWidget() {
void UASControlWidget::setMode(int mode)
{
// Adapt context button mode
switch (mode)
{
case MAV_MODE_LOCKED:
......@@ -119,7 +111,17 @@ void UASControlWidget::setMode(int mode)
}
// Set mode on system
if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3) this->uas->setMode(mode);
if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3)
{
uasMode = mode;
ui.modeComboBox->setCurrentIndex(mode);
}
qDebug() << "SET MODE REQUESTED" << mode;
}
void UASControlWidget::transmitMode()
{
this->uas->setMode(uasMode);
}
void UASControlWidget::cycleContextButton()
......
src/ui/uas/UASControlWidget.h
View file @ 124997d0
......@@ -53,9 +53,12 @@ public slots:
void cycleContextButton();
/** @brief Set the operation mode of the MAV */
void setMode(int mode);
/** @brief Transmit the operation mode **/
void transmitMode();
protected:
UASInterface* uas;
int uasMode;
private:
Ui::uasControl ui;
......
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