show detected letters

src/uas/PxQuadMAV.cc

@@ -43,13 +43,15 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
         case MAVLINK_MSG_ID_PATTERN_DETECTED:
             {
+                mavlink_pattern_detected_t detected;
+                mavlink_msg_pattern_detected_decode(&message, &detected);
                 QByteArray b;
                 b.resize(256);
                 mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
                 b.append('\0');
                 QString path = QString(b);
-                bool detected (mavlink_msg_pattern_detected_get_detected(&message) == 1 ? true : false );
-                emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected);
+                emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected.detected);
+                emit letterDetected(uasId, path, detected.confidence, detected.detected);
             }
             break;
     case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:

src/uas/UASInterface.h

@@ -291,6 +291,7 @@ signals:
     void autoModeChanged(bool autoMode);
     void parameterChanged(int uas, int component, QString parameterName, float value);
     void detectionReceived(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
+    void letterDetected(int uasId, QString letter, float confidence, bool detected);
     /**
      * @brief The battery status has been updated
      *

src/ui/ObjectDetectionView.cc

@@ -75,9 +75,18 @@ void ObjectDetectionView::setUAS(UASInterface* uas)
     //{
     this->uas = uas;
     connect(uas, SIGNAL(detectionReceived(int, QString, int, int, int, int, int, int, int, int, double, bool)), this, SLOT(newDetection(int,QString,int,int,int,int,int,int,int,int,double,bool)));
+    connect(uas, SIGNAL(letterDetected(int,QString,float,bool)), this, SLOT(newLetter(int,QString,float,bool)));
     //}
 }
 
+void ObjectDetectionView::newLetter(int uasId, QString letter, float confidence, bool detected)
+{
+    // Emit audio message on detection
+    if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected letter " + letter);
+    m_ui->nameLabel->setText(letter);
+    m_ui->imageLabel->setText(letter);
+}
+
 void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected)
 {
     Q_UNUSED(x1);
@@ -88,6 +97,11 @@ void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, i
     Q_UNUSED(y3);
     Q_UNUSED(x4);
     Q_UNUSED(y4);
+    newDetection(uasId, patternPath, confidence, detected);
+}
+
+void ObjectDetectionView::newDetection(int uasId, QString patternPath, float confidence, bool detected)
+{
     if (detected)
     {
         if (patternList.contains(patternPath))

src/ui/ObjectDetectionView.h

@@ -59,6 +59,8 @@ public slots:
     void setUAS(UASInterface* uas);
     /** @brief Report new detection */
     void newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
+    void newLetter(int uasId, QString letter, float confidence, bool detected);
+    void newDetection(int uasId, QString patternPath, float confidence, bool detected);
     /** @brief Accept an internal action, update name and preview image label */
     void takeAction();