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Q--TNLbV2@aGrvvz37hR+8~^|S literal 0 HcmV?d00001 diff --git a/images/earth.html b/images/earth.html index 36438126c..363e97d22 100644 --- a/images/earth.html +++ b/images/earth.html @@ -16,6 +16,7 @@ var ge = null; var initialized = false; var currAircraft = 0; var followEnabled = false; +var lineAltitudeOffset = 0.5; ///< 0.5 m higher than waypoint, prevents the line from entering the ground var lastLat = 0; var lastLon = 0; @@ -211,23 +212,24 @@ google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event) { if (draggingAllowed && (clickMode == 0)) { - if (dragInfo) { - event.preventDefault(); - var point = dragInfo.placemark.getGeometry(); - point.setLatitude(event.getLatitude()); - point.setLongitude(event.getLongitude()); - dragInfo.dragged = true; - dragWaypointIndex = dragInfo.placemark.getDescription(); - document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex); - dragWaypointLatitude = event.getLatitude(); - dragWaypointLongitude = event.getLongitude(); - dragWaypointAltitude = point.getAltitude(); - dragWaypointPending = true; - document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude); - document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude); - document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude); - document.getElementById('JScript_dragWaypointPending').setAttribute('value',true); - } + if (dragInfo) + { + event.preventDefault(); + var point = dragInfo.placemark.getGeometry(); + point.setLatitude(event.getLatitude()); + point.setLongitude(event.getLongitude()); + dragInfo.dragged = true; + dragWaypointIndex = dragInfo.placemark.getDescription(); + document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex); + dragWaypointLatitude = event.getLatitude(); + dragWaypointLongitude = event.getLongitude(); + dragWaypointAltitude = point.getAltitude(); + dragWaypointPending = true; + document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude); + document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude); + document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude); + document.getElementById('JScript_dragWaypointPending').setAttribute('value',true); + } } }); @@ -298,7 +300,7 @@ function setGCSHome(lat, lon, alt) if (homePlacemark == null) { - var placemark = ge.createPlacemark(''); + var placemark = ge.createPlacemark(''); var icon = ge.createIcon(''); icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png'); var style = ge.createStyle(''); @@ -349,6 +351,8 @@ function updateWaypointListLength(id, len) { var placemark = waypoints.pop(); ge.getFeatures().removeChild(placemark); + var line = waypointLines[id].pop(); + ge.getFeatures().removeChild(line); } } } @@ -367,7 +371,8 @@ function updateWaypoint(id, index, lat, lon, alt, action) waypoints[index].setGeometry(location); waypoints[index].setDescription(index+""); - + // Set the WP line location + waypointLines[id].getCoordinates().setLatLngAlt(index, lat, lon, alt); } else { @@ -388,122 +393,108 @@ function updateWaypoint(id, index, lat, lon, alt, action) var location = ge.createPoint(''); location.setLatitude(lat); location.setLongitude(lon); - location.setAltitude(alt); + location.setAltitude(alt+lineAltitudeOffset); placemark.setGeometry(location); // Add the placemark to Earth. ge.getFeatures().appendChild(placemark); waypoints[index] = placemark; - } - - // Add waypoint line - waypointLines[id].setExtrude(false); - waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); - + // Add LineString points waypointLines[id].getCoordinates().pushLatLngAlt(lat, lon, alt); - - // Create a style and set width and color of line - waypointLinePlacemarks[id].setStyleSelector(ge.createStyle('')); - lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle(); - lineStyle.setWidth(5); - lineStyle.getColor().set(waypointLineColors[id]);  // aabbggrr format - //lineStyle.getColor().set(color);  // aabbggrr format - - // Add the feature to Earth - //if (waypointLinesVisible[id] == true) - ge.getFeatures().replaceChild(waypointLinePlacemarks[id], waypointLinePlacemarks[id]); - - // Add connecting line - + } } function createAircraft(id, type, color) { - planePlacemark = ge.createPlacemark(''); - planePlacemark.setName('aircraft'); - planeModel = ge.createModel(''); - ge.getFeatures().appendChild(planePlacemark); - planeLoc = ge.createLocation(''); - planeModel.setLocation(planeLoc); - planeLink = ge.createLink(''); - planeOrient = ge.createOrientation(''); - planeModel.setOrientation(planeOrient); - - planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae'); - planeModel.setLink(planeLink); - planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); - - planeLoc.setLatitude(currLat); - planeLoc.setLongitude(currLon); - planeLoc.setAltitude(currAlt); - - planePlacemark.setGeometry(planeModel); + planePlacemark = ge.createPlacemark(''); + planePlacemark.setName('aircraft'); + planeModel = ge.createModel(''); + ge.getFeatures().appendChild(planePlacemark); + planeLoc = ge.createLocation(''); + planeModel.setLocation(planeLoc); + planeLink = ge.createLink(''); + planeOrient = ge.createOrientation(''); + planeModel.setOrientation(planeOrient); + + planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae'); + planeModel.setLink(planeLink); + planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); + + planeLoc.setLatitude(currLat); + planeLoc.setLongitude(currLon); + planeLoc.setAltitude(currAlt); + + planePlacemark.setGeometry(planeModel); - // Write into global structure - aircraft[id] = planePlacemark; - attitudes[id] = planeOrient; - aircraftLocations[id] = planeLoc; - aircraftLastLocations[id] = ge.createLocation(''); - //planeColor = color; + // Write into global structure + aircraft[id] = planePlacemark; + attitudes[id] = planeOrient; + aircraftLocations[id] = planeLoc; + aircraftLastLocations[id] = ge.createLocation(''); - createTrail(id, color); - createWaypointLine(id, color); - //console.log(color); + createTrail(id, color); + createWaypointLine(id, color); } function createTrail(id, color) { - trailPlacemarks[id] = ge.createPlacemark(''); - // Create the placemark -// Create the LineString; set it to extend down to the ground -// and set the altitude mode -trails[id] = ge.createLineString(''); -trailPlacemarks[id].setGeometry(trails[id]); -trails[id].setExtrude(false); -trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); - -// Add LineString points -//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700); - -// Create a style and set width and color of line -trailPlacemarks[id].setStyleSelector(ge.createStyle('')); -lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle(); -lineStyle.setWidth(5); -trailColors[id] = color; -lineStyle.getColor().set('00000000');  // aabbggrr format - -trailsVisible[id] = false; + trailPlacemarks[id] = ge.createPlacemark(''); + // Create the placemark + // Create the LineString; set it to extend down to the ground + // and set the altitude mode + trails[id] = ge.createLineString(''); + trailPlacemarks[id].setGeometry(trails[id]); + trails[id].setExtrude(false); + trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); -// Add the feature to Earth -//ge.getFeatures().appendChild(trailPlacemarks[id]); + // Create a style and set width and color of line + trailPlacemarks[id].setStyleSelector(ge.createStyle('')); + lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle(); + lineStyle.setWidth(5); + trailColors[id] = color; + lineStyle.getColor().set('00000000');  // aabbggrr format + trailsVisible[id] = false; } function createWaypointLine(id, color) { - waypointLinePlacemarks[id] = ge.createPlacemark(''); - // Create the placemark -// Create the LineString; set it to extend down to the ground -// and set the altitude mode -waypointLines[id] = ge.createLineString(''); -waypointLinePlacemarks[id].setGeometry(waypointLines[id]); -waypointLines[id].setExtrude(false); -waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); - -// Add LineString points -//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700); + // Create the placemark + waypointLinePlacemarks[id] = ge.createPlacemark(''); + // Create the LineString; set it to extend down to the ground + // and set the altitude mode + waypointLines[id] = ge.createLineString(''); + waypointLinePlacemarks[id].setGeometry(waypointLines[id]); + waypointLines[id].setExtrude(false); + waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); + + // Add LineString points + //lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700); + + // Create a style and set width and color of line + waypointLinePlacemarks[id].setStyleSelector(ge.createStyle('')); + lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle(); + lineStyle.setWidth(15); + waypointLineColors[id] = color; + lineStyle.getColor().set(color);  // aabbggrr format + + + // Add waypoint line + //waypointLines[id].setExtrude(false); + //waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); -// Create a style and set width and color of line -waypointLinePlacemarks[id].setStyleSelector(ge.createStyle('')); -lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle(); -lineStyle.setWidth(10); -waypointLineColors[id] = color; -lineStyle.getColor().set('00000000');  // aabbggrr format + -// Add the feature to Earth -//ge.getFeatures().appendChild(trailPlacemarks[id]); + // Create a style and set width and color of line + //waypointLinePlacemarks[id].setStyleSelector(ge.createStyle('')); + //lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle(); + //lineStyle.setWidth(15); + //lineStyle.getColor().set(waypointLineColors[id]);  // aabbggrr format + //lineStyle.getColor().set(color);  // aabbggrr format + // Add the feature to Earth + ge.getFeatures().appendChild(waypointLinePlacemarks[id]); } function clearTrail(id) @@ -537,8 +528,8 @@ function setViewRange(dist) function addTrailPosition(id, lat, lon, alt) { - trails[id].setExtrude(false); - trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); + //trails[id].setExtrude(false); + //trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE); // Add LineString points trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt); @@ -548,10 +539,6 @@ function addTrailPosition(id, lat, lon, alt) lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle(); lineStyle.setWidth(5); lineStyle.getColor().set(trailColors[id]);  // aabbggrr format - //lineStyle.getColor().set(color);  // aabbggrr format - - // Add the feature to Earth - if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]); } function initCallback(object) @@ -583,6 +570,7 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw) lastLat = currLat; lastLon = currLon; } + currLat = lat; currLon = lon; var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon); @@ -601,19 +589,19 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw) //currFollowHeading = ((yaw/M_PI)+1.0)*360.0; - // FIXME Currently invalid conversion from right-handed z-down to z-up frame - planeOrient.setRoll(((roll/M_PI))*180.0+180.0); - planeOrient.setTilt(((pitch/M_PI))*180.0+180.0); - planeOrient.setHeading(((yaw/M_PI))*180.0-90.0); + // FIXME Currently invalid conversion from right-handed z-down to z-up frame + planeOrient.setRoll(((roll/M_PI))*180.0+180.0); + planeOrient.setTilt(((pitch/M_PI))*180.0+180.0); + planeOrient.setHeading(((yaw/M_PI))*180.0-90.0); - currFollowHeading = ((yaw/M_PI))*180.0; + currFollowHeading = ((yaw/M_PI))*180.0; - planeLoc.setLatitude(lastLat); - planeLoc.setLongitude(lastLon); - planeLoc.setAltitude(lastAlt); - planeModel.setLocation(planeLoc); + planeLoc.setLatitude(lastLat); + planeLoc.setLongitude(lastLon); + planeLoc.setAltitude(lastAlt); + planeModel.setLocation(planeLoc); - if (followEnabled) updateFollowAircraft(); + if (followEnabled) updateFollowAircraft(); } } @@ -663,6 +651,7 @@ function setViewMode(mode) currView.setTilt(lastTilt); currView.setHeading(lastHeading); } + if (mode == 1 && viewMode != mode) { lastTilt = currView.getTilt(); diff --git a/images/originals/image3511.png b/images/originals/image3511.png new file mode 100644 index 0000000000000000000000000000000000000000..43b33dfb3fe8f6193f82d439cd64bb9e01098058 GIT binary patch literal 14686 zcmX9_1yq|&)5VHgad&rjcehen+@0X=?ox`o1T9u9IHYKC*A%znT3r6T|Ce(jPxd*R z&Cbluox6AAv@{ekP)Sf>U|=wmmE?3_U|0*TTf_MH_;A=eJ9=1}yIOO&xZCEP zi;+NY!u#(gX)jMZ7k3yHb4M==s!yKQ_RiMs2haDM&~~E#+GX9X%{}d1oT+r}0oE`) 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + 2005-03-08 + + + Jakub Steiner + + + + + workstation + computer + node + client + + + + http://jimmac.musichall.cz/ + + + + + + + + + + + + + + + QGroundControl + Open Source MAV Ground Control Station + + + + diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc index 3057c2246..ab470f60b 100644 --- a/src/comm/MAVLinkSimulationLink.cc +++ b/src/comm/MAVLinkSimulationLink.cc @@ -670,8 +670,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) // Output all bytes as hex digits int i; - for (i=0; iid, data[i], &msg, &comm)) { + for (i=0; iid, data[i], &msg, &comm)) + { // MESSAGE RECEIVED! qDebug() << "SIMULATION LINK RECEIVED MESSAGE!"; emit messageReceived(msg); diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc index 87fdb2b17..b6cf02ab9 100644 --- a/src/comm/MAVLinkSimulationMAV.cc +++ b/src/comm/MAVLinkSimulationMAV.cc @@ -279,9 +279,99 @@ void MAVLinkSimulationMAV::mainloop() timer25Hz--; } +static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS]; + +static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS; +static unsigned error_count; + +static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO; + +static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx) +{ +#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def) + switch (f->type) { + case MAVLINK_TYPE_CHAR: + qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1)); + break; + case MAVLINK_TYPE_UINT8_T: + qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1)); + break; + case MAVLINK_TYPE_INT8_T: + qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1)); + break; + case MAVLINK_TYPE_UINT16_T: + qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2)); + break; + case MAVLINK_TYPE_INT16_T: + qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2)); + break; + case MAVLINK_TYPE_UINT32_T: + qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4)); + break; + case MAVLINK_TYPE_INT32_T: + qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4)); + break; + case MAVLINK_TYPE_UINT64_T: + qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8)); + break; + case MAVLINK_TYPE_INT64_T: + qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8)); + break; + case MAVLINK_TYPE_FLOAT: + qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4)); + break; + case MAVLINK_TYPE_DOUBLE: + qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8)); + break; + } +} + +static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f) +{ + qDebug("%s: ", f->name); + if (f->array_length == 0) { + print_one_field(msg, f, 0); + qDebug(" "); + } else { + unsigned i; + /* print an array */ + if (f->type == MAVLINK_TYPE_CHAR) { + qDebug("'%.*s'", f->array_length, + f->wire_offset+(const char *)_MAV_PAYLOAD(msg)); + + } else { + qDebug("[ "); + for (i=0; iarray_length; i++) { + print_one_field(msg, f, i); + if (i < f->array_length) { + qDebug(", "); + } + } + qDebug("]"); + } + } + qDebug(" "); +} + +static void print_message(const mavlink_message_t *msg) +{ + const mavlink_message_info_t *m = &message_info[msg->msgid]; + const mavlink_field_info_t *f = m->fields; + unsigned i; + qDebug("%s { ", m->name); + for (i=0; inum_fields; i++) { + print_field(msg, &f[i]); + } + qDebug("}\n"); +} + void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg) { - //qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid; + if (msg.sysid != systemid) + { + print_message(&msg); + qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid; + } switch(msg.msgid) { case MAVLINK_MSG_ID_ATTITUDE: diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 1968e8980..f028c12f1 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -131,9 +131,6 @@ MainWindow::MainWindow(QWidget *parent): // Set dock options setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); - // Load mavlink view as default widget set - //loadMAVLinkView(); - statusBar()->setSizeGripEnabled(true); // Restore the window position and size @@ -404,12 +401,26 @@ void MainWindow::buildCommonWidgets() addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT); } +// if (!linechartWidget) { +// // Center widgets +// linechartWidget = new Linecharts(this); +// linechartWidget->addSource(mavlinkDecoder); +// addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART); +// } -} + if (!hudWidget) { + hudWidget = new HUD(320, 240, this); + addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD); + } + + if (!hsiDockWidget) { + hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this); + hsiDockWidget->setWidget( new HSIDisplay(this) ); + hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET"); + addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea); + } -void MainWindow::buildPxWidgets() -{ //FIXME: memory of acceptList will never be freed again QStringList* acceptList = new QStringList(); acceptList->append("-105,roll deg,deg,+105,s"); @@ -426,35 +437,44 @@ void MainWindow::buildPxWidgets() //FIXME: memory of acceptList2 will never be freed again QStringList* acceptList2 = new QStringList(); - acceptList2->append("900,servo #1,us,2100,s"); - acceptList2->append("900,servo #2,us,2100,s"); - acceptList2->append("900,servo #3,us,2100,s"); - acceptList2->append("900,servo #4,us,2100,s"); - acceptList2->append("900,servo #5,us,2100,s"); acceptList2->append("900,servo #6,us,2100,s"); acceptList2->append("900,servo #7,us,2100,s"); acceptList2->append("900,servo #8,us,2100,s"); acceptList2->append("0,abs pressure,hPa,65500"); - //acceptList2->append("-2048,accel. x,raw,2048,s"); - //acceptList2->append("-2048,accel. y,raw,2048,s"); - //acceptList2->append("-2048,accel. z,raw,2048,s"); - if (!linechartWidget) { - // Center widgets - linechartWidget = new Linecharts(this); - linechartWidget->addSource(mavlinkDecoder); - addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART); + if (!headDown1DockWidget) { + headDown1DockWidget = new QDockWidget(tr("Flight Instruments"), this); + headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) ); + headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET"); + addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea); } + if (!headDown2DockWidget) { + headDown2DockWidget = new QDockWidget(tr("Payload Instruments"), this); + headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) ); + headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET"); + addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea); + } - if (!hudWidget) { - hudWidget = new HUD(320, 240, this); - addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD); + if (!rcViewDockWidget) { + rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); + rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); + rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); + addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea); } - if (!dataplotWidget) { - dataplotWidget = new QGCDataPlot2D(this); - addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT); + if (!headUpDockWidget) { + headUpDockWidget = new QDockWidget(tr("HUD"), this); + headUpDockWidget->setWidget( new HUD(320, 240, this)); + headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); + addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea); + } + + if (!parametersDockWidget) { + parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this); + parametersDockWidget->setWidget( new ParameterInterface(this) ); + parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); + addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); } #ifdef QGC_OSG_ENABLED @@ -464,80 +484,36 @@ void MainWindow::buildPxWidgets() } #endif -#ifdef QGC_OSGEARTH_ENABLED - if (!_3DMapWidget) { - _3DMapWidget = Q3DWidgetFactory::get("MAP3D"); - addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH); - } -#endif - #if (defined _MSC_VER) | (defined Q_OS_MAC) if (!gEarthWidget) { gEarthWidget = new QGCGoogleEarthView(this); addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH); } - #endif +} - // Dock widgets - if (!detectionDockWidget) { +void MainWindow::buildPxWidgets() +{ + // Dock widgets + if (!detectionDockWidget) + { detectionDockWidget = new QDockWidget(tr("Object Recognition"), this); detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) ); detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea); } - if (!parametersDockWidget) { - parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); - parametersDockWidget->setWidget( new ParameterInterface(this) ); - parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); - addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); - } - - if (!watchdogControlDockWidget) { + if (!watchdogControlDockWidget) + { watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this); watchdogControlDockWidget->setWidget( new WatchdogControl(this) ); watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET"); addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea); } - if (!hsiDockWidget) { - hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this); - hsiDockWidget->setWidget( new HSIDisplay(this) ); - hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET"); - addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea); - } - - if (!headDown1DockWidget) { - headDown1DockWidget = new QDockWidget(tr("Flight Display"), this); - headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) ); - headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET"); - addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea); - } - - if (!headDown2DockWidget) { - headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this); - headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) ); - headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET"); - addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea); - } - - if (!rcViewDockWidget) { - rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); - rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); - rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); - addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea); - } - - if (!headUpDockWidget) { - headUpDockWidget = new QDockWidget(tr("HUD"), this); - headUpDockWidget->setWidget( new HUD(320, 240, this)); - headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); - addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea); - } - - if (!video1DockWidget) { + if (!video1DockWidget) + { video1DockWidget = new QDockWidget(tr("Video Stream 1"), this); HUD* video1 = new HUD(160, 120, this); video1->enableHUDInstruments(false); @@ -548,7 +524,8 @@ void MainWindow::buildPxWidgets() addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea); } - if (!video2DockWidget) { + if (!video2DockWidget) + { video2DockWidget = new QDockWidget(tr("Video Stream 2"), this); HUD* video2 = new HUD(160, 120, this); video2->enableHUDInstruments(false); @@ -641,17 +618,6 @@ void MainWindow::addToCentralWidgetsMenu ( QWidget* widget, { QAction* tempAction; - -// Not needed any more - separate menu now available - -// // Add the separator that will separate tools from central Widgets -// if (!toolsMenuActions[CENTRAL_SEPARATOR]) -// { -// tempAction = ui.menuTools->addSeparator(); -// toolsMenuActions[CENTRAL_SEPARATOR] = tempAction; -// tempAction->setData(CENTRAL_SEPARATOR); -// } - tempAction = ui.menuMain->addAction(title); tempAction->setCheckable(true); @@ -663,10 +629,13 @@ void MainWindow::addToCentralWidgetsMenu ( QWidget* widget, QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView); - if (!settings.contains(chKey)) { + if (!settings.contains(chKey)) + { settings.setValue(chKey,false); tempAction->setChecked(false); - } else { + } + else + { tempAction->setChecked(settings.value(chKey).toBool()); } @@ -687,13 +656,15 @@ void MainWindow::showCentralWidget() // check the current action - if (senderAction && dockWidgets[tool]) { + if (senderAction && dockWidgets[tool]) + { // uncheck all central widget actions QHashIterator i(toolsMenuActions); while (i.hasNext()) { i.next(); //qDebug() << "shCW" << i.key() << "read"; - if (i.value() && i.value()->data().toInt() > 255) { + if (i.value() && i.value()->data().toInt() > 255) + { // Block signals and uncheck action // firing would be unneccesary i.value()->blockSignals(true); @@ -823,7 +794,8 @@ void MainWindow::showToolWidget(bool visible) //qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible; - if (dockWidget) { + if (dockWidget) + { // Get action int tool = dockWidgets.key(dockWidget); @@ -868,8 +840,10 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view) tempLocation = static_cast (settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt()); - if (tempWidget != NULL) { - if (tempVisible) { + if (tempWidget != NULL) + { + if (tempVisible) + { addDockWidget(tempLocation, tempWidget); tempWidget->show(); } @@ -879,13 +853,7 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view) QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view) { // Key is built as follows: autopilot_type/section_menu/view/tool/section - int apType; - -// apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())? -// UASManager::instance()->getActiveUAS()->getAutopilotType(): -// -1; - - apType = 1; + int apType = 1; return (QString::number(apType) + "_" + QString::number(SECTION_MENU) + "_" + @@ -968,11 +936,6 @@ void MainWindow::connectCommonWidgets() connect(mavlink, SIGNAL(receiveLossChanged(int, float)), infoDockWidget->widget(), SLOT(updateSendLoss(int, float))); } -// //TODO temporaly debug -// if (slugsHilSimWidget && slugsHilSimWidget->widget()) { -// connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), -// slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*))); -// } } void MainWindow::createCustomWidget() @@ -1070,49 +1033,35 @@ void MainWindow::arrangeCommonCenterStack() if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget); if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget); if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget); - - setCentralWidget(centerStack); -} - -void MainWindow::arrangePxCenterStack() -{ - - if (!centerStack) { - qDebug() << "Center Stack not Created!"; - return; - } - - if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget); #ifdef QGC_OSG_ENABLED if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget); #endif -#ifdef QGC_OSGEARTH_ENABLED - if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget); -#endif #if (defined _MSC_VER) | (defined Q_OS_MAC) if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget); #endif if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget); if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget); + + setCentralWidget(centerStack); } -void MainWindow::arrangeSlugsCenterStack() +void MainWindow::arrangePxCenterStack() { - if (!centerStack) { qDebug() << "Center Stack not Created!"; return; } +} - if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget); - if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget); - -#if (defined _MSC_VER) | (defined Q_OS_MAC) - if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget); -#endif - +void MainWindow::arrangeSlugsCenterStack() +{ + if (!centerStack) + { + qDebug() << "Center Stack not Created!"; + return; + } } void MainWindow::loadSettings() diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui index ce2b6e402..8d134a94c 100644 --- a/src/ui/MainWindow.ui +++ b/src/ui/MainWindow.ui @@ -95,7 +95,7 @@ true - Unmanned System + System false @@ -152,7 +152,7 @@ - + :/images/actions/system-log-out.svg:/images/actions/system-log-out.svg @@ -167,7 +167,7 @@ true - + :/images/control/launch.svg :/images/control/launch.svg:/images/control/launch.svg @@ -177,7 +177,7 @@ - + :/images/control/land.svg:/images/control/land.svg @@ -186,7 +186,7 @@ - + :/images/actions/process-stop.svg:/images/actions/process-stop.svg @@ -198,7 +198,7 @@ - + :/images/actions/process-stop.svg:/images/actions/process-stop.svg @@ -210,7 +210,7 @@ - + :/images/actions/list-add.svg:/images/actions/list-add.svg @@ -219,7 +219,7 @@ - + :/images/categories/applications-system.svg:/images/categories/applications-system.svg @@ -231,7 +231,7 @@ - + :/images/devices/input-gaming.svg:/images/devices/input-gaming.svg @@ -246,7 +246,7 @@ true - + :/images/control/launch.svg:/images/control/launch.svg @@ -258,7 +258,7 @@ - + :/images/contrib/slugs.png:/images/contrib/slugs.png @@ -267,7 +267,7 @@ - + :/images/devices/input-gaming.svg:/images/devices/input-gaming.svg @@ -279,7 +279,7 @@ - + :/images/apps/utilities-system-monitor.svg:/images/apps/utilities-system-monitor.svg @@ -288,7 +288,7 @@ - + :/images/status/software-update-available.svg:/images/status/software-update-available.svg @@ -297,7 +297,7 @@ - + :/images/categories/preferences-system.svg:/images/categories/preferences-system.svg @@ -309,7 +309,7 @@ true - + :/images/status/weather-overcast.svg:/images/status/weather-overcast.svg @@ -324,7 +324,7 @@ true - + :/images/apps/utilities-system-monitor.svg:/images/apps/utilities-system-monitor.svg @@ -339,7 +339,7 @@ true - + :/images/devices/network-wired.svg:/images/devices/network-wired.svg @@ -351,7 +351,7 @@ - + :/images/categories/applications-internet.svg:/images/categories/applications-internet.svg @@ -363,7 +363,7 @@ true - + :/images/status/network-wireless-encrypted.svg:/images/status/network-wireless-encrypted.svg @@ -375,7 +375,7 @@ - + :/images/apps/utilities-system-monitor.svg:/images/apps/utilities-system-monitor.svg @@ -387,7 +387,7 @@ true - + :/images/status/audio-volume-high.svg :/images/status/audio-volume-muted.svg :/images/status/audio-volume-muted.svg @@ -403,7 +403,7 @@ true - + :/images/devices/network-wireless.svg:/images/devices/network-wireless.svg @@ -415,7 +415,7 @@ - + :/images/actions/system-log-out.svg:/images/actions/system-log-out.svg @@ -459,7 +459,7 @@ - + :/images/status/folder-drag-accept.svg:/images/status/folder-drag-accept.svg @@ -469,7 +469,7 @@ - + diff --git a/src/ui/map/QGCMapTool.ui b/src/ui/map/QGCMapTool.ui index 518b626cb..c74eab513 100644 --- a/src/ui/map/QGCMapTool.ui +++ b/src/ui/map/QGCMapTool.ui @@ -6,8 +6,8 @@ 0 0 - 571 - 564 + 400 + 300 -- 2.22.0