Added technosapiens' Slugs View. Need to create a new menu entry and a SLUGS icon for the menu

qgroundcontrol.pro

@@ -135,7 +135,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCPxImuFirmwareUpdate.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCRemoteControlView.ui \
-    src/ui/WaypointGlobalView.ui
+    src/ui/WaypointGlobalView.ui \
+    src/ui/SlugsDataSensorView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -234,7 +235,8 @@ HEADERS += src/MG.h \
     src/ui/map3D/WebImage.h \
     src/ui/map3D/WebImageCache.h \
     src/ui/map3D/Imagery.h \
-    src/comm/QGCMAVLink.h
+    src/comm/QGCMAVLink.h\
+    src/ui/SlugsDataSensorView.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -313,7 +315,9 @@ SOURCES += src/main.cc \
     src/ui/map3D/TextureCache.cc \
     src/ui/map3D/WebImageCache.cc \
     src/ui/map3D/WebImage.cc \
-    src/ui/map3D/Imagery.cc
+    src/ui/map3D/Imagery.cc \
+    src/ui/SlugsDataSensorView.cc
+
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/configuration.h

@@ -2,7 +2,11 @@
 #define CONFIGURATION_H
 
 /** @brief Polling interval in ms */
-#define SERIAL_POLL_INTERVAL 2
+#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
+  #define SERIAL_POLL_INTERVAL 7
+#else
+  #define SERIAL_POLL_INTERVAL 2
+#endif
 
 /** @brief Heartbeat emission rate, in Hertz (times per second) */
 #define MAVLINK_HEARTBEAT_DEFAULT_RATE 1

src/ui/MainWindow.cc

@@ -178,6 +178,9 @@ void MainWindow::buildWidgets()
     //FIXME: free memory in destructor
     joystick    = new JoystickInput();
 
+    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
+    slugsDataWidget->setWidget( new SlugsDataSensorView(this));
+
 }
 
 /**
@@ -377,6 +380,8 @@ void MainWindow::connectActions()
     // Joystick configuration
     connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
 
+    // Slugs View
+    connect(ui.actionShow_Slugs_View, SIGNAL(triggered()), this, SLOT(loadSlugsView()));
 
 }
 
@@ -649,11 +654,11 @@ void MainWindow::loadSlugsView()
         debugConsoleDockWidget->show();
     }
 
-    // ONBOARD PARAMETERS
-    if (parametersDockWidget)
+    // Slugs Data View
+    if (slugsDataWidget)
     {
-        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
-        parametersDockWidget->show();
+        addDockWidget(Qt::RightDockWidgetArea, slugsDataWidget);
+        slugsDataWidget->show();
     }
 
     this->show();

src/ui/MainWindow.h

@@ -64,7 +64,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
 #include "QMap3DWidget.h"
-
+#include "SlugsDataSensorView.h"
 #include "LogCompressor.h"
 
 
@@ -179,6 +179,7 @@ protected:
     QPointer<QDockWidget> headUpDockWidget;
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> slugsDataWidget;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/MainWindow.ui

@@ -38,7 +38,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -82,6 +82,7 @@
     <addaction name="actionShow_data_analysis_view"/>
     <addaction name="actionShow_full_view"/>
     <addaction name="actionStyleConfig"/>
+    <addaction name="actionShow_Slugs_View"/>
    </widget>
    <widget class="QMenu" name="menuHelp">
     <property name="title">
@@ -318,6 +319,15 @@
     <string>Show Global operator view</string>
    </property>
   </action>
+  <action name="actionShow_Slugs_View">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Show Slugs View</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/SlugsDataSensorView.cc

+#include "SlugsDataSensorView.h"
+#include "ui_SlugsDataSensorView.h"
+
+#include <UASManager.h>
+
+SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::SlugsDataSensorView)
+{
+    ui->setupUi(this);
+
+
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+
+    activeUAS = NULL;
+
+    loadParameters();
+
+
+    this->setVisible(false);
+
+    // timer for refresh UI
+    updateTimer = new QTimer(this);
+    connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
+    updateTimer->start(200);
+}
+
+void SlugsDataSensorView::loadParameters()
+{
+    Xpos = 0;
+    Ypos = 0;
+    Zpos = 0;
+    TimeActualPosition = 0;
+
+    VXpos = 0;
+    VYpos = 0;
+    VZpos = 0;
+    TimeActualSpeed =0;
+
+    roll = 0;
+    pitch = 0;
+    yaw = 0;
+    TimeActualAttitude = 0;
+
+    //Sensor Biases
+    //Acelerometer
+    Axb = 0;
+    Ayb = 0;
+    Azb = 0;
+    TimeActualAcel = 0;
+    //Gyro
+    Gxb = 0;
+    Gyb = 0;
+    Gzb = 0;
+    TimeActualGyro = 0;
+
+}
+
+SlugsDataSensorView::~SlugsDataSensorView()
+{
+    delete ui;
+}
+
+void SlugsDataSensorView::addUAS(UASInterface* uas)
+{
+    if (uas != NULL)
+    {
+        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChange(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(sensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsSensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)));
+
+        // Set this UAS as active if it is the first one
+        if(activeUAS == 0)
+        {
+            activeUAS = uas;
+        }
+    }
+}
+
+void SlugsDataSensorView::setActiveUAS(UASInterface* uas)
+{
+    activeUAS = uas;
+}
+
+
+void SlugsDataSensorView::refresh()
+{
+
+    //refresh UI position data
+    ui->ed_x->setPlainText(QString::number(Xpos, 'f', 4));
+    ui->ed_y->setPlainText(QString::number(Ypos, 'f', 4));
+    ui->ed_z->setPlainText(QString::number(Zpos, 'f', 4));
+
+    //refresh UI speed position data
+    ui->ed_vx->setPlainText(QString::number(VXpos,'f',4));
+    ui->ed_vy->setPlainText(QString::number(VYpos,'f',4));
+    ui->ed_vz->setPlainText(QString::number(VZpos,'f',4));
+
+    //refresh UI attitude data
+    ui->m_SlugAttitudeRoll_plainTextEdit->setPlainText(QString::number(roll,'f',4));
+    ui->m_SlugAttitudePitch_plainTextEdit->setPlainText(QString::number(pitch,'f',4));
+    ui->m_SlugAttitudeYaw_plainTextEdit->setPlainText(QString::number(yaw,'f',4));
+
+    //refresh UI sensor bias acelerometer data
+    ui->m_SlugsAxBiases_textEdit->setText(QString::number(Axb, 'f', 4));
+    ui->m_SlugsAyBiases_textEdit->setText(QString::number(Ayb, 'f', 4));
+    ui->m_SlugsAzBiases_textEdit->setText(QString::number(Azb, 'f', 4));
+
+}
+
+void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp, double x, double y, double z, quint64 time)
+{
+    Q_UNUSED( uasTemp);
+
+    Xpos = x;
+    Ypos = y;
+    Zpos = z;
+    TimeActualPosition = time;
+
+}
+
+void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp, double vx, double vy, double vz, quint64 time)
+{
+    Q_UNUSED( uasTemp);
+
+    VXpos = vx;
+    VYpos = vy;
+    VZpos = vz;
+    TimeActualSpeed = time;
+}
+
+void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp, double slugroll, double slugpitch, double slugyaw, quint64 time)
+{
+    Q_UNUSED( uasTemp);
+
+    roll = slugroll;
+    pitch = slugpitch;
+    yaw = slugyaw;
+    TimeActualAttitude = time;
+}
+
+void SlugsDataSensorView::slugsSensorBiasAcelerometerChanged(UASInterface *uasTemp, double axb, double ayb, double azb, quint64 time)
+{
+     Q_UNUSED( uasTemp);
+
+     Axb = axb;
+     Ayb = ayb;
+     Azb = azb;
+     TimeActualAcel = time;
+
+
+}
+
+

src/ui/SlugsDataSensorView.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    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.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    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
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Grpahical presentation of SLUGS generated data
+ *
+ *   @author Juan F. Robles  <jfroblesc@gmail.com>
+ *
+ */
+
+#ifndef SLUGSDATASENSORVIEW_H
+#define SLUGSDATASENSORVIEW_H
+
+#include <QWidget>
+
+#include "UASInterface.h"
+
+namespace Ui {
+    class SlugsDataSensorView;
+}
+
+class SlugsDataSensorView : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsDataSensorView(QWidget *parent = 0);
+    ~SlugsDataSensorView();
+
+public slots:
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets. If
+         * there is no current UAS active, it sets it as active.
+
+         * @param uas The UAS being added
+    */
+    void addUAS(UASInterface* uas);
+
+    /**
+         * @brief Sets the UAS as active
+         *
+         * @param uas The UAS being set as active
+    */
+    void setActiveUAS(UASInterface* uas);
+
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets
+    */
+
+    void refresh();
+
+
+    void slugLocalPositionChanged(UASInterface* uasTemp,double x,double y,double z,quint64 time);
+    void slugSpeedLocalPositionChanged(UASInterface* uasTemp,double vx,double vy,double vz,quint64 time);
+    void slugAttitudeChanged(UASInterface* uasTemp,double slugroll,double slugpitch,double slugyaw, quint64 time);
+    void slugsSensorBiasAcelerometerChanged(UASInterface* uasTemp, double axb, double ayb, double azb, quint64 time);
+
+protected:
+    QTimer* updateTimer;
+     UASInterface* activeUAS;
+
+     // Position and Attitude
+     //Position
+     double Xpos;
+     double Ypos;
+     double Zpos;
+     quint64 TimeActualPosition;
+     //Speed
+     double VXpos;
+     double VYpos;
+     double VZpos;
+     quint64 TimeActualSpeed;
+     //Attitude
+     double roll;
+     double pitch;
+     double yaw;
+     quint64 TimeActualAttitude;
+
+     //Sensor Biases
+     //Acelerometer
+     double Axb;
+     double Ayb;
+     double Azb;
+     quint64 TimeActualAcel;
+     //Gyro
+     double Gxb;
+     double Gyb;
+     double Gzb;
+      quint64 TimeActualGyro;
+
+
+
+
+private:
+    Ui::SlugsDataSensorView *ui;
+    void loadParameters();
+
+
+};
+
+#endif // SLUGSDATASENSORVIEW_H