Minor improvements in UAS display

mavlink.pri

-# -------------------------------------------------
-# MAVGround - Micro Air Vehicle Groundstation
-# Please see our website at <http://pixhawk.ethz.ch>
-# Original Author:
-# Lorenz Meier <mavteam@student.ethz.ch>
-# Contributing Authors (in alphabetical order):
-# (c) 2009 PIXHAWK Team
-# This file is part of the mav groundstation project
-# MAVGround 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.
-# MAVGround 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 MAVGround. If not, see <http://www.gnu.org/licenses/>.
-# ABOUT THIS FILE:
-# This file includes the MAVLink protocol from outside the groundstation directory
-# Change the MAVLINKDIR to whereever the MAVLink .c and .h files are located.
-# DO NOT USE A TRAILING SLASH!
-# ------------------------------------------------------------------------------
-MAVLINKDIR = ../embedded/src/comm/mavlink
-INCLUDEPATH += $$MAVLINKDIR
-HEADERS += \
-    $$MAVLINKDIR/mavlink.h
-SOURCES += $$MAVLINKDIR/protocol.c

src/Core.cc

@@ -94,12 +94,12 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
 
     // Start the user interface
     splashScreen->showMessage(tr("Starting User Interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    startUI();
+    // Start UI
+    mainWindow = new MainWindow();
 
     // Remove splash screen
     splashScreen->finish(mainWindow);
 
-
 }
 
 /**
@@ -133,12 +133,4 @@ void Core::startUASManager()
     UASManager::instance();
 }
 
-/**
- * @brief Start and show the user interface.
- **/
-void Core::startUI()
-{
-    // Start UI
-    mainWindow = new MainWindow();
-}
 

src/Core.h

@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
 
 /**
  * @file
- *   @brief Main class
+ *   @brief Definition of main class
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -65,8 +65,6 @@ protected:
          **/
         void startUASManager();
 
-        void startUI();
-
 private:
         MainWindow* mainWindow;
         //ViconTarsusProtocol* tarsus;

src/ui/UASView.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>362</width>
-    <height>116</height>
+    <height>120</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -201,7 +201,7 @@ QProgressBar::chunk#thrustBar {
     <number>6</number>
    </property>
    <item>
-    <widget class="QGroupBox" name="groupBox">
+    <widget class="QGroupBox" name="uasViewFrame">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
        <horstretch>0</horstretch>

src/ui/uas/UASView.cc

@@ -45,6 +45,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         stateDesc(tr("Unknown system state")),
         mode("MAV_MODE_UNKNOWN"),
         thrust(0),
+        isActive(false),
         m_ui(new Ui::UASView)
 {
     this->uas = uas;
@@ -67,7 +68,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
 
     // Setup UAS selection
-    connect(m_ui->groupBox, SIGNAL(clicked(bool)), this, SLOT(setUASasActive(bool)));
+    connect(m_ui->uasViewFrame, SIGNAL(clicked(bool)), this, SLOT(setUASasActive(bool)));
 
     // Setup user interaction
     connect(m_ui->liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
@@ -90,20 +91,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         m_ui->nameLabel->setText(uas->getUASName());
     }
 
-    // Get min/max values from UAS
-    // TODO get these values from UAS
-    //m_ui->speedBar->setMinimum(0);
-    //m_ui->speedBar->setMaximum(15);
-
-    // UAS color
-    QColor uasColor = uas->getColor();
-    uasColor = uasColor.darker(475);
-    QString colorstyle;
-    colorstyle = colorstyle.sprintf("QGroupBox { border: 2px solid #4A4A4F; border-radius: 5px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
-                                    uasColor.red(), uasColor.green(), uasColor.blue());
-    m_ui->groupBox->setStyleSheet(colorstyle);
-    //m_ui->groupBox->setAutoFillBackground(true);
-
+    setBackgroundColor();
 
     // Heartbeat fade
     refreshTimer = new QTimer(this);
@@ -116,9 +104,35 @@ UASView::~UASView()
     delete m_ui;
 }
 
-void UASView::setUASasActive(bool)
+/**
+ * Set the background color based on the MAV color. If the MAV is selected as the
+ * currently actively controlled system, the frame color is highlighted
+ */
+void UASView::setBackgroundColor()
+{
+    // UAS color
+    QColor uasColor = uas->getColor();
+    QString colorstyle;
+    QString borderColor = "#4A4A4F";
+    if (isActive)
+    {
+        borderColor = "#FA4A4F";
+        uasColor = uasColor.darker(475);
+    }
+    else
+    {
+        uasColor = uasColor.darker(675);
+    }
+    colorstyle = colorstyle.sprintf("QGroupBox { border-radius: 5px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X; border: 2px solid %s; }",
+                                    uasColor.red(), uasColor.green(), uasColor.blue(), borderColor.toStdString().c_str());
+    m_ui->uasViewFrame->setStyleSheet(colorstyle);
+}
+
+void UASView::setUASasActive(bool active)
 {
     UASManager::instance()->setActiveUAS(this->uas);
+    this->isActive = active;
+    setBackgroundColor();
 }
 
 void UASView::updateMode(int sysId, QString status, QString description)

src/ui/uas/UASView.h

@@ -69,6 +69,8 @@ public slots:
     void setSystemType(UASInterface* uas, unsigned int systemType);
     /** @brief Set the current UAS as the globally active system */
     void setUASasActive(bool);
+    /** @brief Set the background color for the widget */
+    void setBackgroundColor();
 
 protected:
     void changeEvent(QEvent *e);
@@ -82,7 +84,8 @@ protected:
     QString state;
     QString stateDesc;
     QString mode;
-    double thrust;
+    double thrust; ///< Current vehicle thrust: 0 - 1.0 for 100% thrust
+    bool isActive; ///< Is this MAV selected by the user?
 
     void mouseDoubleClickEvent (QMouseEvent * event);
     /** @brief Mouse enters the widget */