Add an XY plot widget

This allows you to add XY graph plots of any data.  For example,
x,y position data of a servo.

qgroundcontrol.pro

@@ -301,7 +301,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/configuration/ApmFirmwareConfig.ui \
     src/ui/px4_configuration/QGCPX4AirframeConfig.ui \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.ui \
-    src/ui/px4_configuration/QGCPX4SensorCalibration.ui
+    src/ui/px4_configuration/QGCPX4SensorCalibration.ui \
+    src/ui/designer/QGCXYPlot.ui
 
 INCLUDEPATH += src \
     src/ui \
@@ -506,6 +507,7 @@ HEADERS += src/MG.h \
     src/ui/QGCBaseParamWidget.h \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
     src/ui/px4_configuration/QGCPX4SensorCalibration.h \
+    src/ui/designer/QGCXYPlot.h \
     src/ui/menuactionhelper.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
@@ -728,6 +730,7 @@ SOURCES += src/main.cc \
     src/ui/QGCBaseParamWidget.cc \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
     src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
+    src/ui/designer/QGCXYPlot.cc \
     src/ui/menuactionhelper.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler

src/ui/MainWindow.cc

@@ -480,6 +480,8 @@ void MainWindow::buildCommonWidgets()
 {
     // Add generic MAVLink decoder
     mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
+    connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)),
+                      this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
     // Log player
     logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar);
@@ -1641,6 +1643,7 @@ void MainWindow::UASCreated(UASInterface* uas)
 
 
     connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
+    connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
     // HIL
     showHILConfigurationWidget(uas);

src/ui/MainWindow.h

@@ -301,6 +301,9 @@ protected slots:
 signals:
     void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE newTheme);
     void initStatusChanged(const QString& message, int alignment, const QColor &color);
+    /** Emitted when any value changes from any source */
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec);
+
 #ifdef MOUSE_ENABLED_LINUX
     /** @brief Forward X11Event to catch 3DMouse inputs */
     void x11EventOccured(XEvent *event);

src/ui/designer/QGCToolWidget.cc

@@ -13,6 +13,7 @@
 #include "QGCParamSlider.h"
 #include "QGCComboBox.h"
 #include "QGCTextLabel.h"
+#include "QGCXYPlot.h"
 #include "QGCCommandButton.h"
 #include "UASManager.h"
 
@@ -272,6 +273,11 @@ void QGCToolWidget::loadSettings(QVariantMap& settings)
                 item = new QGCComboBox(this);
                 //qDebug() << "CREATED COMBOBOX";
             }
+            else if (type == "XYPLOT")
+            {
+                item = new QGCXYPlot(this);
+                //qDebug() << "CREATED XYPlot";
+            }
             if (item)
             {
                 // Configure and add to layout
@@ -330,6 +336,11 @@ void QGCToolWidget::loadSettings(QSettings& settings)
                 item->setObjectName(settings.value("QGC_TEXT_ID").toString());
                 item->setActiveUAS(mav);
             }
+            else if (type == "XYPLOT")
+            {
+                item = new QGCXYPlot(this);
+                item->setActiveUAS(mav);
+            }
 
             if (item)
             {
@@ -428,6 +439,7 @@ void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
     menu.addAction(addParamAction);
     menu.addAction(addCommandAction);
     menu.addAction(addLabelAction);
+    menu.addAction(addPlotAction);
     menu.addSeparator();
     menu.addAction(setTitleAction);
     menu.addAction(exportAction);
@@ -467,6 +479,10 @@ void QGCToolWidget::createActions()
     addLabelAction->setStatusTip(tr("Add a new label to the tool"));
     connect(addLabelAction, SIGNAL(triggered()), this, SLOT(addLabel()));
 
+    addPlotAction = new QAction(tr("New &XY Plot"), this);
+    addPlotAction->setStatusTip(tr("Add a XY Plot to the tool"));
+    connect(addPlotAction, SIGNAL(triggered()), this, SLOT(addPlot()));
+
     setTitleAction = new QAction(tr("Set Widget Title"), this);
     setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
     connect(setTitleAction, SIGNAL(triggered()), this, SLOT(setTitle()));
@@ -515,6 +531,11 @@ void QGCToolWidget::addLabel()
     addToolWidgetAndEdit(new QGCTextLabel(this));
 }
 
+void QGCToolWidget::addPlot()
+{
+    addToolWidgetAndEdit(new QGCXYPlot(this));
+}
+
 void QGCToolWidget::addToolWidgetAndEdit(QGCToolWidgetItem* widget)
 {
     addToolWidget(widget);

src/ui/designer/QGCToolWidget.h

@@ -74,6 +74,7 @@ protected:
     QVariantMap settingsMap;
     QAction* addParamAction;
     QAction* addCommandAction;
+    QAction* addPlotAction;
     QAction* addLabelAction;
     QAction* setTitleAction;
     QAction* deleteAction;
@@ -100,6 +101,7 @@ public slots:
 protected slots:
     void addParam();
     void addCommand();
+    void addPlot();
     void addLabel();
     void setTitle();
     void widgetRemoved();

src/ui/designer/QGCXYPlot.h

+#ifndef QGCXYPLOT_H
+#define QGCXYPLOT_H
+
+#include "QGCToolWidgetItem.h"
+#include "MainWindow.h"
+
+namespace Ui
+{
+class QGCXYPlot;
+}
+
+class UASInterface;
+class QwtPlot;
+class XYPlotCurve;
+
+class QGCXYPlot : public QGCToolWidgetItem
+{
+    Q_OBJECT
+
+public:
+    explicit QGCXYPlot(QWidget *parent = 0);
+    ~QGCXYPlot();
+    virtual void setEditMode(bool editMode);
+
+public slots:
+    void writeSettings(QSettings& settings);
+    void readSettings(const QSettings& settings);
+    void readSettings(const QString& pre,const QVariantMap& settings);
+    void appendData(int uasId, const QString& curve, const QString& unit, const QVariant& variant, quint64 usec);
+    void clearPlot();
+    void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE style);
+    void updateMinMaxSettings();
+
+private:
+    Ui::QGCXYPlot *ui;
+    QwtPlot *plot;
+    XYPlotCurve* xycurve;
+
+    int maxElementsToDraw;
+
+    double x; /**< Last unused value for the x-coordinate */
+    quint64 x_timestamp_us; /**< Timestamp that we last recieved a value for x */
+    bool x_valid; /**< Whether we have recieved an x value but so far no corresponding y value */
+    double y; /**< Last unused value for the x-coordinate */
+    quint64 y_timestamp_us; /**< Timestamp that we last recieved a value for x */
+    bool y_valid; /**< Whether we have recieved an x value but so far no corresponding y value */
+    int max_timestamp_diff_us; /**< Only combine x and y to a data point if the timestamp for both doesn't differ by more than this */
+};
+
+#endif // QGCXYPLOT_H