Temp commit of new UAS properties and UASQuickView for viewing UAS Properties

qgroundcontrol.pro

@@ -226,7 +226,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCHilJSBSimConfiguration.ui \
     src/ui/QGCHilXPlaneConfiguration.ui \
     src/ui/designer/QGCComboBox.ui \
-    src/ui/designer/QGCTextLabel.ui
+    src/ui/designer/QGCTextLabel.ui \
+    src/ui/uas/UASQuickView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -373,7 +374,9 @@ HEADERS += src/MG.h \
     src/ui/designer/QGCComboBox.h \
     src/ui/designer/QGCTextLabel.h \
     src/ui/submainwindow.h \
-    src/ui/dockwidgettitlebareventfilter.h
+    src/ui/dockwidgettitlebareventfilter.h \
+    src/ui/uas/UASQuickView.h \
+    src/ui/uas/UASQuickViewItem.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -539,7 +542,9 @@ SOURCES += src/main.cc \
     src/ui/designer/QGCComboBox.cc \
     src/ui/designer/QGCTextLabel.cc \
     src/ui/submainwindow.cpp \
-    src/ui/dockwidgettitlebareventfilter.cpp
+    src/ui/dockwidgettitlebareventfilter.cpp \
+    src/ui/uas/UASQuickView.cpp \
+    src/ui/uas/UASQuickViewItem.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/uas/UAS.cc

@@ -77,9 +77,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     localX(0.0),
     localY(0.0),
     localZ(0.0),
-    latitude(0.0),
-    longitude(0.0),
-    altitude(0.0),
     globalEstimatorActive(false),
     latitude_gps(0.0),
     longitude_gps(0.0),
@@ -737,14 +734,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_global_position_int_t pos;
             mavlink_msg_global_position_int_decode(&message, &pos);
             quint64 time = getUnixTime();
-            latitude = pos.lat/(double)1E7;
-            longitude = pos.lon/(double)1E7;
-            altitude = pos.alt/1000.0;
+            //latitude = pos.lat/(double)1E7;
+            setLatitude(pos.lat/(double)1E7);
+            //longitude = pos.lon/(double)1E7;
+            setLongitude(pos.lon/(double)1E7);
+            //altitude = pos.alt/1000.0;
+            setAltitude(pos.alt/1000.0);
             globalEstimatorActive = true;
             speedX = pos.vx/100.0;
             speedY = pos.vy/100.0;
             speedZ = pos.vz/100.0;
-            emit globalPositionChanged(this, latitude, longitude, altitude, time);
+            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
             emit speedChanged(this, speedX, speedY, speedZ, time);
 
             // Set internal state
@@ -785,10 +785,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 altitude_gps = pos.alt/1000.0;
 
                 if (!globalEstimatorActive) {
-                    latitude = latitude_gps;
-                    longitude = longitude_gps;
-                    altitude = altitude_gps;
-                    emit globalPositionChanged(this, latitude, longitude, altitude, time);
+                    //latitude = latitude_gps;
+                    setLatitude(latitude_gps);
+                    //longitude = longitude_gps;
+                    setLongitude(longitude_gps);
+                    //altitude = altitude_gps;
+                    setAltitude(altitude_gps);
+                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
                 }
 
                 positionLock = true;

src/uas/UAS.h

@@ -100,26 +100,74 @@ public:
     /** @brief Get the links associated with this robot */
     QList<LinkInterface*>* getLinks();
 
+    Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
+    Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
+    Q_PROPERTY(double localZ READ getLocalZ WRITE setLocalZ NOTIFY localZChanged)
+    Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
+    Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
+    Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
+    Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
+    Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
+    Q_PROPERTY(double roll READ getRoll)
+    Q_PROPERTY(double pitch READ getPitch)
+    Q_PROPERTY(double yaw READ getYaw)
+
+    void setLocalX(double val)
+    {
+        localX = val;
+        emit localXChanged(val,"localX");
+    }
     double getLocalX() const
     {
         return localX;
     }
+
+    void setLocalY(double val)
+    {
+        localY = val;
+        emit localYChanged(val,"localY");
+    }
     double getLocalY() const
     {
         return localY;
     }
+
+    void setLocalZ(double val)
+    {
+        localZ = val;
+        emit localZChanged(val,"localZ");
+    }
     double getLocalZ() const
     {
         return localZ;
     }
+
+    void setLatitude(double val)
+    {
+        latitude = val;
+        emit latitudeChanged(val,"latitude");
+    }
     double getLatitude() const
     {
         return latitude;
     }
+
+    void setLongitude(double val)
+    {
+        longitude = val;
+        emit longitudeChanged(val,"longitude");
+    }
     double getLongitude() const
     {
         return longitude;
     }
+
+    void setAltitude(double val)
+    {
+        altitude = val;
+        emit altitudeChanged(val,"altitude");
+    }
+
     double getAltitude() const
     {
         return altitude;
@@ -699,6 +747,14 @@ signals:
     /** @brief HIL actuator outputs have changed */
     void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 
+    void localXChanged(double val,QString name);
+    void localYChanged(double val,QString name);
+    void localZChanged(double val,QString name);
+    void longitudeChanged(double val,QString name);
+    void latitudeChanged(double val,QString name);
+    void altitudeChanged(double val,QString name);
+    void altitudeChanged(int uasid, double altitude);
+
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
     quint64 getUnixTime(quint64 time=0);

src/ui/MainWindow.cc

@@ -58,6 +58,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCRGBDView.h"
 #include "QGCFirmwareUpdate.h"
 #include "QGCStatusBar.h"
+#include "UASQuickView.h"
 
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -526,6 +527,13 @@ void MainWindow::buildCommonWidgets()
     QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
     tempAction->setCheckable(true);
     connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+    }
+    {
+        QAction* tempAction = ui.menuTools->addAction(tr("Quick View"));
+        tempAction->setCheckable(true);
+        menuToDockNameMap[tempAction] = "UAS_INFO_QUICKVIEW_DOCKWIDGET";
+        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+
     }
     createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
@@ -735,6 +743,10 @@ void MainWindow::loadDockWidget(QString name)
     {
         createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
+    else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
+    {
+        createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
+    }
     else
     {
         qDebug() << "Error loading window:" << name;

src/ui/uas/UASQuickView.cpp

+#include "UASQuickView.h"
+#include <QMetaMethod>
+#include <QDebug>
+UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
+    connect(UASManager::instance(),SIGNAL(UASCreated(UASInterface*)),this,SLOT(addUAS(UASInterface*)));
+    if (UASManager::instance()->getActiveUAS())
+    {
+        addUAS(UASManager::instance()->getActiveUAS());
+    }
+    this->setContextMenuPolicy(Qt::ActionsContextMenu);
+
+
+    {
+        QAction *action = new QAction("latitude",this);
+        action->setCheckable(true);
+        action->setChecked(true);
+        connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
+        this->addAction(action);
+        UASQuickViewItem *item = new UASQuickViewItem(this);
+        item->setTitle("latitude");
+        ui.verticalLayout->addWidget(item);
+        uasPropertyToLabelMap["latitude"] = item;
+    }
+
+    {
+        QAction *action = new QAction("longitude",this);
+        action->setCheckable(true);
+        action->setChecked(true);
+        connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
+        this->addAction(action);
+        UASQuickViewItem *item = new UASQuickViewItem(this);
+        item->setTitle("longitude");
+        ui.verticalLayout->addWidget(item);
+        uasPropertyToLabelMap["longitude"] = item;
+    }
+
+    {
+        QAction *action = new QAction("altitude",this);
+        action->setCheckable(true);
+        action->setChecked(true);
+        connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
+        this->addAction(action);
+        UASQuickViewItem *item = new UASQuickViewItem(this);
+        item->setTitle("altitude");
+        ui.verticalLayout->addWidget(item);
+        uasPropertyToLabelMap["altitude"] = item;
+    }
+
+    updateTimer = new QTimer(this);
+    connect(updateTimer,SIGNAL(timeout()),this,SLOT(updateTimerTick()));
+    updateTimer->start(1000);
+}
+void UASQuickView::updateTimerTick()
+{
+    for (int i=0;i<uasPropertyList.size();i++)
+    {
+        if (uasPropertyValueMap.contains(uasPropertyList[i]) && uasPropertyToLabelMap.contains(uasPropertyList[i]))
+        {
+            uasPropertyToLabelMap[uasPropertyList[i]]->setValue(uasPropertyValueMap.value(uasPropertyList[i],0));
+        }
+    }
+}
+
+void UASQuickView::addUAS(UASInterface* uas)
+{
+    if (uas)
+    {
+        if (!this->uas)
+        {
+            setActiveUAS(uas);
+        }
+    }
+}
+
+void UASQuickView::setActiveUAS(UASInterface* uas)
+{
+    if (!uas)
+    {
+        return;
+    }
+    this->uas = uas;
+    uasPropertyList.clear();
+    qDebug() << "UASInfoWidget property count:" << uas->metaObject()->propertyCount();
+    for (int i=0;i<uas->metaObject()->propertyCount();i++)
+    {
+        if (uas->metaObject()->property(i).hasNotifySignal())
+        {
+            qDebug() << "Property:" << i << uas->metaObject()->property(i).name();
+            uasPropertyList.append(uas->metaObject()->property(i).name());
+            if (!uasPropertyToLabelMap.contains(uas->metaObject()->property(i).name()))
+            {
+                QAction *action = new QAction(QString(uas->metaObject()->property(i).name()),this);
+                action->setCheckable(true);
+                connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
+                this->addAction(action);
+            }
+            qDebug() << "Signature:" << uas->metaObject()->property(i).notifySignal().signature();
+            int val = this->metaObject()->indexOfMethod("valChanged(double,QString)");
+            if (val != -1)
+            {
+
+                if (!connect(uas,uas->metaObject()->property(i).notifySignal(),this,this->metaObject()->method(val)))
+                {
+                    qDebug() << "Error connecting signal";
+                }
+            }
+        }
+    }
+}
+void UASQuickView::actionTriggered(bool checked)
+{
+    QAction *senderlabel = qobject_cast<QAction*>(sender());
+    if (!senderlabel)
+    {
+        return;
+    }
+    if (checked)
+    {
+        UASQuickViewItem *item = new UASQuickViewItem(this);
+        item->setTitle(senderlabel->text());
+        ui.verticalLayout->addWidget(item);
+        uasPropertyToLabelMap[senderlabel->text()] = item;
+    }
+    else
+    {
+        ui.verticalLayout->removeWidget(uasPropertyToLabelMap[senderlabel->text()]);
+        uasPropertyToLabelMap.remove(senderlabel->text());
+        uasPropertyToLabelMap[senderlabel->text()]->deleteLater();
+    }
+}
+
+void UASQuickView::valChanged(double val,QString type)
+{
+    //qDebug() << "Value changed:" << type << val;
+    uasPropertyValueMap[type] = val;
+}

src/ui/uas/UASQuickView.h

+#ifndef UASQUICKVIEW_H
+#define UASQUICKVIEW_H
+
+#include <QWidget>
+#include <QTimer>
+#include <QLabel>
+#include "uas/UASManager.h"
+#include "uas/UASInterface.h"
+#include "ui_UASQuickView.h"
+#include "UASQuickViewItem.h"
+class UASQuickView : public QWidget
+{
+    Q_OBJECT
+public:
+    UASQuickView(QWidget *parent = 0);
+private:
+    UASInterface *uas;
+    QList<QString> uasPropertyList;
+    QMap<QString,double> uasPropertyValueMap;
+    QMap<QString,UASQuickViewItem*> uasPropertyToLabelMap;
+    QTimer *updateTimer;
+protected:
+    Ui::Form ui;
+signals:
+    
+public slots:
+    void actionTriggered(bool checked);
+    void updateTimerTick();
+    void addUAS(UASInterface* uas);
+    void setActiveUAS(UASInterface* uas);
+    void valChanged(double val,QString type);
+};
+
+#endif // UASQUICKVIEW_H

src/ui/uas/UASQuickView.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>100</width>
+    <height>100</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout"/>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/uas/UASQuickViewItem.cpp

+#include "UASQuickViewItem.h"
+#include <QVBoxLayout>
+
+UASQuickViewItem::UASQuickViewItem(QWidget *parent) : QWidget(parent)
+{
+    QVBoxLayout *layout = new QVBoxLayout();
+    this->setLayout(layout);
+    titleLabel = new QLabel(this);
+    titleLabel->setAlignment(Qt::AlignHCenter);
+    this->layout()->addWidget(titleLabel);
+    valueLabel = new QLabel(this);
+    valueLabel->setAlignment(Qt::AlignHCenter);
+    valueLabel->setText("<h1>0.00</h1>");
+    this->layout()->addWidget(valueLabel);
+    layout->addSpacerItem(new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding));
+}
+
+void UASQuickViewItem::setValue(double value)
+{
+    valueLabel->setText("<h1>" + QString::number(value,'f',4) + "</h1>");
+}
+
+void UASQuickViewItem::setTitle(QString title)
+{
+    titleLabel->setText(title);
+}

src/ui/uas/UASQuickViewItem.h

+#ifndef UASQUICKVIEWITEM_H
+#define UASQUICKVIEWITEM_H
+
+#include <QWidget>
+#include <QLabel>
+class UASQuickViewItem : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit UASQuickViewItem(QWidget *parent = 0);
+    void setValue(double value);
+    void setTitle(QString title);
+private:
+    QLabel *titleLabel;
+    QLabel *valueLabel;
+signals:
+    
+public slots:
+    
+};
+
+#endif // UASQUICKVIEWITEM_H