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qgroundcontrol
Commit 76df6050 authored by tecnosapiens's avatar tecnosapiens
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connect signals PID editLines to Slot change color

parents 3b29d30a 03b9312b
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Showing with 324 additions and 51 deletions
src/comm/SerialLink.cc
View file @ 76df6050
......@@ -64,7 +64,8 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
// Set the port name
if (porthandle == "")
{
name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
// name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
name = tr("Serial Link ") + QString::number(getId());
}
else
{
......
src/ui/MainWindow.cc
View file @ 76df6050
......@@ -184,6 +184,8 @@ void MainWindow::buildWidgets()
slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
}
......@@ -218,9 +220,14 @@ void MainWindow::connectWidgets()
// it notifies that a waypoint global goes to do create and a map graphic too
connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
// it notifies that a waypoint global change its position by spinBox on Widget WaypointView
// it notifies that a waypoint global change it¥s position by spinBox on Widget WaypointView
connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
}
if (slugsHilSimWidget->widget()){
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), dynamic_cast<SlugsHilSim*>(slugsHilSimWidget->widget()), SLOT(activeUasSet(UASInterface*)) );
}
}
void MainWindow::arrangeCenterStack()
......@@ -543,15 +550,13 @@ void MainWindow::UASCreated(UASInterface* uas)
// Check which type this UAS is of
PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
if (mav) loadPixhawkView();
SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
if (mav2)
{
SlugsDataSensorView* slugDataView = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
if(slugDataView)
{
slugDataView->addUAS(uas);
}
dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget())->addUAS(uas);
loadSlugsView();
}
......@@ -642,17 +647,6 @@ void MainWindow::loadSlugsView()
infoDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
hsi->start();
addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
}
}
// WAYPOINT LIST
if (waypointsDockWidget)
......@@ -675,6 +669,12 @@ void MainWindow::loadSlugsView()
slugsDataWidget->show();
}
// Slugs Data View
if (slugsHilSimWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, slugsHilSimWidget);
slugsHilSimWidget->show();
}
this->show();
}
......
src/ui/MainWindow.h
View file @ 76df6050
......@@ -66,8 +66,12 @@ This file is part of the QGROUNDCONTROL project
#include "QMap3DWidget.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
#include "SlugsPIDControl.h"
#include "slugshilsim.h"
/**
* @brief Main Application Window
......@@ -182,6 +186,8 @@ protected:
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsPIDControlWidget;
QPointer<QDockWidget> slugsHilSimWidget;
// Popup widgets
JoystickWidget* joystickWidget;
......
src/ui/SlugsPIDControl.cpp
View file @ 76df6050
......@@ -12,10 +12,11 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
{
ui->setupUi(this);
setRedColorStyle();
// setGreenColorStyle();
setGreenColorStyle();
//ORIGINcolorStyle = ui->AirSpeedHold_groupBox->styleSheet();
//connectButtons();
connect_set_pushButtons();
connect_AirSpeed_LineEdit();
}
......@@ -26,7 +27,7 @@ SlugsPIDControl::~SlugsPIDControl()
}
/**
* Set the background color RED of the GroupBox PID based on the send Slugs PID message
* Set the background color RED style for the GroupBox PID when change lineEdit information
*
*/
void SlugsPIDControl::setRedColorStyle()
......@@ -45,7 +46,7 @@ void SlugsPIDControl::setRedColorStyle()
}
/**
* Set the background color GREEN of the GroupBox PID based on the send Slugs PID message
* Set the background color GREEN style for the GroupBox PID when change lineEdit information
*
*/
void SlugsPIDControl::setGreenColorStyle()
......@@ -63,24 +64,33 @@ void SlugsPIDControl::setGreenColorStyle()
}
/**
* Connection Signal and Slot of the set and get buttons on the widget
*
* Connection Signal and Slot of the set buttons on the widget
*/
void SlugsPIDControl::connectButtons()
void SlugsPIDControl::connect_set_pushButtons()
{
//ToDo connect buttons set and get. Before create the slots
connect(ui->dT_PID_set_pushButton, SIGNAL(clicked(bool)),this,SLOT(changeColor_GREEN_AirSpeed_groupBox()));
}
void SlugsPIDControl::connect_AirSpeed_LineEdit()
{
connect(ui->dT_P_set,SIGNAL(editingFinished()),this, SLOT(changeColor_AirSpeed_groupBox()));
connect(ui->dT_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
connect(ui->dT_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
connect(ui->dT_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
}
void SlugsPIDControl::changeColor_AirSpeed_groupBox()
void SlugsPIDControl::changeColor_RED_AirSpeed_groupBox(QString text)
{
Q_UNUSED(text);
ui->AirSpeedHold_groupBox->setStyleSheet(REDcolorStyle);
}
void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
{
ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
}
src/ui/SlugsPIDControl.h
View file @ 76df6050
......@@ -21,11 +21,22 @@ public slots:
void setRedColorStyle();
void setGreenColorStyle();
void changeColor_AirSpeed_groupBox();
void connectButtons();
void changeColor_RED_AirSpeed_groupBox(QString text);
void changeColor_GREEN_AirSpeed_groupBox();
/**
* @brief Connects the SIGNALS from the editline to SLOT changeColor_RED_AirSpeed_groupBox()
*
* @param
*/
void connect_AirSpeed_LineEdit();
void connect_set_pushButtons();
private:
Ui::SlugsPIDControl *ui;
bool change_dT;
......
src/ui/SlugsPIDControl.ui
View file @ 76df6050
......@@ -81,6 +81,9 @@
<property name="text">
<string>dT_P_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
......@@ -95,6 +98,9 @@
<property name="text">
<string>dT_I_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
......@@ -109,6 +115,9 @@
<property name="text">
<string>dT_D_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......@@ -235,6 +244,9 @@
<property name="text">
<string>dE_P_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
......@@ -249,6 +261,9 @@
<property name="text">
<string>dE_I_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
......@@ -263,6 +278,9 @@
<property name="text">
<string>dE_D_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......@@ -389,6 +407,9 @@
<property name="text">
<string>dA_P_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
......@@ -403,6 +424,9 @@
<property name="text">
<string>dA_I_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
......@@ -417,6 +441,9 @@
<property name="text">
<string>dA_D_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......@@ -520,6 +547,9 @@
<property name="text">
<string>HELPComm_P_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
......@@ -534,6 +564,9 @@
<property name="text">
<string>HELPComm_I_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......@@ -615,6 +648,9 @@
<property name="text">
<string>HELPComm_FF_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......@@ -741,6 +777,9 @@
<property name="text">
<string>dR_P_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
......@@ -755,6 +794,9 @@
<property name="text">
<string>dR_I_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
......@@ -769,6 +811,9 @@
<property name="text">
<string>dR_D_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......@@ -867,6 +912,9 @@
<property name="text">
<string>P2dT_FF_get</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
......
src/ui/slugshilsim.cc
View file @ 76df6050
/*=====================================================================
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 Configuration Window for Slugs' HIL Simulator
* @author Mariano Lizarraga <malife@gmail.com>
*/
#include "slugshilsim.h"
#include "ui_slugshilsim.h"
#include "LinkManager.h"
......@@ -7,8 +37,15 @@ SlugsHilSim::SlugsHilSim(QWidget *parent) :
ui(new Ui::SlugsHilSim)
{
ui->setupUi(this);
linkAdded();
rxSocket = new QUdpSocket(this);
txSocket = new QUdpSocket(this);
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addToCombo(LinkInterface*)));
connect(ui->bt_startHil, SIGNAL(clicked()), this, SLOT(putInHilMode()));
connect(rxSocket, SIGNAL(readyRead()), this, SLOT(readDatagram()));
linksAvailable.clear();
}
SlugsHilSim::~SlugsHilSim()
......@@ -18,12 +55,74 @@ SlugsHilSim::~SlugsHilSim()
void SlugsHilSim::linkAdded(void){
ui->cb_mavlinkLinks->clear();
// ui->cb_mavlinkLinks->clear();
// QList<LinkInterface *> linkList;
// linkList.append(LinkManager::instance()->getLinks()) ;
// for (int i = 0; i< linkList.size(); i++){
// ui->cb_mavlinkLinks->addItem((linkList.takeFirst())->getName());
// }
}
void SlugsHilSim::addToCombo(LinkInterface* theLink){
ui->cb_mavlinkLinks->addItem(theLink->getName());
linksAvailable.insert(ui->cb_mavlinkLinks->count(),theLink);
}
void SlugsHilSim::putInHilMode(void){
bool sw_enableControls = !(ui->bt_startHil->isChecked());
QString buttonCaption= ui->bt_startHil->isChecked()? "Stop Slugs HIL Mode": "Set Slugs in HIL Mode";
if (ui->bt_startHil->isChecked()){
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("You are about to put SLUGS in HIL Mode.");
msgBox.setInformativeText("It will stop reading the actual sensor readings. Do you wish to continue?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::No);
if(msgBox.exec() == QMessageBox::Yes)
{
rxSocket->bind(QHostAddress::Any, ui->ed_rxPort->text().toInt());
txSocket->bind(QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
ui->ed_ipAdress->setEnabled(sw_enableControls);
ui->ed_rxPort->setEnabled(sw_enableControls);
ui->ed_txPort->setEnabled(sw_enableControls);
ui->cb_mavlinkLinks->setEnabled(sw_enableControls);
QList<LinkInterface *> linkList = LinkManager::instance()->getLinks() ;
ui->bt_startHil->setText(buttonCaption);
for (int i = 0; i< linkList.size(); i++){
ui->cb_mavlinkLinks->addItem((linkList.takeFirst())->getName());
} else {
ui->bt_startHil->setChecked(false);
}
} else {
ui->ed_ipAdress->setEnabled(sw_enableControls);
ui->ed_rxPort->setEnabled(sw_enableControls);
ui->ed_txPort->setEnabled(sw_enableControls);
ui->cb_mavlinkLinks->setEnabled(sw_enableControls);
ui->bt_startHil->setText(buttonCaption);
}
}
void SlugsHilSim::readDatagram(void){
}
void SlugsHilSim::activeUasSet(UASInterface* uas){
if (uas != NULL) {
//activeUas = uas;
}
}
src/ui/slugshilsim.h
View file @ 76df6050
/*=====================================================================
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 Definition of the configuration Window for Slugs' HIL Simulator
* @author Mariano Lizarraga <malife@gmail.com>
*/
#ifndef SLUGSHILSIM_H
#define SLUGSHILSIM_H
#include <QWidget>
#include <QHostAddress>
#include <QUdpSocket>
#include <QMessageBox>
#include "LinkInterface.h"
#include "UAS.h"
namespace Ui {
......@@ -24,13 +56,56 @@ protected:
QHostAddress* simulinkIp;
QUdpSocket* txSocket;
QUdpSocket* rxSocket;
UAS* activeUas;
public slots:
void linkAdded();
void linkAdded (void);
/**
* @brief Adds a link to the combo box listing so the user can select a link
*
* Populates the Combo box that allows the user to select the link with which Slugs will
* receive the simulated sensor data from Simulink
*
* @param theLink the link that is being added to the combo box
*/
void addToCombo(LinkInterface* theLink);
/**
* @brief Puts Slugs in HIL Mode
*
* Sends the required messages through the main communication link to set Slugs in HIL Mode
*
*/
void putInHilMode(void);
/**
* @brief Receives a datagram from Simulink containing the sensor data.
*
* Receives a datagram from Simulink containing the simulated sensor data. This data is then
* forwarded to Slugs to use as input to the attitude estimation and navigation algorithms.
*
*/
void readDatagram(void);
/**
* @brief Called when the a new UAS is set to active.
*
* Called when the a new UAS is set to active.
*
* @param uas The new active UAS
*/
void activeUasSet(UASInterface* uas);
public slots:
private:
Ui::SlugsHilSim *ui;
QHash <int, LinkInterface*> linksAvailable;
};
#endif // SLUGSHILSIM_H
src/ui/slugshilsim.ui
View file @ 76df6050
......@@ -6,19 +6,19 @@
<rect>
<x>0</x>
<y>0</y>
<width>256</width>
<width>325</width>
<height>191</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>256</width>
<width>320</width>
<height>191</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>367</width>
<width>450</width>
<height>229</height>
</size>
</property>
......@@ -45,7 +45,7 @@
</font>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>IP Address</string>
......@@ -91,7 +91,7 @@
</font>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Receive Port</string>
......@@ -124,7 +124,7 @@
</font>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Send Port</string>
......@@ -132,7 +132,7 @@
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="ed_TxPort">
<widget class="QLineEdit" name="ed_txPort">
<property name="minimumSize">
<size>
<width>60</width>
......@@ -165,8 +165,8 @@
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_4">
<property name="font">
<font>
......@@ -179,12 +179,32 @@
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>Slugs HIL Sim Serial Link</string>
<string>Slugs HIL Link</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="cb_mavlinkLinks"/>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="cb_mavlinkLinks">
<property name="minimumSize">
<size>
<width>171</width>
<height>26</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
......@@ -206,7 +226,10 @@
<item>
<widget class="QPushButton" name="bt_startHil">
<property name="text">
<string>Set in HIL Mode</string>
<string>Set Slugs in HIL Mode</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
......
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