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qgroundcontrol
Commit 7bb95dbe authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of git@github.com:pixhawk/qgroundcontrol into mergeRemote

parents 6c6d79cb 1b2b89a5
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.cproject deleted 100644 → 0
View file @ 6c6d79cb
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.gitignore
View file @ 7bb95dbe
......@@ -30,4 +30,13 @@ user_config.pri
*.ncb
*.vcproj
*.sln
\ No newline at end of file
*.sln
*.sln
*.vcproj
*.user
*.ncb
*.idb
*.project
*.cproject
*.sln
*.suo
\ No newline at end of file
.project deleted 100644 → 0
View file @ 6c6d79cb
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>qgroundcontrol</name>
<comment></comment>
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<value>org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GCCErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.VCErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.MakeErrorParser;</value>
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images/earth.html
View file @ 7bb95dbe
......@@ -13,12 +13,12 @@ google.load("earth", "1", { 'language': 'en'});
var ge = null;
var initialized = false;
var aircraft = new Array();
var currAircraft = 220;
var followAircraft = false;
var followEnabled = false;
var currLat = 47.3769;
var currLon = 8.549444;
var currAlt = 470;
var currFollowHeading = 0.0;
var homeLat = 0;
var homeLon = 0;
......@@ -32,11 +32,20 @@ var currTilt = 40.0; ///<< The tilt angle (in degrees)
var currFollowTilt = 40.0;
var currView = null;
var M_PI = 3.14159265;
var planeOrient;
var planeLoc;
var aircraft = [];
var attitudes = [];
var locations = [];
var trails = [];
var trail;
var lineStringPlacemark;
var lineStyle;
// Aircraft class
......@@ -53,7 +62,10 @@ function init() {
function setCurrAircraft(id)
{
currAircraft = id;
}
function setGCSHome(lat, lon, alt)
{
......@@ -86,36 +98,11 @@ function setGCSHome(lat, lon, alt)
{
homeGroundLevel = alt;
}
goHome();
}
function initCallback(object)
function createAircraft(id, type, color)
{
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
// Now after the Google Earth initialization, initialize the GCS view
setGCSHome(currLat, currLon, currAlt);
// Create the first aircraft model
// Load 3D model
var planePlacemark = ge.createPlacemark('');
planePlacemark = ge.createPlacemark('');
planePlacemark.setName('aircraft');
planeModel = ge.createModel('');
ge.getFeatures().appendChild(planePlacemark);
......@@ -135,9 +122,77 @@ function initCallback(object)
planePlacemark.setGeometry(planeModel);
setAircraftPositionAttitude(220, 47.3772, currLon, currAlt+50, 20, 15, 50);
enableFollowing(true);
updateFollowAircraft();
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
locations[id] = planeLoc;
//createTrail(id, color);
}
function createTrail(id, color)
{
lineStringPlacemark = ge.createPlacemark('');
// Create the placemark
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
trail = ge.createLineString('');
lineStringPlacemark.setGeometry(trail);
trail.setExtrude(true);
trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
// Create a style and set width and color of line
lineStringPlacemark.setStyleSelector(ge.createStyle(''));
lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(color);
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
ge.getFeatures().appendChild(lineStringPlacemark);
}
function addTrailPosition(id, lat, lon, alt)
{
trail.setExtrude(true);
trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
trail.getCoordinates().pushLatLngAlt(currLat, currLon, currAlt);
// Create a style and set width and color of line
lineStringPlacemark.setStyleSelector(ge.createStyle(''));
lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set('99bbaaff');
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
ge.getFeatures().replaceChild(lineStringPlacemark, lineStringPlacemark);
}
function initCallback(object)
{
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
createTrail(220, 'bb2222ff');
createAircraft(220);
initialized = true;
......@@ -150,20 +205,34 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
currLat = lat;
currLon = lon;
currAlt = alt;
currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
}
planeOrient.setRoll(roll);
planeOrient.setTilt(pitch);
planeOrient.setHeading(yaw);
// FIXME Currently invalid conversion from right-handed z-down to z-up frame
planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
planeLoc.setLatitude(lat);
planeLoc.setLongitude(lon);
planeLoc.setAltitude(alt);
planeLoc.setLatitude(lat);
planeLoc.setLongitude(lon);
planeLoc.setAltitude(alt);
}
function enableDaylight(enabled)
{
if(enabled)
{
ge.getSun().setVisibility(true);
}
else
{
ge.getSun().setVisibility(false);
}
}
function goHome()
{
var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
......@@ -180,24 +249,16 @@ function setCurrentAircraft(id)
currAircraft = id;
}
function enableFollowing(follow)
{
followEnabled = follow;
}
function updateFollowAircraft()
{
if (followEnabled)
{
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
currView.setLatitude(currLat);
currView.setLongitude(currLon);
currView.setAltitude(currAlt);
currView.setRange(currViewRange);
currView.setTilt(currFollowTilt);
currView.setHeading(currFollowHeading-90.0);
ge.getView().setAbstractView(currView);
}
}
function failureCallback(object)
......
qgroundcontrol.pri
View file @ 7bb95dbe
......@@ -23,6 +23,7 @@
#
#-------------------------------------------------
#$$BASEDIR/lib/qextserialport/include
# $$BASEDIR/lib/openjaus/libjaus/include \
# $$BASEDIR/lib/openjaus/libopenJaus/include
......@@ -40,9 +41,9 @@ QMAKE_POST_LINK += echo "Copying files"
#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# MAC OS X
macx {
macx {
COMPILER_VERSION = system(gcc -v)
COMPILER_VERSION = $$system(gcc -v)
message(Using compiler $$COMPILER_VERSION)
HARDWARE_PLATFORM = $$system(uname -a)
......@@ -73,7 +74,7 @@ macx {
-framework CoreFoundation \
-framework ApplicationServices \
-lm
ICON = $$BASEDIR/images/icons/macx.icns
# Copy audio files if needed
......@@ -153,12 +154,13 @@ linux-g++ {
release {
DESTDIR = $$TARGETDIR/release
DEFINES += QT_NO_DEBUG
}
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
INCLUDEPATH += /usr/include \
/usr/local/include \
/usr/local/include \
/usr/include/qt4/phonon
# $$BASEDIR/lib/flite/include \
# $$BASEDIR/lib/flite/lang
......@@ -222,6 +224,7 @@ linux-g++-64 {
release {
DESTDIR = $$TARGETDIR/release
DEFINES += QT_NO_DEBUG
}
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
......@@ -289,6 +292,14 @@ win32-msvc2008 {
CONFIG += qaxcontainer
# QWebkit is not needed on MS-Windows compilation environment
CONFIG -= webkit
release {
CONFIG -= console
DEFINES += QT_NO_DEBUG
}
# Special settings for debug
#CONFIG += CONSOLE
......@@ -310,9 +321,9 @@ INCLUDEPATH += $$BASEDIR/lib/osgEarth/win32/include \
LIBS += -L$$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/lib \
-losg \
-losgViewer \
-losgGA \
-losgDB \
-losgText \
-losgGA \
-losgDB \
-losgText \
-lOpenThreads
DEFINES += QGC_OSG_ENABLED
exists($$BASEDIR/lib/osgEarth123) {
......@@ -331,18 +342,18 @@ exists($$BASEDIR/lib/osgEarth123) {
BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
debug {
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\debug\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\debug\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\debug\\earth.html\"
}
release {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\release\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\release\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\release\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\release\\earth.html\"
}
}
......@@ -351,7 +362,7 @@ exists($$BASEDIR/lib/osgEarth123) {
win32-g++ {
message(Building for Windows Platform (32bit))
# Special settings for debug
#CONFIG += CONSOLE
......@@ -362,6 +373,8 @@ win32-g++ {
LIBS += -L$$BASEDIR/lib/sdl/win32 \
-lmingw32 -lSDLmain -lSDL -mwindows
CONFIG += windows
debug {
......@@ -369,13 +382,18 @@ win32-g++ {
}
release {
CONFIG -= console
DEFINES += QT_NO_DEBUG
#DESTDIR = $$BUILDDIR/release
}
RC_FILE = $$BASEDIR/qgroundcontrol.rc
# Copy dependencies
system(cp): {
# CP command is available, use it instead of copy / xcopy
message("Using cp to copy image and audio files to executable")
debug {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
......@@ -388,6 +406,28 @@ win32-g++ {
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
}
} else {
# No cp command available, go for copy / xcopy
# Copy dependencies
BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\debug\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\debug\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\debug\\earth.html\"
}
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\release\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\release\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\release\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\release\\earth.html\"
}
}
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl,-E
......
qgroundcontrol.pro
View file @ 7bb95dbe
......@@ -150,7 +150,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/SlugsHilSim.ui \
src/ui/SlugsPIDControl.ui \
src/ui/SlugsVideoCamControl.ui \
src/ui/SlugsPadCameraControl.ui
src/ui/SlugsPadCameraControl.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui
INCLUDEPATH += src \
src/ui \
......@@ -244,13 +245,19 @@ HEADERS += src/MG.h \
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \
src/ui/map3D/QGCGoogleEarthView.h\
src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPIDControl.h \
src/ui/SlugsVideoCamControl.h \
src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h
src/ui/QGCMainWindowAPConfigurator.h \
src/comm/MAVLinkSwarmSimulationLink.h \
src/ui/uas/QGCUnconnectedInfoWidget.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008: {
HEADERS += src/ui/map3D/QGCGoogleEarthView.h
}
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
......@@ -354,14 +361,20 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \
src/ui/map3D/QGCGoogleEarthView.cc \
src/ui/map3D/QGCWebPage.cc \
src/ui/SlugsDataSensorView.cc \
src/ui/SlugsHilSim.cc \
src/ui/SlugsPIDControl.cpp \
src/ui/SlugsVideoCamControl.cpp \
src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc
src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc
macx|win32-msvc2008: {
SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
}
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
......
src/Core.cc
View file @ 7bb95dbe
......@@ -66,7 +66,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName(QGC_APPLICATION_NAME);
this->setApplicationVersion(QGC_APPLICATION_VERSION);
this->setOrganizationName(QLatin1String("PIXHAWK Association Zurich"));
this->setOrganizationName(QLatin1String("OPENMAV"));
this->setOrganizationDomain("http://qgroundcontrol.org");
// Show splash screen
......@@ -105,10 +105,6 @@ 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));
// Start UI
mainWindow = new MainWindow();
// Remove splash screen
splashScreen->finish(mainWindow);
// Connect links
// to make sure that all components are initialized when the
......@@ -117,7 +113,21 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// Listen on Multicast-Address 239.255.77.77, Port 14550
//QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
//UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
mainWindow->addLink(udpLink);
//mainWindow->addLink(udpLink);
#ifdef OPAL_RT
// Add OpalRT Link, but do not connect
OpalLink* opalLink = new OpalLink();
//mainWindow->addLink(opalLink);
#endif
// MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
//mainWindow->addLink(simulationLink);
mainWindow = MainWindow::instance();
// Remove splash screen
splashScreen->finish(mainWindow);
// Check if link could be connected
if (!udpLink->connect())
......@@ -140,15 +150,6 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
QTimer::singleShot(200, mainWindow, SLOT(close()));
}
}
#ifdef OPAL_RT
// Add OpalRT Link, but do not connect
OpalLink* opalLink = new OpalLink();
mainWindow->addLink(opalLink);
#endif
// MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
mainWindow->addLink(simulationLink);
}
/**
......
src/QGC.h
View file @ 7bb95dbe
......@@ -19,4 +19,6 @@ namespace QGC
const QString COMPANYNAME = "OPENMAV";
}
#define QGC_EVENTLOOP_DEBUG 0
#endif // QGC_H
src/comm/LinkManager.cc
View file @ 7bb95dbe
......@@ -67,6 +67,7 @@ LinkManager::~LinkManager()
void LinkManager::add(LinkInterface* link)
{
if(!link) return;
connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
links.append(link);
emit newLink(link);
}
......@@ -127,6 +128,17 @@ bool LinkManager::disconnectLink(LinkInterface* link)
return link->disconnect();
}
void LinkManager::removeLink(QObject* link)
{
LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
// Add link to link list
if (links.contains(linkInterface))
{
int linkIndex = links.indexOf(linkInterface);
links.removeAt(linkIndex);
}
}
bool LinkManager::removeLink(LinkInterface* link)
{
if(link)
......
src/comm/LinkManager.h
View file @ 7bb95dbe
......@@ -67,6 +67,7 @@ public slots:
void add(LinkInterface* link);
void addProtocol(LinkInterface* link, ProtocolInterface* protocol);
void removeLink(QObject* link);
bool removeLink(LinkInterface* link);
bool connectAll();
......
src/comm/MAVLinkSimulationLink.cc
View file @ 7bb95dbe
......@@ -192,6 +192,7 @@ void MAVLinkSimulationLink::mainloop()
static unsigned int rate1hzCounter = 1;
static unsigned int rate10hzCounter = 1;
static unsigned int rate50hzCounter = 1;
static unsigned int circleCounter = 0;
// Vary values
......@@ -374,17 +375,20 @@ void MAVLinkSimulationLink::mainloop()
// Move X Position
x = x*0.93f + 0.07f*(x+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.08f));
y = y*0.93f + 0.07f*(y+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.5f));
z = z*0.93f + 0.07f*(z+sin(static_cast<float>(QGC::groundTimeUsecs()*0.001f)) * 0.1f);
x = 8.0*sin((double)circleCounter/50.0);
y = 3.0*cos((double)circleCounter/40.0);
z = 1.8 + 1.2*sin((double)circleCounter/60.0);
x = (x > 5.0f) ? 5.0f : x;
y = (y > 5.0f) ? 5.0f : y;
z = (z > 3.0f) ? 3.0f : z;
circleCounter++;
x = (x < -5.0f) ? -5.0f : x;
y = (y < -5.0f) ? -5.0f : y;
z = (z < -3.0f) ? -3.0f : z;
// x = (x > 5.0f) ? 5.0f : x;
// y = (y > 5.0f) ? 5.0f : y;
// z = (z > 3.0f) ? 3.0f : z;
// x = (x < -5.0f) ? -5.0f : x;
// y = (y < -5.0f) ? -5.0f : y;
// z = (z < -3.0f) ? -3.0f : z;
// Send back new setpoint
mavlink_message_t ret;
......@@ -401,15 +405,15 @@ void MAVLinkSimulationLink::mainloop()
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// GPS RAW
mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.00001), 8.548103+(y*0.00001), z, 0, 0, 2.5f, 0.1f);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// // GPS RAW
// mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.00001), 8.548103+(y*0.00001), z, 0, 0, 2.5f, 0.1f);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
// //add data into datastream
// memcpy(stream+streampointer,buffer, bufferlength);
// streampointer += bufferlength;
// GLOBAL POSITION
mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.00001), 8.54899892510421+(y*0.00001), z, 0, 0, 0);
mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.001), 8.54899892510421+(y*0.001), z+25.0, 0, 0, 0);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
......@@ -508,6 +512,7 @@ void MAVLinkSimulationLink::mainloop()
detectionCounter++;
status.vbat = voltage * 1000; // millivolts
status.load = 33 * detectionCounter % 1000;
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status);
......@@ -520,7 +525,7 @@ void MAVLinkSimulationLink::mainloop()
// Pack debug text message
mavlink_statustext_t text;
text.severity = 0;
strcpy((char*)(text.text), "DEBUG MESSAGE TEXT");
strcpy((char*)(text.text), "Text message from system 32");
mavlink_msg_statustext_encode(systemId, componentId, &msg, &text);
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
memcpy(stream+streampointer, buffer, bufferlength);
......@@ -578,11 +583,11 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength;
/*
// HEARTBEAT VEHICLE 2
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_heartbeat_pack(42, componentId, &msg, MAV_FIXED_WING);
messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
......@@ -590,25 +595,19 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength;
// STATUS VEHICLE 2
sys_status_t status2;
mavlink_sys_status_t status2;
status2.mode = MAV_MODE_LOCKED;
status2.vbat = voltage;
status2.load = 120;
status2.status = MAV_STATE_STANDBY;
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status);
messageSize = mavlink_msg_sys_status_encode(54, componentId, &msg, &status);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
*/
//qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
// AUX STATUS
#ifdef MAVLINK_ENABLED_PIXHAWK
rawAuxValues.vbat = voltage;
#endif
rate1hzCounter = 1;
}
......@@ -780,31 +779,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
j++;
}
/*
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"ROLL_K_P", 0.5f);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"PITCH_K_P", 0.6f);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"YAW_K_P", 0.8f);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;*/
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
}
}
......@@ -837,7 +811,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
unsigned char v=data[i];
//unsigned char v=data[i];
//fprintf(stderr,"%02x ", v);
}
//fprintf(stderr,"\n");
......@@ -927,6 +901,18 @@ bool MAVLinkSimulationLink::connect()
return true;
}
/**
* Connect the link.
*
* @param connect true connects the link, false disconnects it
* @return True if connection has been established, false if connection
* couldn't be established.
**/
void MAVLinkSimulationLink::connectLink()
{
this->connect();
}
/**
* Connect the link.
*
......
src/comm/MAVLinkSimulationLink.h
View file @ 7bb95dbe
......@@ -85,16 +85,17 @@ public:
public slots:
void writeBytes(const char* data, qint64 size);
void readBytes();
void mainloop();
virtual void mainloop();
bool connectLink(bool connect);
void connectLink();
protected:
// UAS properties
float roll, pitch, yaw;
float x, y, z;
float spX, spY, spZ, spYaw;
double x, y, z;
double spX, spY, spZ, spYaw;
int battery;
QTimer* timer;
......
src/comm/MAVLinkSwarmSimulationLink.cc 0 → 100644
View file @ 7bb95dbe
#include "MAVLinkSwarmSimulationLink.h"
MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QObject *parent) :
MAVLinkSimulationLink()
{
}
void MAVLinkSwarmSimulationLink::mainloop()
{
}
src/comm/MAVLinkSwarmSimulationLink.h 0 → 100644
View file @ 7bb95dbe
#ifndef MAVLINKSWARMSIMULATIONLINK_H
#define MAVLINKSWARMSIMULATIONLINK_H
#include "MAVLinkSimulationLink.h"
class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink
{
Q_OBJECT
public:
explicit MAVLinkSwarmSimulationLink(QObject *parent = 0);
signals:
public slots:
void mainloop();
};
#endif // MAVLINKSWARMSIMULATIONLINK_H
src/comm/SerialLink.cc
View file @ 7bb95dbe
......@@ -184,18 +184,18 @@ void SerialLink::writeBytes(const char* data, qint64 size)
if(port->isOpen())
{
int b = port->write(data, size);
qDebug() << "Transmitted " << b << "bytes:";
qDebug() << "Serial link " << this->getName() << "transmitted" << b << "bytes:";
// Increase write counter
bitsSentTotal += size * 8;
int i;
for (i=0; i<size; i++)
{
unsigned char v=data[i];
// int i;
// for (i=0; i<size; i++)
// {
// unsigned char v=data[i];
//fprintf(stderr,"%02x ", v);
}
// //fprintf(stderr,"%02x ", v);
// }
}
}
......
src/configuration.h
View file @ 7bb95dbe
......@@ -7,7 +7,7 @@
#ifdef MAVLINK_ENABLED_SLUGS
#define SERIAL_POLL_INTERVAL 7
#else
#define SERIAL_POLL_INTERVAL 2
#define SERIAL_POLL_INTERVAL 7
#endif
/** @brief Heartbeat emission rate, in Hertz (times per second) */
......@@ -16,6 +16,6 @@
#define WITH_TEXT_TO_SPEECH 1
#define QGC_APPLICATION_NAME "QGroundControl"
#define QGC_APPLICATION_VERSION "v. 0.7.7 (Beta)"
#define QGC_APPLICATION_VERSION "v. 0.8.0 (Beta)"
#endif // CONFIGURATION_H
src/uas/ArduPilotMegaMAV.cc
View file @ 7bb95dbe
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
......@@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
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/>.
======================================================================*/
/**
......@@ -47,17 +46,20 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
// Handle your special messages
switch (message.msgid)
if (message.sysid == uasId)
{
case MAVLINK_MSG_ID_HEARTBEAT:
// Handle your special messages
switch (message.msgid)
{
qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
case MAVLINK_MSG_ID_HEARTBEAT:
{
qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
break;
}
default:
qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
default:
qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
}
src/uas/SlugsMAV.cc
View file @ 7bb95dbe
......@@ -62,7 +62,8 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
if (message.sysid == uasId)
{
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
{
......@@ -136,7 +137,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
break;
break;
case MAVLINK_MSG_ID_PID: //182
memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
......@@ -153,9 +154,10 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
#endif
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
}
}
......@@ -176,9 +178,9 @@ void SlugsMAV::emitSignals (void){
case 3:
emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
emit slugsPWM(uasId, mlPwmCommands);
break;
......
src/uas/UAS.cc
View file @ 7bb95dbe
......@@ -43,6 +43,8 @@ This file is part of the QGROUNDCONTROL project
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
......@@ -373,6 +375,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
//TODO fix this hack for forwarding of global position for patch antenna tracking
forwardMessage(message);
}
break;
case MAVLINK_MSG_ID_GPS_RAW:
......@@ -793,7 +797,7 @@ quint64 UAS::getUnixTime(quint64 time)
// 60 seconds
// 1000 milliseconds
// 1000 microseconds
#ifndef _MSVC_VER
#ifndef _MSC_VER
else if (time < 1261440000000000LLU)
#else
else if (time < 1261440000000000)
......@@ -834,6 +838,28 @@ void UAS::sendMessage(mavlink_message_t message)
}
}
void UAS::forwardMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);
foreach(LinkInterface* link, link_list)
{
SerialLink* serial = dynamic_cast<SerialLink*>(link);
if(serial != 0)
{
for(int i=0;i<links->size();i++)
{
if(serial != links->at(i))
{
qDebug()<<"Forwarding Over link: "<<serial->getName()<<" "<<serial;
sendMessage(serial, message);
}
}
}
}
}
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
if(!link) return;
......@@ -1506,7 +1532,7 @@ void UAS::addLink(LinkInterface* link)
links->append(link);
}
//links->append(link);
//qDebug() << " ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
//qDebug() << link<<" ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
}
/**
......
src/uas/UAS.h
View file @ 7bb95dbe
......@@ -211,13 +211,16 @@ public slots:
void addLink(LinkInterface* link);
/** @brief Receive a message from one of the communication links. */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send a message over this link (to this or to all UAS on this link) */
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send a message over all links this UAS can be reached with (!= all links) */
void sendMessage(mavlink_message_t message);
/** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
void forwardMessage(mavlink_message_t message);
/** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
void setSelected();
......
src/uas/UASManager.cc
View file @ 7bb95dbe
......@@ -71,6 +71,18 @@ void UASManager::run()
void UASManager::addUAS(UASInterface* uas)
{
// WARNING: The active uas is set here
// and then announced below. This is necessary
// to make sure the getActiveUAS() function
// returns the UAS once the UASCreated() signal
// is emitted. The code is thus NOT redundant.
bool firstUAS = false;
if (activeUAS == NULL)
{
firstUAS = true;
activeUAS = uas;
}
// Only execute if there is no UAS at this index
if (!systems.contains(uas->getUASID()))
{
......@@ -79,7 +91,7 @@ void UASManager::addUAS(UASInterface* uas)
}
// If there is no active UAS yet, set the first one as the active UAS
if (activeUAS == NULL)
if (firstUAS)
{
setActiveUAS(uas);
}
......
src/ui/DebugConsole.cc
View file @ 7bb95dbe
......@@ -125,12 +125,28 @@ void DebugConsole::addLink(LinkInterface* link)
// Register for name changes
connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)));
connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
}
void DebugConsole::removeLink(QObject* link)
{
LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
// Add link to link list
if (links.contains(linkInterface))
{
int linkIndex = links.indexOf(linkInterface);
links.removeAt(linkIndex);
m_ui->linkComboBox->removeItem(linkIndex);
}
if (link == currLink) currLink = NULL;
}
void DebugConsole::linkSelected(int linkId)
{
// Disconnect
if (currLink != NULL)
if (currLink)
{
disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
}
......@@ -205,30 +221,30 @@ void DebugConsole::paintEvent(QPaintEvent *event)
{
Q_UNUSED(event);
// Update bandwidth
if (holdOn)
{
//qDebug() << "Data rate:" << dataRate/1000.0f << "kB/s";
QString rate("data rate: %1");
rate.arg(dataRate);
QPainter painter(this);
painter.setRenderHint(QPainter::HighQualityAntialiasing);
painter.translate(width()/5.0f, height()/5.0f);
//QFont font("Bitstream Vera Sans");
QFont font = painter.font();
font.setPixelSize((int)(60.0f));
QFontMetrics metrics = QFontMetrics(font);
int border = qMax(4, metrics.leading());
QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
Qt::AlignLeft | Qt::TextWordWrap, rate);
painter.setPen(QColor(255, 50, 50));
painter.setRenderHint(QPainter::TextAntialiasing);
painter.drawText(QRect(QPoint(static_cast<int>(width()/5.0f), static_cast<int>(height()/5.0f)), QPoint(static_cast<int>(width() - width()/5.0f), static_cast<int>(height() - height()/5.0f))), rate);
//Qt::AlignRight | Qt::TextWordWrap
}
// if (holdOn)
// {
// //qDebug() << "Data rate:" << dataRate/1000.0f << "kB/s";
// QString rate("data rate: %1");
// rate.arg(dataRate);
// QPainter painter(this);
// painter.setRenderHint(QPainter::HighQualityAntialiasing);
// painter.translate(width()/5.0f, height()/5.0f);
// //QFont font("Bitstream Vera Sans");
// QFont font = painter.font();
// font.setPixelSize((int)(60.0f));
// QFontMetrics metrics = QFontMetrics(font);
// int border = qMax(4, metrics.leading());
// QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
// Qt::AlignLeft | Qt::TextWordWrap, rate);
// painter.setPen(QColor(255, 50, 50));
// painter.setRenderHint(QPainter::TextAntialiasing);
// painter.drawText(QRect(QPoint(static_cast<int>(width()/5.0f), static_cast<int>(height()/5.0f)), QPoint(static_cast<int>(width() - width()/5.0f), static_cast<int>(height() - height()/5.0f))), rate);
// //Qt::AlignRight | Qt::TextWordWrap
// }
}
void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
......
src/ui/DebugConsole.h
View file @ 7bb95dbe
......@@ -59,6 +59,8 @@ public:
public slots:
/** @brief Add a link to the list of monitored links */
void addLink(LinkInterface* link);
/** @brief Remove a link from the list */
void removeLink(QObject* link);
/** @brief Update a link name */
void updateLinkName(QString name);
/** @brief Select a link for the active view */
......
src/ui/HDDisplay.cc
View file @ 7bb95dbe
......@@ -38,6 +38,7 @@ This file is part of the PIXHAWK project
#include "HDDisplay.h"
#include "ui_HDDisplay.h"
#include "MG.h"
#include "QGC.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
......@@ -134,7 +135,7 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";
fontDatabase.addApplicationFont(fontFileName);
font = fontDatabase.font(fontFamilyName, "Roman", (int)(10*scalingFactor*1.2f+0.5f));
font = fontDatabase.font(fontFamilyName, "Roman", qMax(5, (int)(10*scalingFactor*1.2f+0.5f)));
if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
// Connect with UAS
......@@ -151,7 +152,7 @@ HDDisplay::~HDDisplay()
void HDDisplay::enableGLRendering(bool enable)
{
Q_UNUSED(enable)
}
void HDDisplay::triggerUpdate()
......@@ -171,6 +172,9 @@ void HDDisplay::paintEvent(QPaintEvent * event)
void HDDisplay::renderOverlay()
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
quint64 refreshInterval = 100;
quint64 currTime = MG::TIME::getGroundTimeNow();
if (currTime - lastPaintTime < refreshInterval)
......@@ -220,16 +224,6 @@ void HDDisplay::renderOverlay()
}
}
void HDDisplay::start()
{
refreshTimer->start();
}
void HDDisplay::stop()
{
refreshTimer->stop();
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
......@@ -237,20 +231,17 @@ void HDDisplay::stop()
void HDDisplay::setActiveUAS(UASInterface* uas)
{
//qDebug() << "ATTEMPTING TO SET UAS";
if (this->uas != NULL && this->uas != uas)
if (this->uas != NULL)
{
// Disconnect any previously connected active MAV
disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
disconnect(this->uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
}
// Now connect the new UAS
//if (this->uas != uas)
// {
//qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
// Setup communication
connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
//}
this->uas = uas;
}
......@@ -669,7 +660,25 @@ void HDDisplay::changeEvent(QEvent *e)
}
void HDDisplay::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
refreshTimer->start(updateInterval);
}
}
void HDDisplay::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
refreshTimer->stop();
}
}
///**
......
src/ui/HDDisplay.h
View file @ 7bb95dbe
......@@ -64,8 +64,6 @@ public:
public slots:
/** @brief Update a HDD value */
void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
void start();
void stop();
void setActiveUAS(UASInterface* uas);
protected slots:
......@@ -77,6 +75,8 @@ protected slots:
protected:
void changeEvent(QEvent *e);
void paintEvent(QPaintEvent * event);
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
float refLineWidthToPen(float line);
float refToScreenX(float x);
float refToScreenY(float y);
......@@ -142,6 +142,7 @@ protected:
int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
QTimer* refreshTimer; ///< The main timer, controls the update rate
static const int updateInterval = 120; ///< Update interval in milliseconds
QPainter* hudPainter;
QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
......
src/ui/HSIDisplay.cc
View file @ 7bb95dbe
This diff is collapsed.
src/ui/HSIDisplay.h
View file @ 7bb95dbe
......@@ -111,6 +111,8 @@ protected slots:
protected:
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
/** @brief Get color from GPS signal-to-noise colormap */
static QColor getColorForSNR(float snr);
/** @brief Metric world coordinates to metric body coordinates */
......
src/ui/HUD.cc
View file @ 7bb95dbe
......@@ -29,6 +29,8 @@ This file is part of the QGROUNDCONTROL project
*
*/
#include <QShowEvent>
#include <QDebug>
#include <cmath>
#ifndef M_PI
......@@ -39,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASManager.h"
#include "HUD.h"
#include "MG.h"
#include "QGC.h"
// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
......@@ -129,7 +132,7 @@ HUD::HUD(int width, int height, QWidget* parent)
glImage = QGLWidget::convertToGLFormat(fill);
// Refresh timer
refreshTimer->setInterval(50); // 20 Hz
refreshTimer->setInterval(updateInterval);
//connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
......@@ -150,8 +153,16 @@ HUD::HUD(int width, int height, QWidget* parent)
if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";
fontDatabase.addApplicationFont(fontFileName);
font = fontDatabase.font(fontFamilyName, "Roman", (int)(10*scalingFactor*1.2f+0.5f));
if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
font = fontDatabase.font(fontFamilyName, "Roman", qMax(5,(int)(10.0f*scalingFactor*1.2f+0.5f)));
QFont* fontPtr = &font;
if (!fontPtr)
{
qDebug() << "ERROR! FONT NOT LOADED!";
}
else
{
if (font.family() != fontFamilyName) qDebug() << "ERROR! WRONG FONT LOADED: " << fontFamilyName;
}
// Connect with UAS
UASManager* manager = UASManager::instance();
......@@ -167,25 +178,22 @@ HUD::~HUD()
void HUD::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
if (isVisible())
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
refreshTimer->start();
}
else
{
refreshTimer->stop();
refreshTimer->start(updateInterval);
}
}
void HUD::start()
void HUD::hideEvent(QHideEvent* event)
{
refreshTimer->start();
}
void HUD::stop()
{
refreshTimer->stop();
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
refreshTimer->stop();
}
}
void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
......@@ -553,9 +561,13 @@ void HUD::paintEvent(QPaintEvent *event)
void HUD::paintHUD()
{
// static quint64 interval = 0;
// qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
// static quint64 interval = 0;
// qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
// Read out most important values to limit hash table lookups
static float roll = 0.0f;
......
src/ui/HUD.h
View file @ 7bb95dbe
......@@ -60,11 +60,6 @@ public slots:
void initializeGL();
//void paintGL();
/** @brief Start updating the view at 30Hz */
void start();
/** @brief Stop updating the view */
void stop();
/** @brief Set the currently monitored UAS */
void setActiveUAS(UASInterface* uas);
......@@ -123,8 +118,12 @@ protected:
float refLineWidthToPen(float line);
/** @brief Rotate a polygon around a point clockwise */
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
/** @brief Start updating widget */
void showEvent(QShowEvent* event);
/** @brief Stop updating widget */
void hideEvent(QHideEvent* event);
static const int updateInterval = 50;
QImage* image; ///< Double buffer image
QImage glImage; ///< The background / camera image
......
src/ui/MainWindow.cc
View file @ 7bb95dbe
This diff is collapsed.
src/ui/MainWindow.h
View file @ 7bb95dbe
......@@ -63,7 +63,9 @@ This file is part of the QGROUNDCONTROL project
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
//#include "QMap3DWidget.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
......@@ -83,7 +85,7 @@ class MainWindow : public QMainWindow {
Q_OBJECT
public:
MainWindow(QWidget *parent = 0);
static MainWindow* instance();
~MainWindow();
public slots:
......@@ -138,21 +140,16 @@ public slots:
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
void closeEvent(QCloseEvent* event);
/*
==========================================================
Potentially Deprecated
==========================================================
*/
void loadPixhawkEngineerView();
/** @brief Load view with all widgets */
void loadAllView();
void loadWidgets();
/** @brief Load data view, allowing to plot flight data */
void loadDataView();
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
......@@ -191,6 +188,8 @@ public slots:
protected:
MainWindow(QWidget *parent = 0);
// These defines are used to save the settings when selecting with
// which widgets populate the views
// FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
......@@ -228,13 +227,15 @@ protected:
}TOOLS_WIDGET_NAMES;
typedef enum _SETTINGS_SECTIONS {
typedef enum _SETTINGS_SECTIONS
{
SECTION_MENU,
SUB_SECTION_CHECKED,
SUB_SECTION_LOCATION,
} SETTINGS_SECTIONS;
typedef enum _VIEW_SECTIONS {
typedef enum _VIEW_SECTIONS
{
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
......@@ -259,7 +260,7 @@ protected:
* @param tool The ENUM defined in MainWindow.h that is associated to the widget
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location);
void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Determines if a QDockWidget needs to be show and if so, shows it
......@@ -301,6 +302,7 @@ protected:
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
bool aboutToCloseFlag;
QStatusBar* statusBar;
QStatusBar* createStatusBar();
......@@ -351,7 +353,9 @@ protected:
#ifdef QGC_OSGEARTH_ENABLED
QPointer<QWidget> _3DMapWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> infoDockWidget;
......
src/ui/ObjectDetectionView.cc
View file @ 7bb95dbe
......@@ -40,8 +40,6 @@ This file is part of the PIXHAWK project
#include <QDebug>
#include <QMap>
#include "MG.h"
ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
QWidget(parent),
patternList(),
......@@ -79,12 +77,15 @@ void ObjectDetectionView::changeEvent(QEvent *e)
void ObjectDetectionView::setUAS(UASInterface* uas)
{
//if (this->uas == NULL && uas != NULL)
//{
if (this->uas != NULL)
{
disconnect(this->uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
disconnect(this->uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
}
this->uas = uas;
connect(uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
connect(uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
//}
}
void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confidence, bool detected)
......@@ -117,7 +118,7 @@ void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confi
m_ui->listWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
// load image
QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/", QString::SkipEmptyParts).last();
QString filePath = patternFolder + "/" + patternPath.split("/", QString::SkipEmptyParts).last();
QPixmap image = QPixmap(filePath);
if (image.width() > image.height())
image = image.scaledToWidth(m_ui->imageLabel->width());
......
src/ui/QGCDataPlot2D.cc
View file @ 7bb95dbe
......@@ -126,6 +126,13 @@ void QGCDataPlot2D::savePlot()
fileName = QFileDialog::getSaveFileName(
this, "Export File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
"PDF Documents (*.pdf);;SVG Images (*.svg)");
if (!fileName.contains("."))
{
// .csv is default extension
fileName.append(".pdf");
}
while(!(fileName.endsWith(".svg") || fileName.endsWith(".pdf")))
{
QMessageBox msgBox;
......@@ -262,7 +269,7 @@ void QGCDataPlot2D::selectFile()
// Let user select the log file name
//QDate date(QDate::currentDate());
// QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), tr("."), tr("Logfile (*.txt)"));
fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), QString(), "Logfile (*.csv *.txt *.log)");
// Store reference to file
QFileInfo fileInfo(fileName);
......
src/ui/QGCParamWidget.cc
View file @ 7bb95dbe
......@@ -62,26 +62,38 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
horizontalLayout->addWidget(tree, 0, 0, 1, 3);
QPushButton* refreshButton = new QPushButton(tr("Refresh"));
refreshButton->setToolTip(tr("Load parameters currently in non-permanent memory of aircraft."));
refreshButton->setWhatsThis(tr("Load parameters currently in non-permanent memory of aircraft."));
connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(refreshButton, 1, 0);
QPushButton* setButton = new QPushButton(tr("Transmit"));
setButton->setToolTip(tr("Set current parameters in non-permanent onboard memory"));
setButton->setWhatsThis(tr("Set current parameters in non-permanent onboard memory"));
connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
horizontalLayout->addWidget(setButton, 1, 1);
QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
writeButton->setToolTip(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
writeButton->setWhatsThis(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
horizontalLayout->addWidget(writeButton, 1, 2);
QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
readButton->setToolTip(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
readButton->setWhatsThis(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
horizontalLayout->addWidget(readButton, 2, 2);
QPushButton* loadFileButton = new QPushButton(tr("Load File"));
loadFileButton->setToolTip(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
loadFileButton->setWhatsThis(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
horizontalLayout->addWidget(loadFileButton, 2, 0);
QPushButton* saveFileButton = new QPushButton(tr("Save File"));
saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer."));
saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer."));
connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters()));
horizontalLayout->addWidget(saveFileButton, 2, 1);
......
src/ui/RadioCalibration/RadioCalibrationWindow.cc
View file @ 7bb95dbe
......@@ -52,6 +52,66 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
setUASId(0);
}
void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
{
/** this expects a particular channel to function mapping
\todo allow run-time channel mapping
*/
switch (ch)
{
case 0:
aileron->channelChanged(raw);
break;
case 1:
elevator->channelChanged(raw);
break;
case 2:
throttle->channelChanged(raw);
break;
case 3:
rudder->channelChanged(raw);
break;
case 4:
gyro->channelChanged(raw);
break;
case 5:
pitch->channelChanged(raw);
break;
}
}
void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
{
// /** this expects a particular channel to function mapping
// \todo allow run-time channel mapping
// */
// switch (ch)
// {
// case 0:
// aileron->channelChanged(raw);
// break;
// case 1:
// elevator->channelChanged(raw);
// break;
// case 2:
// throttle->channelChanged(raw);
// break;
// case 3:
// rudder->channelChanged(raw);
// break;
// case 4:
// gyro->channelChanged(raw);
// break;
// case 5:
// pitch->channelChanged(raw);
// break;
// }
}
void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
{
/** this expects a particular channel to function mapping
......
src/ui/RadioCalibration/RadioCalibrationWindow.h
View file @ 7bb95dbe
......@@ -67,6 +67,8 @@ public:
public slots:
void setChannel(int ch, float raw, float normalized);
void setChannelRaw(int ch, float raw);
void setChannelScaled(int ch, float normalized);
void loadFile();
void saveFile();
void send();
......
src/ui/SerialConfigurationWindow.h
View file @ 7bb95dbe
......@@ -62,11 +62,9 @@ public slots:
void setLinkName(QString name);
void setupPortList();
protected slots:
protected:
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
protected:
bool userConfigured; ///< Switch to detect if current values are user-selected and shouldn't be overriden
private:
......
src/ui/SlugsPIDControl.h
View file @ 7bb95dbe
......@@ -2,7 +2,7 @@
#define SLUGSPIDCONTROL_H
#include <QWidget>
#include<QGroupBox>
#include <QGroupBox>
#include "UASInterface.h"
#include "QGCMAVLink.h"
#include "SlugsMAV.h"
......
src/ui/WaypointView.cc
View file @ 7bb95dbe
......@@ -146,6 +146,7 @@ void WaypointView::changedAction(int index)
break;
case MAV_ACTION_NAVIGATE:
m_ui->autoContinue->show();
m_ui->orbitSpinBox->show();
break;
case MAV_ACTION_LOITER:
m_ui->orbitSpinBox->show();
......
src/ui/linechart/LinechartPlot.cc
View file @ 7bb95dbe
......@@ -43,6 +43,8 @@ This file is part of the PIXHAWK project
#include <MG.h>
#include <QPaintEngine>
#include "QGC.h"
/**
* @brief The default constructor
*
......@@ -55,7 +57,7 @@ maxTime(QUINT64_MIN),
maxInterval(MAX_STORAGE_INTERVAL),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false),
m_active(true),
m_active(false),
m_groundTime(true),
d_data(NULL),
d_curve(NULL)
......@@ -142,7 +144,7 @@ d_curve(NULL)
// Start QTimer for plot update
updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(paintRealtime()));
updateTimer->start(DEFAULT_REFRESH_RATE);
//updateTimer->start(DEFAULT_REFRESH_RATE);
// QwtPlot::setAutoReplot();
......@@ -155,6 +157,18 @@ LinechartPlot::~LinechartPlot()
removeAllData();
}
void LinechartPlot::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
updateTimer->start(DEFAULT_REFRESH_RATE);
}
void LinechartPlot::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
updateTimer->stop();
}
int LinechartPlot::getPlotId()
{
return this->plotid;
......@@ -184,6 +198,14 @@ double LinechartPlot::getMedian(QString id)
return data.value(id)->getMedian();
}
/**
* @param id curve identifier
*/
double LinechartPlot::getVariance(QString id)
{
return data.value(id)->getVariance();
}
int LinechartPlot::getAverageWindow()
{
return averageWindowSize;
......@@ -272,6 +294,14 @@ void LinechartPlot::enforceGroundTime(bool enforce)
m_groundTime = enforce;
}
/**
* @return True if the data points are stamped with the packet receive time
*/
bool LinechartPlot::groundTime()
{
return m_groundTime;
}
void LinechartPlot::addCurve(QString id)
{
QColor currentColor = getNextColor();
......@@ -454,6 +484,23 @@ bool LinechartPlot::isVisible(QString id)
return curves.value(id)->isVisible();
}
/**
* @return The visibility, true if it is visible, false otherwise
**/
bool LinechartPlot::anyCurveVisible()
{
bool visible = false;
foreach (QString key, curves.keys())
{
if (curves.value(key)->isVisible())
{
visible = true;
}
}
return visible;
}
/**
* @brief Allows to block interference of the automatic scrolling with user interaction
* When the plot is updated very fast (at 1 ms for example) with new data, it might
......@@ -580,6 +627,9 @@ void LinechartPlot::paintRealtime()
{
if (m_active)
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
// Update plot window value to new max time if the last time was also the max time
windowLock.lock();
if (automaticScrollActive)
......@@ -701,8 +751,9 @@ TimeSeriesData::TimeSeriesData(QwtPlot* plot, QString friendlyName, quint64 plot
maxValue(DBL_MIN),
zeroValue(0),
count(0),
mean(0.00),
median(0.00),
mean(0.0),
median(0.0),
variance(0.0),
averageWindow(50)
{
this->plot = plot;
......@@ -760,6 +811,14 @@ void TimeSeriesData::append(quint64 ms, double value)
medianList.append(this->value[count-i]);
}
mean = mean / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
this->variance = 0;
for (unsigned int i = 0; (i < averageWindow) && (((int)count - (int)i) >= 0); ++i)
{
this->variance += (this->value[count-i] - mean) * (this->value[count-i] - mean);
}
this->variance = this->variance / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
qSort(medianList);
if (medianList.count() > 2)
......@@ -859,6 +918,14 @@ double TimeSeriesData::getMedian()
return median;
}
/**
* @return the variance
*/
double TimeSeriesData::getVariance()
{
return variance;
}
double TimeSeriesData::getCurrentValue()
{
return lastValue;
......
src/ui/linechart/LinechartPlot.h
View file @ 7bb95dbe
......@@ -132,6 +132,8 @@ public:
double getMean();
/** @brief Get the short-term median */
double getMedian();
/** @brief Get the short-term variance */
double getVariance();
/** @brief Get the current value */
double getCurrentValue();
void setZeroValue(double zeroValue);
......@@ -166,6 +168,7 @@ private:
QwtArray<double> value;
double mean;
double median;
double variance;
unsigned int averageWindow;
QwtArray<double> outputMs;
QwtArray<double> outputValue;
......@@ -190,6 +193,8 @@ public:
QList<QwtPlotCurve*> getCurves();
bool isVisible(QString id);
/** @brief Check if any curve is visible */
bool anyCurveVisible();
int getPlotId();
/** @brief Get the number of values to average over */
......@@ -206,6 +211,8 @@ public:
double getMean(QString id);
/** @brief Get the short-term median of a curve */
double getMedian(QString id);
/** @brief Get the short-term variance of a curve */
double getVariance(QString id);
/** @brief Get the last inserted value */
double getCurrentValue(QString id);
......@@ -214,8 +221,8 @@ public:
static const int SCALE_LOGARITHMIC = 2;
static const int DEFAULT_REFRESH_RATE = 50; ///< The default refresh rate is 25 Hz / every 100 ms
static const int DEFAULT_PLOT_INTERVAL = 1000 * 12; ///< The default plot interval is 15 seconds
static const int DEFAULT_SCALE_INTERVAL = 1000 * 5;
static const int DEFAULT_PLOT_INTERVAL = 1000 * 8; ///< The default plot interval is 15 seconds
static const int DEFAULT_SCALE_INTERVAL = 1000 * 8;
public slots:
void setRefreshRate(int ms);
......@@ -243,6 +250,8 @@ public slots:
/** @brief Enforce the use of the receive timestamp */
void enforceGroundTime(bool enforce);
/** @brief Check if the receive timestamp is enforced */
bool groundTime();
// General interaction
void setWindowPosition(quint64 end);
......@@ -301,6 +310,8 @@ protected:
// Methods
void addCurve(QString id);
QColor getNextColor();
void showEvent(QShowEvent* event);
void hideEvent(QHideEvent* event);
private:
TimeSeriesData* d_data;
......
src/ui/linechart/LinechartWidget.cc
View file @ 7bb95dbe
This diff is collapsed.
src/ui/linechart/LinechartWidget.h
View file @ 7bb95dbe
......@@ -77,8 +77,10 @@ public slots:
void setPlotWindowPosition(int scrollBarValue);
void setPlotWindowPosition(quint64 position);
void setPlotInterval(quint64 interval);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
/** @brief Start automatic updates once visible */
void showEvent(QShowEvent* event);
/** @brief Stop automatic updates once hidden */
void hideEvent(QHideEvent* event);
void setActive(bool active);
/** @brief Set the number of values to average over */
void setAverageWindow(int windowSize);
......@@ -90,7 +92,6 @@ public slots:
void refresh();
protected:
void addCurveToList(QString curve);
void removeCurveFromList(QString curve);
QToolButton* createButton(QWidget* parent);
......@@ -108,6 +109,7 @@ protected:
QMap<QString, QLabel*>* curveLabels; ///< References to the curve labels
QMap<QString, QLabel*>* curveMeans; ///< References to the curve means
QMap<QString, QLabel*>* curveMedians; ///< References to the curve medians
QMap<QString, QLabel*>* curveVariances; ///< References to the curve variances
QWidget* curvesWidget; ///< The QWidget containing the curve selection button
QVBoxLayout* curvesWidgetLayout; ///< The layout for the curvesWidget QWidget
......@@ -130,6 +132,7 @@ protected:
bool logging;
QTimer* updateTimer;
LogCompressor* compressor;
quint64 logStartTime;
static const int MAX_CURVE_MENUITEM_NUMBER = 8;
static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;
......
src/ui/linechart/Linecharts.cc
View file @ 7bb95dbe
#include <QShowEvent>
#include "Linecharts.h"
#include "UASManager.h"
#include "MainWindow.h"
Linecharts::Linecharts(QWidget *parent) :
QStackedWidget(parent),
plots(),
active(true)
{
this->setVisible(false);
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
this->setVisible(false);
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
// Add each of them
foreach (UASInterface* sys, systems)
{
addSystem(sys);
}
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
this, SLOT(selectSystem(int)));
// Add each of them
foreach (UASInterface* sys, systems)
{
addSystem(sys);
}
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
this, SLOT(selectSystem(int)));
connect(this, SIGNAL(logfileWritten(QString)),
MainWindow::instance(), SLOT(loadDataView(QString)));
}
void Linecharts::setActive(bool active)
void Linecharts::showEvent(QShowEvent* event)
{
this->active = active;
QWidget* prevWidget = currentWidget();
if (prevWidget)
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart)
QWidget* prevWidget = currentWidget();
if (prevWidget)
{
chart->setActive(active);
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart)
{
this->active = true;
chart->setActive(true);
}
}
}
}
void Linecharts::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
{
QWidget* prevWidget = currentWidget();
if (prevWidget)
{
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart)
{
this->active = false;
chart->setActive(false);
}
}
}
}
void Linecharts::selectSystem(int systemid)
{
......
src/ui/linechart/Linecharts.h
View file @ 7bb95dbe
......@@ -18,8 +18,6 @@ signals:
void logfileWritten(QString fileName);
public slots:
/** @brief Set all plots active/inactive */
void setActive(bool active);
/** @brief Select plot for one system */
void selectSystem(int systemid);
/** @brief Add a new system to the list of plots */
......@@ -28,6 +26,11 @@ public slots:
protected:
QMap<int, LinechartWidget*> plots;
bool active;
/** @brief Start updating widget */
void showEvent(QShowEvent* event);
/** @brief Stop updating widget */
void hideEvent(QHideEvent* event);
};
#endif // LINECHARTS_H
src/ui/map3D/Pixhawk3DWidget.cc
View file @ 7bb95dbe
......@@ -393,6 +393,15 @@ Pixhawk3DWidget::findVehicleModels(void)
// add Pixhawk Bravo model
nodes.push_back(PixhawkCheetahGeode::instance());
// add sphere of 0.05m radius
osg::ref_ptr<osg::Sphere> sphere = new osg::Sphere(osg::Vec3f(0.0f, 0.0f, 0.0f), 0.05f);
osg::ref_ptr<osg::ShapeDrawable> sphereDrawable = new osg::ShapeDrawable(sphere);
sphereDrawable->setColor(osg::Vec4f(0.5f, 0.0f, 0.5f, 1.0f));
osg::ref_ptr<osg::Geode> sphereGeode = new osg::Geode;
sphereGeode->addDrawable(sphereDrawable);
sphereGeode->setName("Sphere (0.1m)");
nodes.push_back(sphereGeode);
// add all other models in folder
for (int i = 0; i < files.size(); ++i)
{
......
src/ui/map3D/Q3DWidget.cc
View file @ 7bb95dbe
......@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
*/
#include "Q3DWidget.h"
#include "QGC.h"
#include <osg/Geometry>
#include <osg/LineWidth>
......@@ -48,6 +49,7 @@ Q3DWidget::Q3DWidget(QWidget* parent)
, robotAttitude(new osg::PositionAttitudeTransform())
, hudGroup(new osg::Switch())
, hudProjectionMatrix(new osg::Projection)
, fps(30.0f)
{
// set initial camera parameters
cameraParams.minZoomRange = 2.0f;
......@@ -70,6 +72,8 @@ Q3DWidget::~Q3DWidget()
void
Q3DWidget::init(float fps)
{
this->fps = fps;
getCamera()->setGraphicsContext(osgGW);
// manually specify near and far clip planes
......@@ -102,9 +106,25 @@ Q3DWidget::init(float fps)
cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0);
connect(&timer, SIGNAL(timeout()), this, SLOT(redraw()));
// DO NOT START TIMER IN INITIALIZATION! IT IS STARTED IN THE SHOW EVENT
}
void Q3DWidget::showEvent(QShowEvent* event)
{
// React only to internal (pre/post-display)
// events
Q_UNUSED(event)
timer.start(static_cast<int>(floorf(1000.0f / fps)));
}
void Q3DWidget::hideEvent(QHideEvent* event)
{
// React only to internal (pre/post-display)
// events
Q_UNUSED(event)
timer.stop();
}
osg::ref_ptr<osg::Geode>
Q3DWidget::createRobot(void)
{
......@@ -243,6 +263,9 @@ Q3DWidget::getGlobalCursorPosition(int32_t cursorX, int32_t cursorY, double z)
void
Q3DWidget::redraw(void)
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
updateGL();
}
......
src/ui/map3D/Q3DWidget.h
View file @ 7bb95dbe
......@@ -121,6 +121,12 @@ protected slots:
void redraw(void);
protected:
/** @brief Start widget updating */
void showEvent(QShowEvent* event);
/** @brief Stop widget updating */
void hideEvent(QHideEvent* event);
/**
* @brief Get base robot geode.
* @return Smart pointer to the geode.
......@@ -253,6 +259,7 @@ protected:
};
CameraParams cameraParams; /**< Struct representing camera parameters. */
float fps;
};
#endif // Q3DWIDGET_H
src/ui/map3D/QGCGoogleEarthView.cc
View file @ 7bb95dbe
This diff is collapsed.
src/ui/map3D/QGCGoogleEarthView.h
View file @ 7bb95dbe
This diff is collapsed.
src/ui/map3D/QGCGoogleEarthViewWin.ui
View file @ 7bb95dbe
<ui version="4.0" >
<author></author>
<comment></comment>
<exportmacro></exportmacro>
<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="windowTitle" >
<string>Form</string>
</property>
</widget>
<pixmapfunction></pixmapfunction>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCGoogleEarthViewWin</class>
<widget class="QWidget" name="QGCGoogleEarthViewWin">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
</widget>
<resources/>
<connections/>
</ui>
src/ui/uas/QGCUnconnectedInfoWidget.cc 0 → 100644
View file @ 7bb95dbe
This diff is collapsed.
src/ui/uas/QGCUnconnectedInfoWidget.h 0 → 100644
View file @ 7bb95dbe
This diff is collapsed.
src/ui/uas/QGCUnconnectedInfoWidget.ui 0 → 100644
View file @ 7bb95dbe
This diff is collapsed.
src/ui/uas/UASListWidget.cc
View file @ 7bb95dbe
This diff is collapsed.
src/ui/uas/UASListWidget.h
View file @ 7bb95dbe
This diff is collapsed.
src/ui/uas/UASView.cc
View file @ 7bb95dbe
This diff is collapsed.
src/ui/uas/UASView.h
View file @ 7bb95dbe
This diff is collapsed.
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