Skip to content

Q
qgroundcontrol
Commit 86c7e134 authored by lm's avatar lm
Browse files
Options

Merged with 0.9 dev branches

parents 5d57365a 7f9de5e1
Hide whitespace changes
Inline Side-by-side
Showing with 747 additions and 1381 deletions
files/mav_type_quadrotor/mav_autopilot_pixhawk/parameters/parameters-bravo.txt 0 → 100644
View file @ 86c7e134
# Onboard parameters for system MAV 042
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
42 1 HANDLEWPDELAY 0.20000000298
42 1 POSFILTER 1
42 1 PROTDELAY 40
42 1 PROTTIMEOUT 2
42 1 SETPOINTDELAY 1
42 1 YAWTOLERANCE 0.174500003457
42 200 ACC_NAV_OFFS_X 0
42 200 ACC_NAV_OFFS_Y 0
42 200 ACC_NAV_OFFS_Z -1000
42 200 ATT_KAL_KACC 0.00329999998212
42 200 ATT_KAL_YAWMOD 3
42 200 ATT_OFFSET_X 0
42 200 ATT_OFFSET_Y 0
42 200 ATT_OFFSET_Z -0.0799999982119
42 200 CAL_ACC_X 0
42 200 CAL_ACC_Y 0
42 200 CAL_ACC_Z 0
42 200 CAL_FIT_ACTIVE 0
42 200 CAL_FIT_GYRO_X 31496.8007812
42 200 CAL_FIT_GYRO_Y 29383.4003906
42 200 CAL_FIT_GYRO_Z 30151.0996094
42 200 CAL_GYRO_X 29767
42 200 CAL_GYRO_Y 29654
42 200 CAL_GYRO_Z 29570
42 200 CAL_MAG_X 375
42 200 CAL_MAG_Y -25
42 200 CAL_MAG_Z -1000
42 200 CAL_PRES_DIFF 10000
42 200 CAL_TEMP 29051
42 200 CAM_ANG_X_FAC 0
42 200 CAM_ANG_X_OFF 0
42 200 CAM_ANG_Y_FAC 0
42 200 CAM_ANG_Y_OFF 0.428000003099
42 200 CAM_EXP 1000
42 200 CAM_INTERVAL 200000
42 200 DEBUG_1 0
42 200 DEBUG_2 0
42 200 DEBUG_3 0
42 200 DEBUG_4 0
42 200 DEBUG_5 1
42 200 DEBUG_6 0
42 200 GPS_MODE 0
42 200 KAL_VEL_AX 1
42 200 KAL_VEL_AY 1
42 200 KAL_VEL_BX 0
42 200 KAL_VEL_BY 0
42 200 MIX_OFFSET 0
42 200 MIX_POSITION 0
42 200 MIX_POS_YAW 0
42 200 MIX_REMOTE 0
42 200 MIX_Z_POSITION 0
42 200 PID_ATT_AWU 0.300000011921
42 200 PID_ATT_D 30
42 200 PID_ATT_I 60
42 200 PID_ATT_LIM 100
42 200 PID_ATT_P 90
42 200 PID_POS_AWU 5
42 200 PID_POS_D 2
42 200 PID_POS_I 0.20000000298
42 200 PID_POS_LIM 0.20000000298
42 200 PID_POS_P 1.79999995232
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.20000000298
42 200 PID_POS_Z_I 0.300000011921
42 200 PID_POS_Z_LIM 0.300000011921
42 200 PID_POS_Z_P 0.25
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.10000000149
42 200 PID_YAWPOS_LIM 3
42 200 PID_YAWPOS_P 5
42 200 PID_YAWSPEED_D 0
42 200 PID_YAWSPEED_I 5
42 200 PID_YAWSPEED_P 15
42 200 PID_YAWSPE_AWU 1
42 200 PID_YAWSPE_LIM 50
42 200 POS_HOV_TRUST 0.300000011921
42 200 POS_SON_MODE 0
42 200 POS_SON_SCALE 1
42 200 POS_SP_ACCEPT 1
42 200 POS_SP_X 0
42 200 POS_SP_Y 0
42 200 POS_SP_YAW 0
42 200 POS_SP_Z -0.213201999664
42 200 POS_TIMEOUT 2000000
42 200 POS_YAW_TRACK 0
42 200 RC_NICK_CHAN 1
42 200 RC_ROLL_CHAN 2
42 200 RC_SAFETY_CHAN 5
42 200 RC_THRUST_CHAN 3
42 200 RC_TRIM_CHAN 0
42 200 RC_TUNE_CHAN1 5
42 200 RC_TUNE_CHAN2 6
42 200 RC_TUNE_CHAN3 7
42 200 RC_TUNE_CHAN4 8
42 200 RC_YAW_CHAN 4
42 200 SEND_DEBUGCHAN 0
42 200 SLOT_ATTITUDE 1
42 200 SLOT_CONTROL 0
42 200 SLOT_RAW_IMU 0
42 200 SLOT_RC 0
42 200 SYS_COMP_ID 200
42 200 SYS_ID 42
42 200 SYS_IMU_RESET 0
42 200 SYS_SW_VER 2000
42 200 SYS_TYPE 2
42 200 UART_0_BAUD 115200
42 200 UART_1_BAUD 115200
42 200 VEL_DAMP 0.949999988079
42 200 VEL_OFFSET_X 0
42 200 VEL_OFFSET_Y 0
42 200 VEL_OFFSET_Z 0
42 200 VICON_MODE 0
42 200 VICON_TKO_DIST 0.5
42 200 VICON_TKO_TIME 2
42 200 VIS_OUTL_TRESH 0.20000000298
files/mav_type_quadrotor/mav_autopilot_pixhawk/widgets/pixhawk-widget.qgw 0 → 100644
View file @ 86c7e134
[PIXHAWK%20Quadrotor%20Commands]
QGC_TOOL_WIDGET_ITEMS\1\TYPE=BUTTON
QGC_TOOL_WIDGET_ITEMS\1\QGC_ACTION_BUTTON_DESCRIPTION=CALIBRATE GYRO
QGC_TOOL_WIDGET_ITEMS\1\QGC_ACTION_BUTTON_BUTTONTEXT=Calibrate
QGC_TOOL_WIDGET_ITEMS\1\QGC_ACTION_BUTTON_ACTIONID=17
QGC_TOOL_WIDGET_ITEMS\2\TYPE=BUTTON
QGC_TOOL_WIDGET_ITEMS\2\QGC_ACTION_BUTTON_DESCRIPTION=Record logfile and images
QGC_TOOL_WIDGET_ITEMS\2\QGC_ACTION_BUTTON_BUTTONTEXT=Start
QGC_TOOL_WIDGET_ITEMS\2\QGC_ACTION_BUTTON_ACTIONID=21
QGC_TOOL_WIDGET_ITEMS\3\TYPE=BUTTON
QGC_TOOL_WIDGET_ITEMS\3\QGC_ACTION_BUTTON_DESCRIPTION=Stop recording
QGC_TOOL_WIDGET_ITEMS\3\QGC_ACTION_BUTTON_BUTTONTEXT=Stop
QGC_TOOL_WIDGET_ITEMS\3\QGC_ACTION_BUTTON_ACTIONID=23
QGC_TOOL_WIDGET_ITEMS\size=3
qgroundcontrol.pri
View file @ 86c7e134
......@@ -84,6 +84,8 @@ macx {
# Copy audio files if needed
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy contributed files
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy google earth starter file
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy CSS stylesheets
......@@ -221,7 +223,10 @@ message("Compiling for linux 32")
DEFINES += QGC_LIBFREENECT_ENABLED
}
# Validated copy commands
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$DESTDIR
QMAKE_POST_LINK += && mkdir -p $$DESTDIR/images
QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$DESTDIR/images/Vera.ttf
......@@ -295,6 +300,8 @@ linux-g++-64 {
DEFINES += QGC_LIBFREENECT_ENABLED
}
# Validated copy commands
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$DESTDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$DESTDIR
QMAKE_POST_LINK += && mkdir -p $$DESTDIR/images
......@@ -371,6 +378,7 @@ DEFINES += QGC_OSG_ENABLED
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\debug\\audio" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
......@@ -391,6 +399,7 @@ DEFINES += QGC_OSG_ENABLED
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\release\\audio" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
......
src/GAudioOutput.cc
View file @ 86c7e134
......@@ -137,12 +137,12 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
}
}
GAudioOutput::~GAudioOutput()
{
#ifdef _MSC_VER2
::CoUninitialize();
#endif
}
//GAudioOutput::~GAudioOutput()
//{
//#ifdef _MSC_VER2
// ::CoUninitialize();
//#endif
//}
void GAudioOutput::mute(bool mute)
{
......
src/GAudioOutput.h
View file @ 86c7e134
......@@ -124,7 +124,7 @@ protected:
bool muted;
private:
GAudioOutput(QObject* parent=NULL);
~GAudioOutput();
// ~GAudioOutput();
};
#endif // AUDIOOUTPUT_H
src/QGC.cc
View file @ 86c7e134
......@@ -49,28 +49,28 @@ quint64 groundTimeMilliseconds()
float limitAngleToPMPIf(float angle)
{
while (angle > ((float)M_PI+FLT_EPSILON)) {
angle -= 2.0f * (float)M_PI;
}
// while (angle > ((float)M_PI+FLT_EPSILON)) {
// angle -= 2.0f * (float)M_PI;
// }
while (angle <= -((float)M_PI+FLT_EPSILON)) {
angle += 2.0f * (float)M_PI;
}
// while (angle <= -((float)M_PI+FLT_EPSILON)) {
// angle += 2.0f * (float)M_PI;
// }
return angle;
}
double limitAngleToPMPId(double angle)
{
if (angle < -M_PI) {
while (angle < -M_PI) {
angle += M_PI;
}
} else if (angle > M_PI) {
while (angle > M_PI) {
angle -= M_PI;
}
}
// if (angle < -M_PI) {
// while (angle < -M_PI) {
// angle += M_PI;
// }
// } else if (angle > M_PI) {
// while (angle > M_PI) {
// angle -= M_PI;
// }
// }
return angle;
}
......
src/QGCCore.cc
View file @ 86c7e134
......@@ -203,7 +203,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
QGCCore::~QGCCore()
{
//mainWindow->storeSettings();
mainWindow->hide();
mainWindow->close();
mainWindow->deleteLater();
// Delete singletons
delete LinkManager::instance();
......
src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h
View file @ 86c7e134
......@@ -66,6 +66,22 @@ protected:
DomModel* model;
void changeEvent(QEvent *e);
signals:
void visibilityChanged(bool visible);
protected:
void showEvent(QShowEvent* event)
{
QWidget::showEvent(event);
emit visibilityChanged(true);
}
void hideEvent(QHideEvent* event)
{
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
private:
Ui::XMLCommProtocolWidget *m_ui;
};
......
src/uas/PxQuadMAV.cc
View file @ 86c7e134
......@@ -56,7 +56,6 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
// FIXME Kind of a hack to load data from disk
mavlink_image_triggered_t img;
mavlink_msg_image_triggered_decode(&message, &img);
qDebug() << "IMAGE AVAILABLE:" << img.timestamp;
emit imageStarted(img.timestamp);
}
break;
......
src/uas/UAS.cc
View file @ 86c7e134
......@@ -77,7 +77,9 @@ attitudeKnown(false),
paramManager(NULL),
attitudeStamped(false),
lastAttitude(0),
simulation(new QGCFlightGearLink(this))
simulation(new QGCFlightGearLink(this)),
isLocalPositionKnown(false),
isGlobalPositionKnown(false)
{
color = UASInterface::getNextColor();
setBattery(LIPOLY, 3);
......@@ -343,40 +345,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit dropRateChanged(this->getUASID(), state.drop_rate_comm/10000.0f);
}
break;
case MAVLINK_MSG_ID_RAW_IMU:
{
//mavlink_raw_imu_t raw;
//mavlink_msg_raw_imu_decode(&message, &raw);
//quint64 time = getUnixTime(raw.time_usec);
// FIXME REMOVE LATER emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
// FIXME REMOVE LATER emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
}
break;
case MAVLINK_MSG_ID_SCALED_IMU:
{
//mavlink_scaled_imu_t scaled;
//mavlink_msg_scaled_imu_decode(&message, &scaled);
//quint64 time = getUnixTime(scaled.time_boot_ms);
// FIXME REMOVE LATER emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "mag x", "uTesla", scaled.xmag/100.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "mag y", "uTesla", scaled.ymag/100.0f, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "mag z", "uTesla", scaled.zmag/100.0f, time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
{
mavlink_attitude_t attitude;
......@@ -386,31 +354,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
roll = QGC::limitAngleToPMPIf(attitude.roll);
pitch = QGC::limitAngleToPMPIf(attitude.pitch);
yaw = QGC::limitAngleToPMPIf(attitude.yaw);
// FIXME REMOVE LATER emit valueChanged(uasId, "roll", "rad", roll, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "pitch", "rad", pitch, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "yaw", "rad", yaw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
// Emit in angles
// Convert yaw angle to compass value
// in 0 - 360 deg range
float compass = (yaw/M_PI)*180.0+360.0f;
while (compass > 360.0f) {
compass -= 360.0f;
if (compass > -10000 && compass < 10000)
{
while (compass > 360.0f) {
compass -= 360.0f;
}
}
attitudeKnown = true;
// FIXME REMOVE LATER emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "heading deg", "deg", compass, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
emit attitudeChanged(this, roll, pitch, yaw, time);
emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
}
......@@ -428,12 +385,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_msg_vfr_hud_decode(&message, &hud);
quint64 time = getUnixTime();
// Display updated values
// FIXME REMOVE LATER emit valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", hud.alt, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "heading", "deg", hud.heading, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
emit thrustChanged(this, hud.throttle/100.0);
if (!attitudeKnown)
......@@ -443,26 +394,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
emit altitudeChanged(uasId, hud.alt);
//yaw = (hud.heading-180.0f/360.0f)*M_PI;
emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time);
}
break;
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
{
//mavlink_nav_controller_output_t nav;
//mavlink_msg_nav_controller_output_decode(&message, &nav);
//quint64 time = getUnixTime();
// Update UI
// FIXME REMOVE LATER emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "alt err", "m", nav.alt_error, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time);
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
......@@ -473,25 +407,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
localX = pos.x;
localY = pos.y;
localZ = pos.z;
// FIXME REMOVE LATER emit valueChanged(uasId, "x", "m", pos.x, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "y", "m", pos.y, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "z", "m", pos.z, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
// qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
// qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
//emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
// Set internal state
if (!positionLock) {
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
isLocalPositionKnown = true;
}
break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
......@@ -507,11 +432,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
speedX = pos.vx/100.0;
speedY = pos.vy/100.0;
speedZ = pos.vz/100.0;
// FIXME REMOVE LATER emit valueChanged(uasId, "latitude", "deg", latitude, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "longitude", "deg", longitude, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", altitude, time);
// double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
emit globalPositionChanged(this, latitude, longitude, altitude, time);
emit speedChanged(this, speedX, speedY, speedZ, time);
// Set internal state
......@@ -520,6 +440,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
isGlobalPositionKnown = true;
//TODO fix this hack for forwarding of global position for patch antenna tracking
forwardMessage(message);
}
......@@ -534,14 +455,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// quint64 time = getUnixTime(pos.time_usec);
quint64 time = getUnixTime(pos.time_usec);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps latitude", "deg", pos.lat/(double)1E7, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps longitude", "deg", pos.lon/(double)1E7, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps speed", "m/s", pos.vel, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps eph", "m", pos.eph/(double)1E2, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps epv", "m", pos.eph/(double)1E2, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps fix", "raw", pos.fix_type, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "gps course", "raw", pos.cog, time);
if (pos.fix_type > 2) {
emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
latitude = pos.lat/(double)1E7;
......@@ -587,29 +500,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit homePositionChanged(uasId, pos.latitude, pos.longitude, pos.altitude);
}
break;
case MAVLINK_MSG_ID_RAW_PRESSURE:
{
//mavlink_raw_pressure_t pressure;
//mavlink_msg_raw_pressure_decode(&message, &pressure);
//quint64 time = this->getUnixTime(pressure.time_usec);
// FIXME REMOVE LATER emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
}
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
//mavlink_scaled_pressure_t pressure;
//mavlink_msg_scaled_pressure_decode(&message, &pressure);
//quint64 time = this->getUnixTime(pressure.time_boot_ms);
// FIXME REMOVE LATER emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
mavlink_rc_channels_raw_t channels;
......@@ -623,15 +513,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit remoteControlChannelRawChanged(5, channels.chan6_raw);
emit remoteControlChannelRawChanged(6, channels.chan7_raw);
emit remoteControlChannelRawChanged(7, channels.chan8_raw);
// quint64 time = getUnixTime();
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #1", "us", channels.chan1_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #2", "us", channels.chan2_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #3", "us", channels.chan3_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #4", "us", channels.chan4_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #5", "us", channels.chan5_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #6", "us", channels.chan6_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #7", "us", channels.chan7_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "rc in #8", "us", channels.chan8_raw, time);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
......@@ -820,34 +701,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
}
break;
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
{
//mavlink_servo_output_raw_t servos;
//mavlink_msg_servo_output_raw_decode(&message, &servos);
//quint64 time = getUnixTime();
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time);
// FIXME REMOVE LATER emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
}
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
{
//mavlink_optical_flow_t flow;
//mavlink_msg_optical_flow_decode(&message, &flow);
//quint64 time = getUnixTime(flow.time_usec);
// FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.x").arg(flow.sensor_id), "Pixel", flow.flow_x, time);
// FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.y").arg(flow.sensor_id), "Pixel", flow.flow_y, time);
// FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.qual").arg(flow.sensor_id), "0-255", flow.quality, time);
// FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.dist").arg(flow.sensor_id), "m", flow.ground_distance, time);
}
break;
case MAVLINK_MSG_ID_STATUSTEXT:
{
QByteArray b;
......@@ -912,17 +765,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
#endif
case MAVLINK_MSG_ID_DEBUG_VECT:
{
//mavlink_debug_vect_t vect;
//mavlink_msg_debug_vect_decode(&message, &vect);
//QString str((const char*)vect.name);
//quint64 time = getUnixTime(vect.time_usec);
// FIXME REMOVE LATER emit valueChanged(uasId, str+".x", "raw", vect.x, time);
// FIXME REMOVE LATER emit valueChanged(uasId, str+".y", "raw", vect.y, time);
// FIXME REMOVE LATER emit valueChanged(uasId, str+".z", "raw", vect.z, time);
}
break;
// case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
// {
// mavlink_object_detection_event_t event;
......@@ -1027,6 +869,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
#endif
// Messages to ignore
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT:
case MAVLINK_MSG_ID_RAW_IMU:
case MAVLINK_MSG_ID_SCALED_IMU:
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
case MAVLINK_MSG_ID_RAW_PRESSURE:
case MAVLINK_MSG_ID_SCALED_PRESSURE:
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
case MAVLINK_MSG_ID_OPTICAL_FLOW:
case MAVLINK_MSG_ID_DEBUG_VECT:
break;
default:
{
......
src/uas/UAS.h
View file @ 86c7e134
......@@ -108,6 +108,14 @@ public:
double getAltitude() const {
return altitude;
}
virtual bool localPositionKnown() const
{
return isLocalPositionKnown;
}
virtual bool globalPositionKnown() const
{
return isGlobalPositionKnown;
}
double getRoll() const {
return roll;
......@@ -201,15 +209,17 @@ protected: //COMMENTS FOR TEST UNIT
quint64 imageStart;
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
int airframe; ///< The airframe type
bool attitudeKnown; ///< True if attitude was received, false else
bool paramsOnceRequested; ///< If the parameter list has been read at least once
int airframe; ///< The airframe type
bool attitudeKnown; ///< True if attitude was received, false else
QGCUASParamManager* paramManager; ///< Parameter manager class
QString shortStateText; ///< Short textual state description
QString shortModeText; ///< Short textual mode description
bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
quint64 lastAttitude; ///< Timestamp of last attitude measurement
QGCFlightGearLink* simulation; ///< Hardware in the loop simulation link
QString shortStateText; ///< Short textual state description
QString shortModeText; ///< Short textual mode description
bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
quint64 lastAttitude; ///< Timestamp of last attitude measurement
QGCFlightGearLink* simulation; ///< Hardware in the loop simulation link
bool isLocalPositionKnown; ///< If the local position has been received for this MAV
bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
public:
/** @brief Set the current battery type */
......
src/uas/UASInterface.h
View file @ 86c7e134
......@@ -76,10 +76,12 @@ public:
virtual double getLocalX() const = 0;
virtual double getLocalY() const = 0;
virtual double getLocalZ() const = 0;
virtual bool localPositionKnown() const = 0;
virtual double getLatitude() const = 0;
virtual double getLongitude() const = 0;
virtual double getAltitude() const = 0;
virtual bool globalPositionKnown() const = 0;
virtual double getRoll() const = 0;
virtual double getPitch() const = 0;
......@@ -181,15 +183,15 @@ public:
/** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
virtual int getSystemType() = 0;
virtual QString getSystemTypeName() = 0;
/** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
virtual int getAutopilotType() = 0;
virtual QString getAutopilotTypeName() = 0;
virtual void setAutopilotType(int apType)= 0;
QColor getColor() {
return color;
}
virtual int getAutopilotType() = 0;
virtual QString getAutopilotTypeName() = 0;
virtual void setAutopilotType(int apType)= 0;
public slots:
/** @brief Set a new name for the system */
......@@ -490,6 +492,6 @@ protected:
};
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0")
#endif // _UASINTERFACE_H_
src/ui/CommConfigurationWindow.cc
View file @ 86c7e134
......@@ -267,7 +267,7 @@ void CommConfigurationWindow::setLinkType(int linktype)
foreach (QAction* act, actions)
{
if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(tmpLink))
{
{
act->trigger();
break;
}
......
src/ui/HSIDisplay.cc
View file @ 86c7e134
......@@ -58,8 +58,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
posXSet(0.0f),
posYSet(0.0f),
posZSet(0.0f),
attXSaturation(0.5f),
attYSaturation(0.5f),
attXSaturation(0.2f),
attYSaturation(0.2f),
attYawSaturation(0.5f),
posXSaturation(0.05f),
posYSaturation(0.05f),
......@@ -474,7 +474,7 @@ QPointF HSIDisplay::metricWorldToBody(QPointF world)
{
// First translate to body-centered coordinates
// Rotate around -yaw
float angle = yaw + M_PI;
float angle = -yaw - M_PI;
QPointF result(cos(angle) * (x - world.x()) - sin(angle) * (y - world.y()), sin(angle) * (x - world.x()) + cos(angle) * (y - world.y()));
return result;
}
......@@ -945,7 +945,7 @@ void HSIDisplay::drawPositionDirection(float xRef, float yRef, float radius, con
{
if (xyControlKnown && xyControlEnabled) {
// Draw the needle
const float maxWidth = radius / 10.0f;
const float maxWidth = radius / 5.0f;
const float minWidth = maxWidth * 0.3f;
float angle = atan2(posXSet, -posYSet);
......@@ -985,10 +985,9 @@ void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, con
const float maxWidth = radius / 10.0f;
const float minWidth = maxWidth * 0.3f;
float angle = atan2(attXSet, attYSet);
angle -= (float)M_PI/2.0f;
float angle = atan2(attYSet, -attXSet);
radius *= sqrt(pow(attXSet, 2) + pow(attYSet, 2)) / sqrt(attXSaturation + attYSaturation);
radius *= sqrt(attXSet*attXSet + attYSet*attYSet) / sqrt(attXSaturation*attXSaturation + attYSaturation*attYSaturation);
QPolygonF p(6);
......
src/ui/HUD.cc
View file @ 86c7e134
......@@ -200,14 +200,16 @@ void HUD::showEvent(QShowEvent* event)
// events
QGLWidget::showEvent(event);
refreshTimer->start(updateInterval);
emit visibilityChanged(true);
}
void HUD::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
QGLWidget::hideEvent(event);
refreshTimer->stop();
QGLWidget::hideEvent(event);
emit visibilityChanged(false);
}
void HUD::contextMenuEvent (QContextMenuEvent* event)
......@@ -1047,10 +1049,10 @@ void HUD::paintPitchLines(float pitch, QPainter* painter)
float offset = pitch;
if (offset < 0) offset = -offset;
int offsetCount = 0;
while (offset > lineDistance) {
offset -= lineDistance;
offsetCount++;
}
// while (offset > lineDistance) {
// offset -= lineDistance;
// offsetCount++;
// }
int iPos = (int)(0.5f + lineDistance); ///< The first line
int iNeg = (int)(-0.5f - lineDistance); ///< The first line
......
src/ui/HUD.h
View file @ 86c7e134
......@@ -113,6 +113,9 @@ protected slots:
void drawPolygon(QPolygonF refPolygon, QPainter* painter);
signals:
void visibilityChanged(bool visible);
protected:
void commitRawDataToGL();
/** @brief Convert reference coordinates to screen coordinates */
......
src/ui/MainWindow.cc
View file @ 86c7e134
......@@ -64,7 +64,8 @@ This file is part of the QGROUNDCONTROL project
MainWindow* MainWindow::instance()
{
static MainWindow* _instance = 0;
if(_instance == 0) {
if(_instance == 0)
{
_instance = new MainWindow();
/* Set the application as parent to ensure that this object
......@@ -83,44 +84,48 @@ MainWindow* MainWindow::instance()
**/
MainWindow::MainWindow(QWidget *parent):
QMainWindow(parent),
toolsMenuActions(),
currentView(VIEW_UNCONNECTED),
aboutToCloseFlag(false),
changingViewsFlag(false),
styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
autoReconnect(false),
currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
lowPowerMode(false)
lowPowerMode(false),
centerStackActionGroup(this)
{
loadSettings();
if (!settings.contains("CURRENT_VIEW")) {
if (!settings.contains("CURRENT_VIEW"))
{
// Set this view as default view
settings.setValue("CURRENT_VIEW", currentView);
} else {
}
else
{
// LOAD THE LAST VIEW
VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
if (currentViewCandidate != VIEW_ENGINEER &&
currentViewCandidate != VIEW_OPERATOR &&
currentViewCandidate != VIEW_PILOT) {
currentViewCandidate != VIEW_PILOT &&
currentViewCandidate != VIEW_FULL)
{
currentView = currentViewCandidate;
}
}
setDefaultSettingsForAp();
settings.sync();
// Setup UI state machines
centerStackActionGroup.setExclusive(true);
// Setup user interface
ui.setupUi(this);
setVisible(false);
centerStack = new QStackedWidget(this);
setCentralWidget(centerStack);
buildCommonWidgets();
connectCommonWidgets();
arrangeCommonCenterStack();
configureWindowName();
loadStyle(currentStyle);
......@@ -133,18 +138,28 @@ MainWindow::MainWindow(QWidget *parent):
statusBar()->setSizeGripEnabled(true);
// Restore the window setup
if (settings.contains(getWindowStateKey()))
{
loadViewState();
}
// Restore the window position and size
if (settings.contains(getWindowGeometryKey())) {
if (settings.contains(getWindowGeometryKey()))
{
// Restore the window geometry
restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
} else {
}
else
{
// Adjust the size
adjustSize();
}
// Populate link menu
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
foreach(LinkInterface* link, links) {
foreach(LinkInterface* link, links)
{
this->addLink(link);
}
......@@ -165,11 +180,9 @@ MainWindow::MainWindow(QWidget *parent):
toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
toolBar->addPerspectiveChangeAction(ui.actionPilotsView);
// Enable and update view
presentView();
// Connect link
if (autoReconnect) {
if (autoReconnect)
{
SerialLink* link = new SerialLink();
// Add to registry
LinkManager::instance()->add(link);
......@@ -182,13 +195,12 @@ MainWindow::MainWindow(QWidget *parent):
// Initialize window state
windowStateVal = windowState();
show();
}
MainWindow::~MainWindow()
{
// Store settings
storeSettings();
delete mavlink;
delete joystick;
......@@ -198,77 +210,34 @@ MainWindow::~MainWindow()
QObjectList::iterator i;
QDockWidget* dockWidget;
for (i = childList.begin(); i != childList.end(); ++i) {
for (i = childList.begin(); i != childList.end(); ++i)
{
dockWidget = dynamic_cast<QDockWidget*>(*i);
if (dockWidget) {
if (dockWidget)
{
// Remove dock widget from main window
removeDockWidget(dockWidget);
delete dockWidget->widget();
delete dockWidget;
}
}
}
/**
* Set default settings for this AP type.
*/
void MainWindow::setDefaultSettingsForAp()
{
// Check if the settings exist, instantiate defaults if necessary
// UNCONNECTED VIEW DEFAULT
QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
if (!settings.contains(centralKey)) {
settings.setValue(centralKey,true);
// ENABLE UAS LIST
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
// ENABLE COMMUNICATION CONSOLE
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);
}
// OPERATOR VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
if (!settings.contains(centralKey)) {
settings.setValue(centralKey,true);
// ENABLE UAS LIST
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
// ENABLE HUD TOOL WIDGET
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true);
// ENABLE WAYPOINTS
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true);
}
// ENGINEER VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
if (!settings.contains(centralKey)) {
settings.setValue(centralKey,true);
// Enable Parameter widget
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true);
}
// MAVLINK VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
if (!settings.contains(centralKey)) {
settings.setValue(centralKey,true);
else
{
delete dynamic_cast<QObject*>(*i);
}
}
// PILOT VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
if (!settings.contains(centralKey)) {
settings.setValue(centralKey,true);
// Enable Flight display
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true);
}
// Delete all UAS objects
}
void MainWindow::resizeEvent(QResizeEvent * event)
{
Q_UNUSED(event);
if (height() < 800) {
if (height() < 800)
{
ui.statusBar->setVisible(false);
} else {
}
else
{
ui.statusBar->setVisible(true);
ui.statusBar->setSizeGripEnabled(true);
}
......@@ -288,22 +257,23 @@ QString MainWindow::getWindowGeometryKey()
void MainWindow::buildCustomWidget()
{
// Show custom widgets only if UAS is connected
if (UASManager::instance()->getActiveUAS() != NULL) {
// Enable custom widgets
ui.actionNewCustomWidget->setEnabled(true);
if (UASManager::instance()->getActiveUAS() != NULL)
{
// Create custom widgets
QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);
if (widgets.size() > 0) {
if (widgets.size() > 0)
{
ui.menuTools->addSeparator();
}
for(int i = 0; i < widgets.size(); ++i) {
for(int i = 0; i < widgets.size(); ++i)
{
// Check if this widget already has a parent, do not create it in this case
QGCToolWidget* tool = widgets.at(i);
QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
if (!dock) {
if (!dock)
{
QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
dock->setObjectName(tool->objectName()+"_DOCK");
dock->setWidget(tool);
......@@ -315,9 +285,6 @@ void MainWindow::buildCustomWidget()
widgets.at(i)->setMainMenuAction(showAction);
ui.menuTools->addAction(showAction);
// Load visibility for view (default is off)
//dock->setVisible(tool->isVisible(currentView));
// Load dock widget location (default is bottom)
Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));
......@@ -334,46 +301,52 @@ void MainWindow::buildCommonWidgets()
connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
// Dock widgets
if (!controlDockWidget) {
if (!controlDockWidget)
{
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
controlDockWidget->setWidget( new UASControlWidget(this) );
addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
addTool(controlDockWidget, tr("Control"), Qt::LeftDockWidgetArea);
}
if (!listDockWidget) {
if (!listDockWidget)
{
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea);
addTool(listDockWidget, tr("Unmanned Systems"), Qt::RightDockWidgetArea);
}
if (!waypointsDockWidget) {
if (!waypointsDockWidget)
{
waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this);
waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) );
waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
addToToolsMenu (waypointsDockWidget, tr("Mission Plan"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
addTool(waypointsDockWidget, tr("Mission Plan"), Qt::BottomDockWidgetArea);
}
if (!infoDockWidget) {
if (!infoDockWidget)
{
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea);
addTool(infoDockWidget, tr("Status Details"), Qt::RightDockWidgetArea);
}
if (!debugConsoleDockWidget) {
if (!debugConsoleDockWidget)
{
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea);
}
if (!logPlayerDockWidget) {
if (!logPlayerDockWidget)
{
logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea);
}
if (!mavlinkInspectorWidget)
......@@ -381,36 +354,26 @@ void MainWindow::buildCommonWidgets()
mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this);
mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) );
mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET");
addToToolsMenu(mavlinkInspectorWidget, tr("MAVLink Inspector"), SLOT(showToolWidget(bool)), MENU_MAVLINK_INSPECTOR, Qt::RightDockWidgetArea);
addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea);
}
// Center widgets
if (!mapWidget)
{
mapWidget = new QGCMapTool(this);
addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
addCentralWidget(mapWidget, "Maps");
}
if (!protocolWidget) {
if (!protocolWidget)
{
protocolWidget = new XMLCommProtocolWidget(this);
addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
addCentralWidget(protocolWidget, "Mavlink Generator");
}
if (!dataplotWidget) {
if (!dataplotWidget)
{
dataplotWidget = new QGCDataPlot2D(this);
addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
}
if (!hudWidget) {
hudWidget = new HUD(320, 240, this);
addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD);
}
if (!hsiDockWidget) {
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
addCentralWidget(dataplotWidget, "Logfile Plot");
}
//FIXME: memory of acceptList will never be freed again
......@@ -434,428 +397,84 @@ void MainWindow::buildCommonWidgets()
acceptList2->append("900,servo #8,us,2100,s");
acceptList2->append("0,abs pressure,hPa,65500");
if (!headDown1DockWidget) {
headDown1DockWidget = new QDockWidget(tr("Flight Instruments"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea);
}
if (!headDown2DockWidget) {
headDown2DockWidget = new QDockWidget(tr("Payload Instruments"), this);
headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) );
headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea);
}
if (!rcViewDockWidget) {
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
if (!headUpDockWidget) {
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea);
if (!hudWidget) {
hudWidget = new HUD(320, 240, this);
addCentralWidget(hudWidget, tr("Head Up Display"));
}
if (!parametersDockWidget) {
parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
if (!dataplotWidget) {
dataplotWidget = new QGCDataPlot2D(this);
addCentralWidget(dataplotWidget, tr("Logfile Plot"));
}
#ifdef QGC_OSG_ENABLED
if (!_3DWidget) {
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
addCentralWidget(_3DWidget, tr("Local 3D"));
}
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
if (!gEarthWidget) {
gEarthWidget = new QGCGoogleEarthView(this);
addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
addCentralWidget(gEarthWidget, tr("Google Earth"));
}
#endif
}
void MainWindow::buildPxWidgets()
void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
{
// Dock widgets
if (!detectionDockWidget)
{
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea);
}
if (!watchdogControlDockWidget)
{
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
}
if (!video1DockWidget)
{
video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
HUD* video1 = new HUD(160, 120, this);
video1->enableHUDInstruments(false);
video1->enableVideo(true);
// FIXME select video stream as well
video1DockWidget->setWidget(video1);
video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea);
}
if (!video2DockWidget)
{
video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
HUD* video2 = new HUD(160, 120, this);
video2->enableHUDInstruments(false);
video2->enableVideo(true);
// FIXME select video stream as well
video2DockWidget->setWidget(video2);
video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea);
}
// Dialogue widgets
//FIXME: free memory in destructor
}
void MainWindow::buildSlugsWidgets()
{
if (!linechartWidget) {
// Center widgets
linechartWidget = new Linecharts(this);
addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
}
if (!headUpDockWidget) {
// Dock widgets
headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
}
if (!rcViewDockWidget) {
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
#if (defined _MSC_VER) | (defined Q_OS_MAC)
if (!gEarthWidget) {
gEarthWidget = new QGCGoogleEarthView(this);
addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
}
#endif
if (!slugsDataWidget) {
// Dialog widgets
slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
slugsDataWidget->setWidget( new SlugsDataSensorView(this));
slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
}
if (!slugsHilSimWidget) {
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
}
if (!controlParameterWidget) {
controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
controlParameterWidget->setWidget( new UASControlParameters(this) );
addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
}
if (!parametersDockWidget) {
parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
}
if (!slugsCamControlWidget) {
slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this));
slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
}
}
void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
const QString title,
const char * slotName,
TOOLS_WIDGET_NAMES centralWidget)
{
QAction* tempAction;
tempAction = ui.menuMain->addAction(title);
QAction* tempAction = ui.menuTools->addAction(title);
tempAction->setCheckable(true);
tempAction->setData(centralWidget);
// populate the Hashes
toolsMenuActions[centralWidget] = tempAction;
dockWidgets[centralWidget] = widget;
QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView);
if (!settings.contains(chKey))
{
settings.setValue(chKey,false);
tempAction->setChecked(false);
}
else
{
tempAction->setChecked(settings.value(chKey).toBool());
}
// connect the action
connect(tempAction,SIGNAL(triggered(bool)),this, slotName);
QVariant var;
var.setValue((QWidget*)widget);
tempAction->setData(var);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
tempAction->setChecked(widget->isVisible());
addDockWidget(area, widget);
}
void MainWindow::showCentralWidget()
void MainWindow::showTool(bool show)
{
QAction* senderAction = qobject_cast<QAction *>(sender());
// Block sender action while manipulating state
senderAction->blockSignals(true);
int tool = senderAction->data().toInt();
QString chKey;
// check the current action
if (senderAction && dockWidgets[tool])
{
// uncheck all central widget actions
QHashIterator<int, QAction*> i(toolsMenuActions);
while (i.hasNext()) {
i.next();
//qDebug() << "shCW" << i.key() << "read";
if (i.value() && i.value()->data().toInt() > 255)
{
// Block signals and uncheck action
// firing would be unneccesary
i.value()->blockSignals(true);
i.value()->setChecked(false);
i.value()->blockSignals(false);
// update the settings
chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.value()->data().toInt()), currentView);
settings.setValue(chKey,false);
}
}
// check the current action
//qDebug() << senderAction->text();
senderAction->setChecked(true);
// update the central widget
centerStack->setCurrentWidget(dockWidgets[tool]);
// store the selected central widget
chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
settings.setValue(chKey,true);
// Unblock sender action
senderAction->blockSignals(false);
presentView();
}
QAction* act = qobject_cast<QAction *>(sender());
QWidget* widget = qVariantValue<QWidget *>(act->data());
widget->setVisible(show);
}
/**
* Adds a widget to the tools menu and sets it visible if it was
* enabled last time.
*/
void MainWindow::addToToolsMenu ( QWidget* widget,
const QString title,
const char * slotName,
TOOLS_WIDGET_NAMES tool,
Qt::DockWidgetArea location)
void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
{
QAction* tempAction;
QString posKey, chKey;
if (toolsMenuActions[CENTRAL_SEPARATOR]) {
tempAction = new QAction(title, this);
ui.menuTools->insertAction(toolsMenuActions[CENTRAL_SEPARATOR],
tempAction);
} else {
tempAction = ui.menuTools->addAction(title);
}
tempAction->setCheckable(true);
tempAction->setData(tool);
// populate the Hashes
toolsMenuActions[tool] = tempAction;
dockWidgets[tool] = widget;
//qDebug() << widget;
posKey = buildMenuKey (SUB_SECTION_LOCATION,tool, currentView);
if (!settings.contains(posKey)) {
settings.setValue(posKey,location);
dockWidgetLocations[tool] = location;
} else {
dockWidgetLocations[tool] = static_cast <Qt::DockWidgetArea> (settings.value(posKey, Qt::RightDockWidgetArea).toInt());
}
chKey = buildMenuKey(SUB_SECTION_CHECKED,tool, currentView);
if (!settings.contains(chKey)) {
settings.setValue(chKey,false);
tempAction->setChecked(false);
widget->setVisible(false);
} else {
tempAction->setChecked(settings.value(chKey, false).toBool());
widget->setVisible(settings.value(chKey, false).toBool());
}
// connect the action
connect(tempAction,SIGNAL(toggled(bool)),this, slotName);
connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
SIGNAL(visibilityChanged(bool)), this, SLOT(showToolWidget(bool)));
// connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
// SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
}
void MainWindow::showToolWidget(bool visible)
{
if (!aboutToCloseFlag && !changingViewsFlag) {
QAction* action = qobject_cast<QAction *>(sender());
// Prevent this to fire if undocked
if (action) {
int tool = action->data().toInt();
QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);
if (dockWidget && dockWidget->isVisible() != visible) {
if (visible) {
addDockWidget(dockWidgetLocations[tool], dockWidget);
dockWidget->show();
} else {
removeDockWidget(dockWidget);
}
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext()) {
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget) {
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,visible);
//qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
break;
}
}
}
}
QDockWidget* dockWidget = qobject_cast<QDockWidget*>(QObject::sender());
// Check if this widget already has been added
if (centerStack->indexOf(widget) == -1)
{
centerStack->addWidget(widget);
//qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
QAction* tempAction = ui.menuMain->addAction(title);
if (dockWidget)
{
// Get action
int tool = dockWidgets.key(dockWidget);
//qDebug() << "Updating widget setting" << tool << "to" << visible;
QAction* action = toolsMenuActions[tool];
action->blockSignals(true);
action->setChecked(visible);
action->blockSignals(false);
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext()) {
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget) {
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,visible);
// qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
break;
}
}
}
tempAction->setCheckable(true);
QVariant var;
var.setValue((QWidget*)widget);
tempAction->setData(var);
centerStackActionGroup.addAction(tempAction);
connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
tempAction->setChecked(widget->isVisible());
}
}
void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
{
bool tempVisible;
Qt::DockWidgetArea tempLocation;
QDockWidget* tempWidget = static_cast <QDockWidget *>(dockWidgets[widget]);
tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();
//qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
if (tempWidget) {
toolsMenuActions[widget]->setChecked(tempVisible);
}
//qDebug() << buildMenuKey (SUB_SECTION_CHECKED,widget,view) << tempVisible;
tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt());
if (tempWidget != NULL)
{
if (tempVisible)
{
addDockWidget(tempLocation, tempWidget);
tempWidget->show();
}
}
}
QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view)
void MainWindow::showCentralWidget()
{
// Key is built as follows: autopilot_type/section_menu/view/tool/section
int apType = 1;
return (QString::number(apType) + "_" +
QString::number(SECTION_MENU) + "_" +
QString::number(view) + "_" +
QString::number(tool) + "_" +
QString::number(section) + "_" );
QAction* act = qobject_cast<QAction *>(sender());
QWidget* widget = qVariantValue<QWidget *>(act->data());
centerStack->setCurrentWidget(widget);
}
void MainWindow::closeEvent(QCloseEvent *event)
{
if (isVisible()) storeViewState();
storeSettings();
aboutToCloseFlag = true;
mavlink->storeSettings();
......@@ -863,62 +482,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMainWindow::closeEvent(event);
}
void MainWindow::showDockWidget (bool vis)
{
if (!aboutToCloseFlag && !changingViewsFlag) {
QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
if (temp) {
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext()) {
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,vis);
toolsMenuActions[i.key()]->setChecked(vis);
break;
}
}
}
}
}
void MainWindow::updateVisibilitySettings (bool vis)
{
if (!aboutToCloseFlag && !changingViewsFlag) {
QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
if (temp) {
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext()) {
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,vis);
toolsMenuActions[i.key()]->setChecked(vis);
break;
}
}
}
}
}
void MainWindow::updateLocationSettings (Qt::DockWidgetArea location)
{
QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext()) {
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(posKey,location);
break;
}
}
}
/**
* Connect the signals and slots of the common window widgets
*/
......@@ -958,19 +521,14 @@ void MainWindow::loadCustomWidget()
{
QString widgetFileExtension(".qgw");
QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
if (fileName != "") loadCustomWidget(fileName);
}
if (fileName.length() > 0)
void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
QGCToolWidget* tool = new QGCToolWidget("", this);
if (tool->loadSettings(fileName, true) || !singleinstance)
{
QGCToolWidget* tool = new QGCToolWidget("", this);
tool->loadSettings(fileName);
if (QGCToolWidget::instances()->size() < 2)
{
// This is the first widget
ui.menuTools->addSeparator();
}
// Add widget to UI
QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
......@@ -986,73 +544,36 @@ void MainWindow::loadCustomWidget()
this->addDockWidget(Qt::BottomDockWidgetArea, dock);
dock->setVisible(true);
}
}
void MainWindow::connectPxWidgets()
{
// No special connections necessary at this point
}
void MainWindow::connectSlugsWidgets()
{
if (slugsHilSimWidget && slugsHilSimWidget->widget()) {
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
}
if (slugsDataWidget && slugsDataWidget->widget()) {
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
}
if (controlParameterWidget && controlParameterWidget->widget()) {
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));
}
if(controlDockWidget && controlParameterWidget) {
connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
else
{
return;
}
}
void MainWindow::arrangeCommonCenterStack()
void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
centerStack = new QStackedWidget(this);
centerStack->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
if (!centerStack) return;
if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget);
if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget);
if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
QString defaultsDir = qApp->applicationDirPath() + "/files/" + systemType.toLower() + "/" + autopilotType.toLower() + "/widgets/";
#ifdef QGC_OSG_ENABLED
if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget);
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
#endif
if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
setCentralWidget(centerStack);
}
void MainWindow::arrangePxCenterStack()
{
if (!centerStack) {
qDebug() << "Center Stack not Created!";
return;
QDir widgets(defaultsDir);
QStringList files = widgets.entryList();
if (files.count() == 0)
{
qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
qDebug() << "Tried with path: " << defaultsDir;
showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
}
}
void MainWindow::arrangeSlugsCenterStack()
{
if (!centerStack)
// Load all custom widgets found in the AP folder
for(int i = 0; i < files.count(); ++i)
{
qDebug() << "Center Stack not Created!";
return;
QString file = files[i];
if (file.endsWith(".qgw"))
{
// Will only be loaded if not already a custom widget with
// the same name is present
loadCustomWidget(defaultsDir+"/"+file, true);
showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file));
}
}
}
......@@ -1073,14 +594,17 @@ void MainWindow::storeSettings()
settings.setValue("AUTO_RECONNECT", autoReconnect);
settings.setValue("CURRENT_STYLE", currentStyle);
settings.endGroup();
settings.setValue(getWindowGeometryKey(), saveGeometry());
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", currentView);
// Save the current window state, but only if a system is connected (else no real number of widgets would be present)
if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
// Save the current view only if a UAS is connected
if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
// Save the current power mode
if (!aboutToCloseFlag && isVisible())
{
settings.setValue(getWindowGeometryKey(), saveGeometry());
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", currentView);
// Save the current window state, but only if a system is connected (else no real number of widgets would be present)
if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
// Save the current view only if a UAS is connected
if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
// Save the current power mode
}
settings.setValue("LOW_POWER_MODE", lowPowerMode);
settings.sync();
}
......@@ -1093,9 +617,11 @@ void MainWindow::configureWindowName()
windowname.append(" (" + QHostInfo::localHostName() + ": ");
for (int i = 0; i < hostAddresses.size(); i++) {
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":")) {
if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
{
if(prevAddr) windowname.append("/");
windowname.append(hostAddresses.at(i).toString());
prevAddr = true;
......@@ -1140,7 +666,8 @@ void MainWindow::saveScreen()
QPixmap window = QPixmap::grabWindow(this->winId());
QString format = "bmp";
if (!screenFileName.isEmpty()) {
if (!screenFileName.isEmpty())
{
window.save(screenFileName, format.toAscii());
}
}
......@@ -1286,8 +813,6 @@ void MainWindow::showInfoMessage(const QString& title, const QString& message)
**/
void MainWindow::connectCommonActions()
{
ui.actionNewCustomWidget->setEnabled(false);
// Bind together the perspective actions
QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
perspectives->addAction(ui.actionEngineersView);
......@@ -1304,11 +829,6 @@ void MainWindow::connectCommonActions()
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The pilot, engineer and operator view are not available on startup
// since they only make sense with a system connected.
ui.actionPilotsView->setEnabled(false);
ui.actionOperatorsView->setEnabled(false);
ui.actionEngineersView->setEnabled(false);
// The UAS actions are not enabled without connection to system
ui.actionLiftoff->setEnabled(false);
ui.actionLand->setEnabled(false);
......@@ -1369,17 +889,6 @@ void MainWindow::connectCommonActions()
connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
}
void MainWindow::connectPxActions()
{
}
void MainWindow::connectSlugsActions()
{
}
void MainWindow::showHelp()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) {
......@@ -1395,7 +904,7 @@ void MainWindow::showHelp()
void MainWindow::showCredits()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits/"))) {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open credits in browser");
......@@ -1447,8 +956,10 @@ void MainWindow::addLink()
// Go fishing for this link's configuration window
QList<QAction*> actions = ui.menuNetwork->actions();
foreach (QAction* act, actions) {
if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link)) {
foreach (QAction* act, actions)
{
if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link))
{
act->trigger();
break;
}
......@@ -1517,16 +1028,6 @@ void MainWindow::UASCreated(UASInterface* uas)
if (uas != NULL)
{
if (!linechartWidget) {
// Center widgets
linechartWidget = new Linecharts(this);
linechartWidget->addSource(mavlinkDecoder);
addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
}
// Set default settings
setDefaultSettingsForAp();
// The pilot, operator and engineer views were not available on startup, enable them now
ui.actionPilotsView->setEnabled(true);
ui.actionOperatorsView->setEnabled(true);
......@@ -1598,74 +1099,46 @@ void MainWindow::UASCreated(UASInterface* uas)
}
}
switch (uas->getAutopilotType())
// Line chart
if (!linechartWidget)
{
case (MAV_AUTOPILOT_SLUGS): {
// Build Slugs Widgets
buildSlugsWidgets();
// Connect Slugs Widgets
connectSlugsWidgets();
// Arrange Slugs Centerstack
arrangeSlugsCenterStack();
// Connect Slugs Actions
connectSlugsActions();
// if(slugsDataWidget)
// {
// SlugsDataSensorView *mm = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
// if(mm)
// {
// mm->addUAS(uas);
// }
// }
// FIXME: This type checking might be redundant
// // if (slugsDataWidget) {
// // SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
// // if (dataWidget) {
// // SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
// // if (mav2) {
// (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
// // //loadSlugsView();
// // loadGlobalOperatorView();
// // }
// // }
// // }
// Center widgets
linechartWidget = new Linecharts(this);
addCentralWidget(linechartWidget, tr("Realtime Plot"));
}
break;
default:
case (MAV_AUTOPILOT_GENERIC):
break;
case (MAV_AUTOPILOT_ARDUPILOTMEGA):
break;
case (MAV_AUTOPILOT_PIXHAWK): {
// Build Pixhawk Widgets
buildPxWidgets();
// Connect Pixhawk Widgets
connectPxWidgets();
// Load default custom widgets for this autopilot type
loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
// Arrange Pixhawk Centerstack
arrangePxCenterStack();
// Connect Pixhawk Actions
connectPxActions();
}
break;
if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
{
// Dock widgets
if (!detectionDockWidget)
{
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
}
if (!watchdogControlDockWidget) {
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
}
}
// Change the view only if this is the first UAS
// If this is the first connected UAS, it is both created as well as
// the currently active UAS
if (UASManager::instance()->getUASList().size() == 1) {
if (UASManager::instance()->getUASList().size() == 1)
{
// Load last view if setting is present
if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED")) {
clearView();
if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
{
int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
switch (view) {
case VIEW_ENGINEER:
......@@ -1685,7 +1158,9 @@ void MainWindow::UASCreated(UASInterface* uas)
loadOperatorView();
break;
}
} else {
}
else
{
loadOperatorView();
}
}
......@@ -1694,285 +1169,142 @@ void MainWindow::UASCreated(UASInterface* uas)
if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
// Custom widgets, added last to all menus and layouts
buildCustomWidget();
// Restore the mainwindow size
if (settings.contains(getWindowGeometryKey())) {
if (settings.contains(getWindowGeometryKey()))
{
restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
}
}
/**
* Clears the current view completely
* Stores the current view state
*/
void MainWindow::clearView()
void MainWindow::storeViewState()
{
// Save current state
if (UASManager::instance()->getUASList().count() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
// Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
// therefore this state is stored here and restored after applying the rest of the settings in the new
// perspective.
windowStateVal = this->windowState();
settings.setValue(getWindowGeometryKey(), saveGeometry());
QAction* temp;
// Set tool widget visibility settings for this view
foreach (int key, toolsMenuActions.keys())
if (!aboutToCloseFlag)
{
temp = toolsMenuActions[key];
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(key), currentView);
if (temp) {
//qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
settings.setValue(chKey,temp->isChecked());
} else {
//qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
settings.setValue(chKey,false);
}
// Save current state
settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex());
// Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
// therefore this state is stored here and restored after applying the rest of the settings in the new
// perspective.
windowStateVal = this->windowState();
settings.setValue(getWindowGeometryKey(), saveGeometry());
}
}
changingViewsFlag = true;
// Remove all dock widgets from main window
QObjectList childList( this->children() );
void MainWindow::loadViewState()
{
// Restore center stack state
int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
// The offline plot view is usually the consequence of a logging run, always show the realtime view first
if (centerStack->indexOf(dataplotWidget) == index)
{
// Rewrite to realtime plot
index = centerStack->indexOf(linechartWidget);
}
QObjectList::iterator i;
QDockWidget* dockWidget;
for (i = childList.begin(); i != childList.end(); ++i) {
dockWidget = dynamic_cast<QDockWidget*>(*i);
if (dockWidget) {
// Remove dock widget from main window
removeDockWidget(dockWidget);
dockWidget->hide();
//dockWidget->setVisible(false);
if (index != -1)
{
centerStack->setCurrentIndex(index);
}
else
{
// Load defaults
switch (currentView)
{
case VIEW_ENGINEER:
centerStack->setCurrentWidget(linechartWidget);
break;
case VIEW_PILOT:
centerStack->setCurrentWidget(hudWidget);
break;
case VIEW_MAVLINK:
centerStack->setCurrentWidget(protocolWidget);
break;
case VIEW_OPERATOR:
case VIEW_UNCONNECTED:
case VIEW_FULL:
default:
centerStack->setCurrentWidget(mapWidget);
break;
}
}
changingViewsFlag = false;
// Restore the widget positions and size
if (settings.contains(getWindowStateKey()))
{
restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
}
}
void MainWindow::loadEngineerView()
{
if (currentView != VIEW_ENGINEER) {
clearView();
storeViewState();
currentView = VIEW_ENGINEER;
ui.actionEngineersView->setChecked(true);
presentView();
loadViewState();
}
}
void MainWindow::loadOperatorView()
{
if (currentView != VIEW_OPERATOR) {
clearView();
storeViewState();
currentView = VIEW_OPERATOR;
ui.actionOperatorsView->setChecked(true);
presentView();
loadViewState();
}
}
void MainWindow::loadUnconnectedView()
{
if (currentView != VIEW_UNCONNECTED) {
clearView();
if (currentView != VIEW_UNCONNECTED)
{
storeViewState();
currentView = VIEW_UNCONNECTED;
ui.actionUnconnectedView->setChecked(true);
presentView();
loadViewState();
}
}
void MainWindow::loadPilotView()
{
if (currentView != VIEW_PILOT) {
clearView();
if (currentView != VIEW_PILOT)
{
storeViewState();
currentView = VIEW_PILOT;
ui.actionPilotsView->setChecked(true);
presentView();
loadViewState();
}
}
void MainWindow::loadMAVLinkView()
{
if (currentView != VIEW_MAVLINK) {
clearView();
if (currentView != VIEW_MAVLINK)
{
storeViewState();
currentView = VIEW_MAVLINK;
ui.actionMavlinkView->setChecked(true);
presentView();
}
}
void MainWindow::presentView()
{
// LINE CHART
showTheCentralWidget(CENTRAL_LINECHART, currentView);
// MAP
showTheCentralWidget(CENTRAL_MAP, currentView);
// PROTOCOL
showTheCentralWidget(CENTRAL_PROTOCOL, currentView);
// HEAD UP DISPLAY
showTheCentralWidget(CENTRAL_HUD, currentView);
// GOOGLE EARTH
showTheCentralWidget(CENTRAL_GOOGLE_EARTH, currentView);
// LOCAL 3D VIEW
showTheCentralWidget(CENTRAL_3D_LOCAL, currentView);
// GLOBAL 3D VIEW
showTheCentralWidget(CENTRAL_3D_MAP, currentView);
// DATA PLOT
showTheCentralWidget(CENTRAL_DATA_PLOT, currentView);
// Show docked widgets based on current view and autopilot type
// UAS CONTROL
showTheWidget(MENU_UAS_CONTROL, currentView);
showTheWidget(MENU_UAS_CONTROL_PARAM, currentView);
// UAS LIST
showTheWidget(MENU_UAS_LIST, currentView);
// WAYPOINT LIST
showTheWidget(MENU_WAYPOINTS, currentView);
// UAS STATUS
showTheWidget(MENU_STATUS, currentView);
// DETECTION
showTheWidget(MENU_DETECTION, currentView);
// DEBUG CONSOLE
showTheWidget(MENU_DEBUG_CONSOLE, currentView);
// ONBOARD PARAMETERS
showTheWidget(MENU_PARAMETERS, currentView);
// WATCHDOG
showTheWidget(MENU_WATCHDOG, currentView);
// HUD
showTheWidget(MENU_HUD, currentView);
if (headUpDockWidget) {
HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
if (tmpHud) {
if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()) {
addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
headUpDockWidget);
headUpDockWidget->show();
} else {
headUpDockWidget->hide();
}
}
}
// RC View
showTheWidget(MENU_RC_VIEW, currentView);
// SLUGS DATA
showTheWidget(MENU_SLUGS_DATA, currentView);
// SLUGS PID
showTheWidget(MENU_SLUGS_PID, currentView);
// SLUGS HIL
showTheWidget(MENU_SLUGS_HIL, currentView);
// SLUGS CAMERA
showTheWidget(MENU_SLUGS_CAMERA, currentView);
// HORIZONTAL SITUATION INDICATOR
showTheWidget(MENU_HSI, currentView);
// HEAD DOWN 1
showTheWidget(MENU_HDD_1, currentView);
// HEAD DOWN 2
showTheWidget(MENU_HDD_2, currentView);
// MAVLINK LOG PLAYER
showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView);
// VIDEO 1
showTheWidget(MENU_VIDEO_STREAM_1, currentView);
// VIDEO 2
showTheWidget(MENU_VIDEO_STREAM_2, currentView);
// Restore window state
if (UASManager::instance()->getUASList().count() > 0) {
// // Restore the mainwindow size
// if (settings.contains(getWindowGeometryKey()))
// {
// restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
// }
// Restore the widget positions and size
if (settings.contains(getWindowStateKey())) {
restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
}
}
// ACTIVATE HUD WIDGET
if (headUpDockWidget) {
HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
if (tmpHud) {
}
}
//this->setWindowState(windowStateVal);
this->show();
}
void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view)
{
bool tempVisible;
QWidget* tempWidget = dockWidgets[centralWidget];
tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
//qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
if (toolsMenuActions[centralWidget]) {
//qDebug() << "SETTING TO:" << tempVisible;
toolsMenuActions[centralWidget]->setChecked(tempVisible);
}
if (centerStack && tempWidget && tempVisible) {
//qDebug() << "ACTIVATING MAIN WIDGET";
centerStack->setCurrentWidget(tempWidget);
loadViewState();
}
}
void MainWindow::loadDataView(QString fileName)
{
clearView();
// Unload line chart
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_LINECHART), currentView);
settings.setValue(chKey,false);
// Set data plot in settings as current widget and then run usual update procedure
chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_DATA_PLOT), currentView);
settings.setValue(chKey,true);
presentView();
// Plot is now selected, now load data from file
if (dataplotWidget) {
if (dataplotWidget)
{
dataplotWidget->loadFile(fileName);
}
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(dataplotWidget);
dataplotWidget->loadFile(fileName);
}
// QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
// if (centerStack)
// {
// centerStack->setCurrentWidget(dataplotWidget);
// dataplotWidget->loadFile(fileName);
// }
// }
}
......
src/ui/MainWindow.h
View file @ 86c7e134
......@@ -113,9 +113,9 @@ public:
return lowPowerMode;
}
QList<QAction*> listLinkMenuActions(void);
public slots:
// /** @brief Store the mainwindow settings */
// void storeSettings();
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status, int timeout);
......@@ -161,9 +161,6 @@ public slots:
/** @brief Show the project roadmap */
void showRoadMap();
/** @brief Shows the widgets based on configuration and current view and autopilot */
void presentView();
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
/** @brief Let the user select the CSS style sheet */
......@@ -184,9 +181,15 @@ public slots:
/** @brief Add a custom tool widget */
void createCustomWidget();
/** @brief Load a custom tool widget from a file */
/** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
void loadCustomWidget();
/** @brief Load a custom tool widget from a file */
void loadCustomWidget(const QString& fileName, bool singleinstance=false);
/** @brief Load custom widgets from default file */
void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
......@@ -195,100 +198,37 @@ public slots:
/**
* @brief Shows a Docked Widget based on the action sender
*
* This slot is written to be used in conjunction with the addToToolsMenu function
* This slot is written to be used in conjunction with the addTool() function
* It shows the QDockedWidget based on the action sender
*
*/
void showToolWidget(bool visible);
void showTool(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
*
* This slot is written to be used in conjunction with the addToCentralWidgetsMenu function
* This slot is written to be used in conjunction with the addCentralWidget() function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
/** @brief Change actively a QDockWidgets visibility by an action */
void showDockWidget(bool vis);
/** @brief Updates a QDockWidget's checked status based on its visibility */
void updateVisibilitySettings(bool vis);
/** @brief Updates a QDockWidget's location */
void updateLocationSettings (Qt::DockWidgetArea location);
public:
QList<QAction*> listLinkMenuActions(void);
protected:
MainWindow(QWidget *parent = 0);
/** @brief Set default window settings for the current autopilot type */
void setDefaultSettingsForAp();
// 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
// this will be fixed in a future release.
typedef enum _TOOLS_WIDGET_NAMES {
MENU_UAS_CONTROL_PARAM,
MENU_UAS_CONTROL,
MENU_UAS_INFO,
MENU_CAMERA,
MENU_UAS_LIST,
MENU_WAYPOINTS,
MENU_STATUS,
MENU_DETECTION,
MENU_DEBUG_CONSOLE,
MENU_PARAMETERS,
MENU_HDD_1,
MENU_HDD_2,
MENU_WATCHDOG,
MENU_HUD,
MENU_HSI,
MENU_RC_VIEW,
MENU_SLUGS_DATA,
MENU_SLUGS_PID,
MENU_SLUGS_HIL,
MENU_SLUGS_CAMERA,
MENU_MAVLINK_LOG_PLAYER,
MENU_VIDEO_STREAM_1,
MENU_VIDEO_STREAM_2,
MENU_MAVLINK_INSPECTOR,
CENTRAL_SEPARATOR= 255, // do not change
CENTRAL_LINECHART,
CENTRAL_PROTOCOL,
CENTRAL_MAP,
CENTRAL_3D_LOCAL,
CENTRAL_3D_MAP,
CENTRAL_OSGEARTH,
CENTRAL_GOOGLE_EARTH,
CENTRAL_HUD,
CENTRAL_DATA_PLOT,
} TOOLS_WIDGET_NAMES;
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,
VIEW_MAVLINK,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets, mostly intended for multi-screen setups
VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
QHash<int, QWidget*> dockWidgets; // Holds ptr to the Actual Dock widget
QHash<int, Qt::DockWidgetArea> dockWidgetLocations; // Holds the location
// QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
// QHash<int, QWidget*> dockWidgets; // Holds ptr to the Actual Dock widget
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
......@@ -297,24 +237,11 @@ protected:
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
* @param widget The QDockedWidget being added
* @param widget The QDockWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
* @param slotName The slot to which the triggered() signal of the menu action will be connected.
* @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=Qt::RightDockWidgetArea);
/**
* @brief Determines if a QDockWidget needs to be show and if so, shows it
*
* Based on the the autopilot and the current view it queries the settings and shows the
* widget if necessary
*
* @param widget The QDockWidget requested to be shown
* @param view The view for which the QDockWidget is requested
*/
void showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view = VIEW_MAVLINK);
void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Adds an already instantiated QWidget to the center stack
......@@ -326,21 +253,8 @@ protected:
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
* @param slotName The slot to which the triggered() signal of the menu action will be connected.
* @param centralWidget The ENUM defined in MainWindow.h that is associated to the widget
*/
void addToCentralWidgetsMenu ( QWidget* widget, const QString title,const char * slotName, TOOLS_WIDGET_NAMES centralWidget);
/**
* @brief Determines if a QWidget needs to be show and if so, shows it
*
* Based on the the autopilot and the current view it queries the settings and shows the
* widget if necessary
*
* @param centralWidget The QWidget requested to be shown
* @param view The view for which the QWidget is requested
*/
void showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view);
void addCentralWidget(QWidget* widget, const QString& title);
/** @brief Catch window resize events */
void resizeEvent(QResizeEvent * event);
......@@ -350,25 +264,13 @@ protected:
bool aboutToCloseFlag;
bool changingViewsFlag;
void clearView();
void storeViewState();
void loadViewState();
void buildCustomWidget();
void buildCommonWidgets();
void buildPxWidgets();
void buildSlugsWidgets();
void connectCommonWidgets();
void connectPxWidgets();
void connectSlugsWidgets();
void arrangeCommonCenterStack();
void arrangePxCenterStack();
void arrangeSlugsCenterStack();
void connectCommonActions();
void connectPxActions();
void connectSlugsActions();
void configureWindowName();
void loadSettings();
......@@ -382,12 +284,11 @@ protected:
QSettings settings;
QStackedWidget *centerStack;
QActionGroup centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget;
QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
......@@ -400,6 +301,7 @@ protected:
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
......@@ -460,7 +362,6 @@ protected:
private:
Ui::MainWindow ui;
QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
QString getWindowStateKey();
QString getWindowGeometryKey();
......
src/ui/MainWindow.ui
View file @ 86c7e134
......@@ -51,7 +51,7 @@
<x>0</x>
<y>0</y>
<width>800</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......
src/ui/QGCDataPlot2D.h
View file @ 86c7e134
......@@ -46,7 +46,22 @@ public slots:
/** @brief Calculate and display regression function*/
bool calculateRegression();
signals:
void visibilityChanged(bool visible);
protected:
void showEvent(QShowEvent* event)
{
QWidget::showEvent(event);
emit visibilityChanged(true);
}
void hideEvent(QHideEvent* event)
{
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
void changeEvent(QEvent *e);
IncrementalPlot* plot;
LogCompressor* compressor;
......
src/ui/WaypointList.cc
View file @ 86c7e134
......@@ -166,54 +166,74 @@ void WaypointList::read()
void WaypointList::add()
{
if (uas) {
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
Waypoint *wp;
if (waypoints.size() > 0) {
if (waypoints.size() > 0)
{
// Create waypoint with last frame
Waypoint *last = waypoints.at(waypoints.size()-1);
wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(),
last->getAutoContinue(), false, last->getFrame(), last->getAction());
uas->getWaypointManager()->addWaypoint(wp);
} else {
// Create global frame waypoint per default
wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0.0, 0.0, 0.0, 0.0, true, true, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT);
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
// Create first waypoint at current MAV position
addCurrentPositonWaypoint();
}
}
}
void WaypointList::addCurrentPositonWaypoint()
{
/* TODO: implement with new waypoint structure
if (uas)
{
// For Global Waypoints
//if(isGlobalWP)
//{
//isLocalWP = false;
//}
//else
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
Waypoint *wp;
Waypoint *last = 0;
if (waypoints.size() > 0)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
last = waypoints.at(waypoints.size()-1);
}
if (uas->globalPositionKnown())
{
float acceptanceRadiusGlobal = 10.0f;
float holdTime = 0.0f;
float yawGlobal = 0.0f;
if (last)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager()->addWaypoint(wp);
acceptanceRadiusGlobal = last->getAcceptanceRadius();
holdTime = last->getHoldTime();
yawGlobal = last->getYaw();
}
else
// Create global frame waypoint per default
wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), yawGlobal, acceptanceRadiusGlobal, holdTime, 0.0, true, true, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
uas->getWaypointManager()->addWaypoint(wp);
updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
}
else if (uas->localPositionKnown())
{
float acceptanceRadiusLocal = 0.2f;
float holdTime = 0.5f;
if (last)
{
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
uas->getWaypointManager()->addWaypoint(wp);
acceptanceRadiusLocal = last->getAcceptanceRadius();
holdTime = last->getHoldTime();
}
//isLocalWP = true;
// Create local frame waypoint as second option
wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
uas->getWaypointManager()->addWaypoint(wp);
updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
}
else
{
// Do nothing
updateStatusLabel(tr("Not adding waypoint, no position known of MAV known yet."));
}
}
*/
}
void WaypointList::updateStatusLabel(const QString &string)
......@@ -223,23 +243,30 @@ void WaypointList::updateStatusLabel(const QString &string)
void WaypointList::changeCurrentWaypoint(quint16 seq)
{
if (uas) {
if (uas)
{
uas->getWaypointManager()->setCurrentWaypoint(seq);
}
}
void WaypointList::currentWaypointChanged(quint16 seq)
{
if (uas) {
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (seq < waypoints.size()) {
for(int i = 0; i < waypoints.size(); i++) {
if (seq < waypoints.size())
{
for(int i = 0; i < waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[i]).value();
if (waypoints[i]->getId() == seq) {
if (waypoints[i]->getId() == seq)
{
widget->setCurrent(true);
} else {
}
else
{
widget->setCurrent(false);
}
}
......
src/ui/designer/QGCToolWidget.cc
View file @ 86c7e134
......@@ -18,6 +18,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
QWidget(parent),
mav(NULL),
mainMenuAction(NULL),
widgetTitle(title),
ui(new Ui::QGCToolWidget)
{
ui->setupUi(this);
......@@ -41,6 +42,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
}
this->setWindowTitle(title);
setObjectName(title+"WIDGET");
QList<UASInterface*> systems = UASManager::instance()->getUASList();
foreach (UASInterface* uas, systems) {
......@@ -58,6 +60,18 @@ QGCToolWidget::~QGCToolWidget()
delete ui;
}
void QGCToolWidget::setParent(QWidget *parent)
{
QWidget::setParent(parent);
// Try with parent
QDockWidget* dock = dynamic_cast<QDockWidget*>(parent);
if (dock)
{
dock->setWindowTitle(getTitle());
dock->setObjectName(getTitle()+"DOCK");
}
}
/**
* @param parent Object later holding these widgets, usually the main window
* @return List of all widgets
......@@ -107,14 +121,26 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
return instances()->values();
}
void QGCToolWidget::loadSettings(const QString& settings)
/**
* @param singleinstance If this is set to true, the widget settings will only be loaded if not another widget with the same title exists
*/
bool QGCToolWidget::loadSettings(const QString& settings, bool singleinstance)
{
QSettings set(settings, QSettings::IniFormat);
QStringList groups = set.childGroups();
QString widgetName = groups.first();
setTitle(widgetName);
qDebug() << "WIDGET TITLE LOADED: " << widgetName;
loadSettings(set);
if (groups.length() > 0)
{
QString widgetName = groups.first();
if (singleinstance && QGCToolWidget::instances()->keys().contains(widgetName)) return false;
setTitle(widgetName);
qDebug() << "WIDGET TITLE LOADED: " << widgetName;
loadSettings(set);
return true;
}
else
{
return false;
}
}
void QGCToolWidget::loadSettings(QSettings& settings)
......@@ -339,15 +365,9 @@ void QGCToolWidget::importWidget()
const QString QGCToolWidget::getTitle()
{
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
if (parent) {
return parent->windowTitle();
} else {
return this->windowTitle();
}
return widgetTitle;
}
void QGCToolWidget::setTitle()
{
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
......@@ -373,6 +393,7 @@ void QGCToolWidget::setTitle()
void QGCToolWidget::setTitle(QString title)
{
widgetTitle = title;
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
if (parent) {
QSettings settings;
......
src/ui/designer/QGCToolWidget.h
View file @ 86c7e134
......@@ -33,6 +33,7 @@ public:
int isVisible(int view) { return viewVisible.value(view, false); }
Qt::DockWidgetArea getDockWidgetArea(int view) { return dockWidgetArea.value(view, Qt::BottomDockWidgetArea); }
void setParent(QWidget *parent);
public slots:
void addUAS(UASInterface* uas);
......@@ -47,7 +48,7 @@ public slots:
/** @brief Load this widget from a QSettings object */
void loadSettings(QSettings& settings);
/** @brief Load this widget from a settings file */
void loadSettings(const QString& settings);
bool loadSettings(const QString& settings, bool singleinstance=false);
/** @brief Store this widget to a QSettings object */
void storeSettings(QSettings& settings);
/** @brief Store this widget to a settings file */
......@@ -71,6 +72,7 @@ protected:
QAction* mainMenuAction; ///< Main menu action
QMap<int, Qt::DockWidgetArea> dockWidgetArea; ///< Dock widget area desired by this widget
QMap<int, bool> viewVisible; ///< Visibility in one view
QString widgetTitle;
void contextMenuEvent(QContextMenuEvent* event);
void createActions();
......
src/ui/linechart/LinechartPlot.cc
View file @ 86c7e134
......@@ -417,9 +417,12 @@ void LinechartPlot::setVisible(QString id, bool visible)
{
if(curves.contains(id)) {
curves.value(id)->setVisible(visible);
if(visible) {
if(visible)
{
curves.value(id)->attach(this);
} else {
}
else
{
curves.value(id)->detach();
}
}
......@@ -639,7 +642,7 @@ void LinechartPlot::paintRealtime()
windowLock.unlock();
// Defined both on windows 32- and 64 bit
#ifndef _WIN32
#if !(defined Q_OS_WIN)
// const bool cacheMode =
// canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached);
......@@ -648,11 +651,11 @@ void LinechartPlot::paintRealtime()
const QPaintEngine *pe = canvas()->paintEngine();
bool directPaint = pe->hasFeature(QPaintEngine::PaintOutsidePaintEvent);
if ( pe->type() == QPaintEngine::X11 ) {
//if ( pe->type() == QPaintEngine::X11 ) {
// Even if not recommended by TrollTech, Qt::WA_PaintOutsidePaintEvent
// works on X11. This has an tremendous effect on the performance..
directPaint = true;
}
//}
canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, directPaint);
#endif
......@@ -665,7 +668,7 @@ void LinechartPlot::paintRealtime()
replot();
}
#ifndef _WIN32
#if !(defined Q_OS_WIN)
canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, oldDirectPaint);
#endif
......
src/ui/linechart/LinechartPlot.h
View file @ 86c7e134
......@@ -219,7 +219,7 @@ public:
static const int SCALE_BEST_FIT = 1;
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_REFRESH_RATE = 100; ///< The default refresh rate is 10 Hz / every 100 ms
static const int DEFAULT_PLOT_INTERVAL = 1000 * 8; ///< The default plot interval is 15 seconds
static const int DEFAULT_SCALE_INTERVAL = 1000 * 8;
......
src/ui/linechart/LinechartWidget.cc
View file @ 86c7e134
......@@ -143,7 +143,7 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent
//connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int)));
//connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int)));
updateTimer->setInterval(300);
updateTimer->setInterval(updateInterval);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
readSettings();
}
......@@ -433,6 +433,7 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
void LinechartWidget::refresh()
{
setUpdatesEnabled(false);
QString str;
// Value
QMap<QString, QLabel*>::iterator i;
......@@ -484,6 +485,7 @@ void LinechartWidget::refresh()
str.sprintf("% 8.3e", activePlot->getVariance(l.key()));
l.value()->setText(str);
}
setUpdatesEnabled(true);
}
......@@ -510,11 +512,6 @@ void LinechartWidget::startLogging()
// QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.csv *.txt);;"));
if (!fileName.contains(".")) {
// .csv is default extension
fileName.append(".csv");
}
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort && fileName != "") {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
......@@ -522,14 +519,16 @@ void LinechartWidget::startLogging()
msgBox.setInformativeText("Please choose .txt or .csv as file extension. Click OK to change the file extension, cancel to not start logging.");
msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Ok);
if(msgBox.exec() == QMessageBox::Cancel) {
if(msgBox.exec() != QMessageBox::Ok)
{
abort = true;
break;
}
fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt, *.csv);;"));
fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt *.csv);;"));
}
qDebug() << "SAVE FILE" << fileName;
// Check if the user did not abort the file save dialog
if (!abort && fileName != "") {
logFile = new QFile(fileName);
......@@ -626,6 +625,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
curvesWidgetLayout->addWidget(checkBox, labelRow, 0);
QWidget* colorIcon = new QWidget(this);
colorIcons.insert(curve+unit, colorIcon);
colorIcon->setMinimumSize(QSize(5, 14));
colorIcon->setMaximumSize(4, 14);
......@@ -636,13 +636,11 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
//checkBox->setText(QString());
label->setText(curve);
QColor color = plot->getColorForCurve(curve+unit);
if(color.isValid()) {
QString colorstyle;
colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
colorIcon->setStyleSheet(colorstyle);
colorIcon->setAutoFillBackground(true);
}
QColor color(Qt::gray);// = plot->getColorForCurve(curve+unit);
QString colorstyle;
colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
colorIcon->setStyleSheet(colorstyle);
colorIcon->setAutoFillBackground(true);
// Value
value = new QLabel(this);
......@@ -854,8 +852,22 @@ void LinechartWidget::takeButtonClick(bool checked)
QCheckBox* button = qobject_cast<QCheckBox*>(QObject::sender());
if(button != NULL) {
if(button != NULL)
{
activePlot->setVisible(button->objectName(), checked);
QColor color = activePlot->getColorForCurve(button->objectName());
if(color.isValid())
{
QString colorstyle;
colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
QWidget* colorIcon = colorIcons.value(button->objectName(), 0);
if (colorIcon)
{
colorIcon->setStyleSheet(colorstyle);
colorIcon->setAutoFillBackground(true);
}
}
}
}
......
src/ui/linechart/LinechartWidget.h
View file @ 86c7e134
......@@ -134,6 +134,7 @@ protected:
QMap<QString, QLabel*>* curveMedians; ///< References to the curve medians
QMap<QString, QLabel*>* curveVariances; ///< References to the curve variances
QMap<QString, int> intData; ///< Current values for integer-valued curves
QMap<QString, QWidget*> colorIcons; ///< Reference to color icons
QWidget* curvesWidget; ///< The QWidget containing the curve selection button
QGridLayout* curvesWidgetLayout; ///< The layout for the curvesWidget QWidget
......@@ -161,7 +162,7 @@ protected:
LogCompressor* compressor;
QCheckBox* selectAllCheckBox;
int selectedMAV; ///< The MAV for which plot items are accepted, -1 for all systems
static const int updateInterval = 400; ///< Time between number updates, in milliseconds
static const int updateInterval = 1000; ///< Time between number updates, in milliseconds
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 @ 86c7e134
......@@ -30,32 +30,35 @@ void Linecharts::showEvent(QShowEvent* 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 = true;
chart->setActive(true);
}
Q_UNUSED(event)
QWidget* prevWidget = currentWidget();
if (prevWidget)
{
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart) {
this->active = true;
chart->setActive(true);
}
}
QWidget::showEvent(event);
emit visibilityChanged(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);
}
Q_UNUSED(event)
QWidget* prevWidget = currentWidget();
if (prevWidget) {
LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
if (chart) {
this->active = false;
chart->setActive(false);
}
}
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
void Linecharts::selectSystem(int systemid)
......
src/ui/linechart/Linecharts.h
View file @ 86c7e134
......@@ -17,6 +17,7 @@ public:
signals:
/** @brief This signal is emitted once a logfile has been finished writing */
void logfileWritten(QString fileName);
void visibilityChanged(bool visible);
public slots:
/** @brief Select plot for one system */
......@@ -27,6 +28,7 @@ public slots:
void addSource(QObject* obj);
protected:
QMap<int, LinechartWidget*> plots;
QVector<QObject*> genericSources;
bool active;
......
src/ui/map/QGCMapTool.h
View file @ 86c7e134
......@@ -20,6 +20,22 @@ public slots:
/** @brief Update slider zoom from map change */
void setZoom(int zoom);
signals:
void visibilityChanged(bool visible);
protected:
void showEvent(QShowEvent* event)
{
QWidget::showEvent(event);
emit visibilityChanged(true);
}
void hideEvent(QHideEvent* event)
{
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
private:
Ui::QGCMapTool *ui;
};
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ 86c7e134
......@@ -376,18 +376,20 @@ void QGCGoogleEarthView::moveToPosition()
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
updateTimer->stop();
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
void QGCGoogleEarthView::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event)
QWidget::showEvent(event);
// Enable widget, initialize on first run
if (!webViewInitialized) {
if (!webViewInitialized)
{
#if (defined Q_OS_MAC)
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
......@@ -404,9 +406,12 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
gEarthInitialized = false;
QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
} else {
}
else
{
updateTimer->start(refreshRateMs);
}
emit visibilityChanged(true);
}
void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3)
......
src/ui/map3D/QGCGoogleEarthView.h
View file @ 86c7e134
......@@ -137,6 +137,9 @@ public:
/** @brief Get a document element */
QVariant documentElement(QString name);
signals:
void visibilityChanged(bool visible);
protected:
void changeEvent(QEvent *e);
QTimer* updateTimer;
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment