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Commit b35d8614 authored by pixhawk's avatar pixhawk
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Partly fixed map issues, updated joystick interface

parent c5faa3c2
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Showing with 565 additions and 248 deletions
images/style-mission.css
View file @ b35d8614
......@@ -251,6 +251,21 @@ QSlider::groove:horizontal {
margin: -5px 0; /* handle is placed by default on the contents rect of the groove. Expand outside the groove */
border-radius: 3px;
}
QSlider::groove:vertical {
border: 1px solid #999999;
width: 4px; /* the groove expands to the size of the slider by default. by giving it a height, it has a fixed size */
background: qlineargradient(x1:0, y1:0, x2:1, y2:0, stop:0 #4A4A4F, stop:1 #4A4A4F);
margin: 2px 0;
}
QSlider::handle:vertical {
background-color: qlineargradient(x1: 0, y1: 0, x2: 1, y2: 0, stop: 0 #232228, stop: 1 #020208);
border: 2px solid #379AC3;
height: 18px;
margin: 0 -5px; /* handle is placed by default on the contents rect of the groove. Expand outside the groove */
border-radius: 3px;
}
QPushButton#forceLandButton {
font-weight: bold;
......
lib/QMapControl/src/mapcontrol.cpp
View file @ b35d8614
......@@ -377,7 +377,7 @@ namespace qmapcontrol
{
layermanager->setZoom(zoomlevel);
qDebug() << "MAPCONTROL: Set zoomlevel to:" << zoomlevel << "at " << __FILE__ << __LINE__;
//qDebug() << "MAPCONTROL: Set zoomlevel to:" << zoomlevel << "at " << __FILE__ << __LINE__;
update();
}
......
lib/QMapControl/src/mapnetwork.cpp
View file @ b35d8614
......@@ -93,13 +93,19 @@ namespace qmapcontrol
// qDebug() << "Network loaded: " << (loaded);
parent->receivedImage(pm, url);
}
else if (pm.width() == 0 || pm.height() == 0)
{
// Silently ignore map request for a
// 0xn pixel map
}
else
{
// QGC FIXME Error is currently undetected
// TODO Error is currently undetected
//qDebug() << "NETWORK_PIXMAP_ERROR: " << ax;
qDebug() << "QMapControl external library: ERROR loading map:" << "width:" << pm.width() << "heigh:" << pm.height() << "at " << __FILE__ << __LINE__;
qDebug() << "HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
//qDebug() << "HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
}
}
......
src/comm/MAVLinkSimulationLink.cc
View file @ b35d8614
......@@ -159,8 +159,6 @@ void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg)
readyBuffer.enqueue(*(buf + i));
}
// readyBufferMutex.unlock();
qDebug() << "SENT MAVLINK MESSAGE FROM SYSTEM" << msg->sysid << "COMP" << msg->compid;
}
void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg)
......
src/comm/MAVLinkSimulationMAV.cc
View file @ b35d8614
......@@ -48,9 +48,15 @@ void MAVLinkSimulationMAV::mainloop()
if (!firstWP)
{
x += (nextSPX - previousSPX) * 0.01;
y += (nextSPY - previousSPY) * 0.01;
z += (nextSPZ - previousSPZ) * 0.1;
double xm = (nextSPX - x) * 0.01;
double ym = (nextSPY - y) * 0.01;
double zm = (nextSPZ - z) * 0.1;
x += xm;
y += ym;
z += zm;
//if (xm < 0.001) xm
}
else
{
......
src/comm/SerialLink.cc
View file @ b35d8614
......@@ -180,13 +180,13 @@ void SerialLink::writeBytes(const char* data, qint64 size)
// Increase write counter
bitsSentTotal += size * 8;
// int i;
// for (i=0; i<size; i++)
// {
// unsigned char v=data[i];
// //fprintf(stderr,"%02x ", v);
// }
int i;
for (i=0; i<size; i++)
{
unsigned char v =data[i];
qDebug("%02x ", v);
}
qDebug("\n");
}
}
......
src/comm/UDPLink.cc
View file @ b35d8614
......@@ -93,30 +93,16 @@ void UDPLink::writeBytes(const char* data, qint64 size)
{
QHostAddress currentHost = hosts->at(h);
quint16 currentPort = ports->at(h);
// QList<quint16> currentPorts = ports->values(currentHost);
// for (int p = 0; p < currentPorts.size(); p++)
// {
// quint16 currentPort = currentPorts.at(p);
//qDebug() << "Sent message to " << currentHost << ":" << currentPort << "at" << __FILE__ << ":" << __LINE__;
socket->writeDatagram(data, size, currentHost, currentPort);
// }
}
//if(socket->write(data, size) > 0) {
for (int i=0; i<size; i++)
{
unsigned char v =data[i];
qDebug("%02x ", v);
}
qDebug("\n");
// qDebug() << "Transmitted " << size << "bytes:";
//
// /* Increase write counter */
// bitsSentTotal += size * 8;
//
// int i;
// for (i=0; i<size; i++){
// unsigned int v=data[i];
//
// fprintf(stderr,"%02x ", v);
// }
//}
socket->writeDatagram(data, size, currentHost, currentPort);
}
}
/**
......
src/input/JoystickInput.cc
View file @ b35d8614
......@@ -52,7 +52,8 @@ JoystickInput::JoystickInput() :
thrustAxis(3),
xAxis(1),
yAxis(0),
yawAxis(2)
yawAxis(2),
joystickName(tr("Unitinialized"))
{
for (int i = 0; i < 10; i++)
{
......@@ -63,7 +64,7 @@ JoystickInput::JoystickInput() :
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
// Enter main loop
start();
//start();
}
void JoystickInput::setActiveUAS(UASInterface* uas)
......@@ -88,7 +89,10 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
connect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
}
if (!isRunning())
{
start();
}
}
void JoystickInput::init()
......@@ -118,6 +122,7 @@ void JoystickInput::init()
for(int i=0; i < SDL_NumJoysticks(); i++ )
{
printf("\t- %s\n", SDL_JoystickName(i));
joystickName = QString(SDL_JoystickName(i));
}
printf("\nOpened %s\n", SDL_JoystickName(defaultIndex));
......@@ -125,6 +130,9 @@ void JoystickInput::init()
SDL_JoystickEventState(SDL_ENABLE);
joystick = SDL_JoystickOpen(defaultIndex);
// Make sure active UAS is set
setActiveUAS(UASManager::instance()->getActiveUAS());
}
/**
......@@ -282,3 +290,8 @@ void JoystickInput::run()
}
}
const QString& JoystickInput::getName()
{
return joystickName;
}
src/input/JoystickInput.h
View file @ b35d8614
......@@ -50,6 +50,8 @@ public:
JoystickInput();
void run();
const QString& getName();
const double sdlJoystickMin;
const double sdlJoystickMax;
......@@ -68,6 +70,7 @@ protected:
int yAxis;
int yawAxis;
SDL_Event event;
QString joystickName;
void init();
......
src/uas/UAS.cc
View file @ b35d8614
......@@ -934,6 +934,7 @@ void UAS::setMode(int mode)
{
if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING)
{
this->mode = mode;
mavlink_message_t msg;
mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode);
sendMessage(msg);
......@@ -1432,15 +1433,19 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
manualYawAngle = yaw * yawScaling;
manualThrust = thrust * thrustScaling;
// if(mode == (int)MAV_MODE_MANUAL)
// {
mavlink_message_t message;
mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
sendMessage(message);
qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
if(mode == (int)MAV_MODE_MANUAL)
{
mavlink_message_t message;
mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
sendMessage(message);
qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
// }
emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
}
else
{
qDebug() << "JOYSTICK/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send joystick commands first";
}
}
int UAS::getSystemType()
......
src/ui/JoystickWidget.cc
View file @ b35d8614
......@@ -9,12 +9,13 @@ JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
m_ui->setupUi(this);
this->joystick = joystick;
connect(this->joystick, SIGNAL(joystickChanged(double,double,double,double,int,int)), this, SLOT(updateJoystick(double,double,double,double,int,int)));
connect(this->joystick, SIGNAL(buttonPressed(int)), this, SLOT(pressKey(int)));
// Display the widget
this->window()->setWindowTitle(tr("Joystick Settings"));
if (joystick) updateStatus(tr("Found joystick: %1").arg(joystick->getName()));
this->show();
}
......@@ -69,15 +70,71 @@ void JoystickWidget::setZ(float z)
void JoystickWidget::setHat(float x, float y)
{
qDebug() << __FILE__ << __LINE__ << "HAT X:" << x << "HAT Y:" << y;
updateStatus(tr("Hat position: x: %1, y: %2").arg(x, y));
}
void JoystickWidget::clearKeys()
{
QString colorstyle;
QColor buttonStyleColor = QColor(200, 20, 20);
colorstyle = QString("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: %1;}").arg(buttonStyleColor.name());
m_ui->buttonLabel0->setStyleSheet(colorstyle);
m_ui->buttonLabel1->setStyleSheet(colorstyle);
m_ui->buttonLabel2->setStyleSheet(colorstyle);
m_ui->buttonLabel3->setStyleSheet(colorstyle);
m_ui->buttonLabel4->setStyleSheet(colorstyle);
m_ui->buttonLabel5->setStyleSheet(colorstyle);
m_ui->buttonLabel6->setStyleSheet(colorstyle);
m_ui->buttonLabel7->setStyleSheet(colorstyle);
m_ui->buttonLabel8->setStyleSheet(colorstyle);
m_ui->buttonLabel9->setStyleSheet(colorstyle);
}
void JoystickWidget::pressKey(int key)
{
QString colorstyle;
QColor heartbeatColor = QColor(20, 200, 20);
colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
m_ui->button0Label->setStyleSheet(colorstyle);
m_ui->button0Label->setAutoFillBackground(true);
QColor buttonStyleColor = QColor(20, 200, 20);
colorstyle = QString("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: %1;}").arg(buttonStyleColor.name());
switch(key)
{
case 0:
m_ui->buttonLabel0->setStyleSheet(colorstyle);
break;
case 1:
m_ui->buttonLabel1->setStyleSheet(colorstyle);
break;
case 2:
m_ui->buttonLabel2->setStyleSheet(colorstyle);
break;
case 3:
m_ui->buttonLabel3->setStyleSheet(colorstyle);
break;
case 4:
m_ui->buttonLabel4->setStyleSheet(colorstyle);
break;
case 5:
m_ui->buttonLabel5->setStyleSheet(colorstyle);
break;
case 6:
m_ui->buttonLabel6->setStyleSheet(colorstyle);
break;
case 7:
m_ui->buttonLabel7->setStyleSheet(colorstyle);
break;
case 8:
m_ui->buttonLabel8->setStyleSheet(colorstyle);
break;
case 9:
m_ui->buttonLabel9->setStyleSheet(colorstyle);
break;
}
QTimer::singleShot(20, this, SLOT(clearKeys()));
qDebug() << __FILE__ << __LINE__ << "KEY" << key << " pressed on joystick";
updateStatus(tr("Key %1 pressed").arg(key));
}
void JoystickWidget::updateStatus(const QString& status)
{
}
src/ui/JoystickWidget.h
View file @ b35d8614
......@@ -67,8 +67,12 @@ public:
void setZ(float z);
/** @brief Hat switch position */
void setHat(float x, float y);
/** @brief Clear keys */
void clearKeys();
/** @brief Joystick keys, as labeled on the joystick */
void pressKey(int key);
/** @brief Update status string */
void updateStatus(const QString& status);
protected:
/** @brief UI change event */
......
src/ui/JoystickWidget.ui
View file @ b35d8614
This diff is collapsed.
src/ui/MainWindow.cc
View file @ b35d8614
......@@ -202,6 +202,12 @@ MainWindow::MainWindow(QWidget *parent):
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
// Connect user interface devices
if (!joystick)
{
joystick = new JoystickInput();
}
// Enable and update view
presentView();
}
......@@ -492,11 +498,6 @@ void MainWindow::buildPxWidgets()
// Dialogue widgets
//FIXME: free memory in destructor
if (!joystick)
{
joystick = new JoystickInput();
}
}
void MainWindow::buildSlugsWidgets()
......@@ -1159,14 +1160,20 @@ void MainWindow::connectCommonActions()
// Audio output
ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
// User interaction
// NOTE: Joystick thread is not started and
// configuration widget is not instantiated
// unless it is actually used
// so no ressources spend on this.
ui.actionJoystickSettings->setVisible(true);
// Joystick configuration
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
}
void MainWindow::connectPxActions()
{
ui.actionJoystickSettings->setVisible(true);
// Joystick configuration
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
}
......@@ -1219,7 +1226,15 @@ void MainWindow::showRoadMap()
void MainWindow::configure()
{
joystickWidget = new JoystickWidget(joystick, this);
if (!joystickWidget)
{
if (!joystick->isRunning())
{
joystick->start();
}
joystickWidget = new JoystickWidget(joystick);
}
joystickWidget->show();
}
void MainWindow::addLink()
......
src/ui/MainWindow.ui
View file @ b35d8614
......@@ -51,7 +51,7 @@
<x>0</x>
<y>0</y>
<width>800</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......@@ -62,6 +62,7 @@
<addaction name="actionSimulate"/>
<addaction name="separator"/>
<addaction name="actionMuteAudioOutput"/>
<addaction name="actionJoystickSettings"/>
<addaction name="actionPreferences"/>
<addaction name="actionReloadStyle"/>
<addaction name="separator"/>
......@@ -215,7 +216,7 @@
<normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
</property>
<property name="text">
<string>Joystick settings</string>
<string>Joystick Test</string>
</property>
<property name="visible">
<bool>true</bool>
......
src/ui/MapWidget.cc
View file @ b35d8614
......@@ -469,7 +469,7 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
// Refresh the screen
mc->updateRequest(tempPoint->boundingBox().toRect());
mc->updateRequestNew();//(tempPoint->boundingBox().toRect());
}
//// // emit signal mouse was clicked
......@@ -630,6 +630,8 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, ""));
}
mc->updateRequest(p->boundingBox().toRect());
//mc->updateRequestNew();//(uasTrails.value(uas->getUASID())->boundingBox().toRect());
......@@ -745,7 +747,7 @@ void MapWidget::clearWaypoints()
waypointPath->setPoints(wps);
mc->layer("Waypoints")->addGeometry(waypointPath);
wpIndex.clear();
mc->updateRequest(waypointPath->boundingBox().toRect());
mc->updateRequestNew();//(waypointPath->boundingBox().toRect());
if(createPath->isChecked())
{
......@@ -764,7 +766,7 @@ void MapWidget::clearPath()
mc->layer("Tracking")->addGeometry(lsNew);
}
// FIXME update this with update request only for bounding box of trails
mc->updateRequest(QRect(0, 0, width(), height()));
mc->updateRequestNew();//(QRect(0, 0, width(), height()));
}
void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon)
......@@ -785,7 +787,7 @@ void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, floa
point2Find->setCoordinate(coordinate);
// Refresh the screen
mc->updateRequest(point2Find->boundingBox().toRect());
mc->updateRequestNew();//(point2Find->boundingBox().toRect());
}
......
src/ui/map/MAV2DIcon.cc
View file @ b35d8614
......@@ -40,53 +40,56 @@ void MAV2DIcon::setPen(QPen* pen)
void MAV2DIcon::setYaw(float yaw)
{
this->yaw = yaw;
drawIcon(mypen);
}
void MAV2DIcon::drawIcon(QPen* pen)
{
if (pen)
{
mypixmap = new QPixmap(radius+1, radius+1);
//mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
// DRAW MICRO AIR VEHICLE
QPointF p(radius/2, radius/2);
mypixmap = new QPixmap(radius+1, radius+1);
mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
float waypointSize = radius;
QPolygonF poly(3);
// Top point
poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f));
// Left point
poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f));
// DRAW WAYPOINT
QPointF p(radius/2, radius/2);
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
float waypointSize = radius;
QPolygonF poly(4);
// Top point
poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
// Bottom point
poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
//pen.setColor(color);
if (pen)
{
pen->setWidthF(2);
painter.setPen(*pen);
}
else
{
QPen pen2(Qt::yellow);
pen2.setWidth(2);
painter.setPen(pen2);
}
painter.setBrush(Qt::NoBrush);
painter.drawPolygon(poly);
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
//pen.setColor(color);
if (pen)
{
pen->setWidthF(2);
painter.setPen(*pen);
}
else
{
QPen pen2(Qt::red);
pen2.setWidth(2);
painter.setPen(pen2);
}
painter.setBrush(Qt::NoBrush);
float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
painter.drawPolygon(poly);
}
src/ui/map/Waypoint2DIcon.cc
View file @ b35d8614
......@@ -35,6 +35,7 @@ void Waypoint2DIcon::setPen(QPen* pen)
void Waypoint2DIcon::setYaw(float yaw)
{
this->yaw = yaw;
drawIcon(mypen);
}
void Waypoint2DIcon::drawIcon(QPen* pen)
......
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