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Commit ba9e5a87 authored by lm's avatar lm
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Improved line plots and gauges

parent 7fa3071d
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Showing with 92 additions and 50 deletions
src/uas/PxQuadMAV.cc
View file @ ba9e5a87
......@@ -113,9 +113,9 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vis. x", "rad/s", pos.x, time);
emit valueChanged(uasId, "vis. y", "rad/s", pos.y, time);
emit valueChanged(uasId, "vis. z", "rad/s", pos.z, time);
emit valueChanged(uasId, "vis. x", "m", pos.x, time);
emit valueChanged(uasId, "vis. y", "m", pos.y, time);
emit valueChanged(uasId, "vis. z", "m", pos.z, time);
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
......@@ -127,9 +127,9 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vicon x", "rad/s", pos.x, time);
emit valueChanged(uasId, "vicon y", "rad/s", pos.y, time);
emit valueChanged(uasId, "vicon z", "rad/s", pos.z, time);
emit valueChanged(uasId, "vicon x", "m", pos.x, time);
emit valueChanged(uasId, "vicon y", "m", pos.y, time);
emit valueChanged(uasId, "vicon z", "m", pos.z, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break;
......
src/uas/UAS.cc
View file @ ba9e5a87
......@@ -313,9 +313,26 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Emit in angles
emit valueChanged(uasId, "roll", "deg", (attitude.roll/M_PI)*180.0, time);
emit valueChanged(uasId, "pitch", "deg", (attitude.pitch/M_PI)*180.0, time);
emit valueChanged(uasId, "yaw", "deg", (attitude.yaw/M_PI)*180.0, time);
emit valueChanged(uasId, "rollspeed", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
emit valueChanged(uasId, "pitchspeed", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
// Force yaw to 180 deg range
double yaw = ((attitude.yaw/M_PI)*180.0);
double sign = 1.0;
if (yaw < 0)
{
sign = -1.0;
yaw = -yaw;
}
while (yaw > 180.0)
{
yaw -= 180.0;
}
yaw *= sign;
emit valueChanged(uasId, "yaw", "deg", yaw, time);
emit valueChanged(uasId, "yawspeed", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
emit attitudeChanged(this, attitude.roll, attitude.pitch, attitude.yaw, time);
......
src/ui/HDDisplay.cc
View file @ ba9e5a87
......@@ -58,6 +58,7 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
acceptList(new QStringList()),
acceptUnitList(new QStringList()),
lastPaintTime(0),
columns(3),
m_ui(new Ui::HDDisplay)
......@@ -194,7 +195,7 @@ void HDDisplay::saveState()
for (int i = 0; i < acceptList->count(); i++)
{
QString key = acceptList->at(i);
instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+QString::number(maxValues.value(key, +1.0))+","+((symmetric.value(key, false)) ? "s" : "");
instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+acceptUnitList->at(i)+","+QString::number(maxValues.value(key, +1.0))+","+((symmetric.value(key, false)) ? "s" : "");
}
// qDebug() << "Saving" << instruments;
......@@ -250,7 +251,7 @@ void HDDisplay::addGauge()
QStringList items;
for (int i = 0; i < values.count(); ++i)
{
items.append(QString("%1,%2,%3").arg("-180").arg(values.keys().at(i)).arg("+180"));
items.append(QString("%1,%2,%3,%4").arg("-180").arg(values.keys().at(i)).arg(units.keys().at(i)).arg("+180"));
}
bool ok;
QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
......@@ -266,38 +267,47 @@ void HDDisplay::addGauge(const QString& gauge)
if (gauge.length() > 0)
{
QStringList parts = gauge.split(',');
if (parts.count() > 1)
if (parts.count() > 2)
{
double val;
bool ok;
bool success = true;
QString key = parts.at(1);
QString unit = parts.at(2);
if (!acceptList->contains(key))
{
// Convert min to double number
val = parts.first().toDouble(&ok);
success &= ok;
if (ok) minValues.insert(key, val);
// Convert max to double number
val = parts.at(2).toDouble(&ok);
val = parts.at(3).toDouble(&ok);
success &= ok;
if (ok) maxValues.insert(key, val);
// Convert symmetric flag
if (parts.length() >= 4)
if (parts.length() >= 5)
{
if (parts.at(3).contains("s"))
if (parts.at(4).contains("s"))
{
symmetric.insert(key, true);
}
}
// Add value to acceptlist
acceptList->append(key);
if (success)
{
// Add value to acceptlist
acceptList->append(key);
acceptUnitList->append(unit);
}
}
}
else
else if (parts.count() > 1)
{
if (!acceptList->contains(gauge))
{
acceptList->append(parts.first());
acceptList->append(parts.at(0));
acceptUnitList->append(parts.at(1));
}
}
}
......@@ -425,14 +435,14 @@ void HDDisplay::setActiveUAS(UASInterface* uas)
if (this->uas != NULL)
{
// Disconnect any previously connected active MAV
disconnect(this->uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(updateValue(int,QString,double,quint64)));
disconnect(this->uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
}
// Now connect the new UAS
//qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
// Setup communication
connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(updateValue(int,QString,double,quint64)));
connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
this->uas = uas;
}
......@@ -799,7 +809,7 @@ float HDDisplay::refLineWidthToPen(float line)
return line * 2.50f;
}
void HDDisplay::updateValue(int uasId, QString name, double value, quint64 msec)
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec)
{
Q_UNUSED(uasId);
// Update mean
......
src/ui/HDDisplay.h
View file @ ba9e5a87
......@@ -64,7 +64,7 @@ public:
public slots:
/** @brief Update a HDD value */
void updateValue(int uasId, QString name, double value, quint64 msec);
void updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
void setActiveUAS(UASInterface* uas);
/** @brief Removes a plot item by the action data */
......@@ -137,6 +137,7 @@ protected:
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
QMap<QString, float> units; ///< The units
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
......@@ -177,7 +178,8 @@ protected:
float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
QStringList* acceptList; ///< Variable names to plot
QStringList* acceptList; ///< Variable names to plot
QStringList* acceptUnitList; ///< Unit names to plot
quint64 lastPaintTime; ///< Last time this widget was refreshed
int columns; ///< Number of instrument columns
......
src/ui/MainWindow.cc
View file @ ba9e5a87
......@@ -290,19 +290,19 @@ void MainWindow::buildPxWidgets()
{
//FIXME: memory of acceptList will never be freed again
QStringList* acceptList = new QStringList();
acceptList->append("-180,roll (deg),+180");
acceptList->append("-180,pitch (deg),+180");
acceptList->append("-180,yaw (deg),+180");
acceptList->append("-105,roll,deg,+105,s");
acceptList->append("-105,pitch,deg,+105,s");
acceptList->append("-105,yaw,deg,+105,s");
acceptList->append("-500,roll V (deg/s),+500");
acceptList->append("-500,pitch V (deg/s),+500");
acceptList->append("-500,yaw V (deg/s),+500");
acceptList->append("-260,rollspeed,deg/s,+260,s");
acceptList->append("-260,pitchspeed,deg/s,+260,s");
acceptList->append("-260,yawspeed,deg/s,+260,s");
//FIXME: memory of acceptList2 will never be freed again
QStringList* acceptList2 = new QStringList();
acceptList2->append("0,Abs pressure,65500");
acceptList2->append("-2000,Accel. X, 2000");
acceptList2->append("-2000,Accel. Y, 2000");
acceptList2->append("0,abs pressure,hPa,65500");
acceptList2->append("-2000,accel. X,raw,2000,s");
acceptList2->append("-2000,accel. Y,raw,2000,s");
if (!linechartWidget)
{
......
src/ui/linechart/LinechartWidget.cc
View file @ ba9e5a87
......@@ -344,6 +344,7 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
// Make sure the curve will be created if it does not yet exist
if(!label)
{
intData.insert(curve+unit, 0);
addCurve(curve, unit);
}
......@@ -373,23 +374,30 @@ void LinechartWidget::refresh()
QMap<QString, QLabel*>::iterator i;
for (i = curveLabels->begin(); i != curveLabels->end(); ++i)
{
double val = activePlot->getCurrentValue(i.key());
int intval = static_cast<int>(val);
if (intval >= 100000 || intval <= -100000)
{
str.sprintf("% 11i", intval);
}
else if (intval >= 10000 || intval <= -10000)
if (intData.contains(i.key()))
{
str.sprintf("% 11.2f", val);
}
else if (intval >= 1000 || intval <= -1000)
{
str.sprintf("% 11.4f", val);
str.sprintf("% 11i", intData.value(i.key()));
}
else
{
str.sprintf("% 11.6f", val);
double val = activePlot->getCurrentValue(i.key());
int intval = static_cast<int>(val);
if (intval >= 100000 || intval <= -100000)
{
str.sprintf("% 11i", intval);
}
else if (intval >= 10000 || intval <= -10000)
{
str.sprintf("% 11.2f", val);
}
else if (intval >= 1000 || intval <= -1000)
{
str.sprintf("% 11.4f", val);
}
else
{
str.sprintf("% 11.6f", val);
}
}
// Value
i.value()->setText(str);
......@@ -399,13 +407,18 @@ void LinechartWidget::refresh()
for (j = curveMeans->begin(); j != curveMeans->end(); ++j)
{
double val = activePlot->getCurrentValue(j.key());
if (val > 9999 || val < -9999)
int intval = static_cast<int>(val);
if (intval >= 100000 || intval <= -100000)
{
str.sprintf("% 11i", intval);
}
else if (intval >= 10000 || intval <= -10000)
{
str.sprintf("% 11.2f", val);
}
else if (val > 99999 || val < -99999)
else if (intval >= 1000 || intval <= -1000)
{
str.sprintf("% 11d", (int)val);
str.sprintf("% 11.4f", val);
}
else
{
......@@ -424,7 +437,7 @@ void LinechartWidget::refresh()
for (l = curveVariances->begin(); l != curveVariances->end(); ++l)
{
// Variance
str.sprintf("% 9.4e", activePlot->getVariance(l.key()));
str.sprintf("% 8.3e", activePlot->getVariance(l.key()));
l.value()->setText(str);
}
}
......@@ -539,8 +552,6 @@ void LinechartWidget::createActions()
**/
void LinechartWidget::addCurve(const QString& curve, const QString& unit)
{
intData.insert(curve+unit, 0);
LinechartPlot* plot = activePlot;
// QHBoxLayout *horizontalLayout;
QCheckBox *checkBox;
......@@ -600,6 +611,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
// Mean
mean = new QLabel(this);
mean->setNum(0.00);
mean->setStyleSheet(QString("QLabel {font-family:\"Courier\"; font-weight: bold;}"));
mean->setToolTip(tr("Arithmetic mean of ") + curve);
mean->setWhatsThis(tr("Arithmetic mean of ") + curve);
curveMeans->insert(curve+unit, mean);
......@@ -614,6 +626,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
// Variance
variance = new QLabel(this);
variance->setNum(0.00);
variance->setStyleSheet(QString("QLabel {font-family:\"Courier\"; font-weight: bold;}"));
variance->setToolTip(tr("Variance of ") + curve);
variance->setWhatsThis(tr("Variance of ") + curve);
curveVariances->insert(curve+unit, variance);
......
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