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qgroundcontrol
Commit ca963db2 authored by lm's avatar lm
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Merge branch 'master' of git@pixhawk.ethz.ch:groundcontrol

parents 4e8f2906 dfa6906f
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Showing with 87 additions and 102 deletions
qgroundcontrol.pri
View file @ ca963db2
......@@ -59,8 +59,8 @@ macx {
# Enable function-profiling with the OS X saturn tool
debug {
QMAKE_CXXFLAGS += -finstrument-functions
LIBS += -lSaturn
#QMAKE_CXXFLAGS += -finstrument-functions
#LIBS += -lSaturn
}
} else {
# x64 Mac OS X Snow Leopard 10.6 and later
......
src/comm/MAVLinkSimulationLink.cc
View file @ ca963db2
......@@ -504,26 +504,26 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
message_action_decode(&msg, &action);
switch (action.action)
{
case MAV_ACTION_LAUNCH:
case MAV_ACTION_LAUNCH:
status.status = MAV_STATE_ACTIVE;
status.mode = MAV_MODE_AUTO;
break;
case MAV_ACTION_RETURN:
case MAV_ACTION_RETURN:
status.status = MAV_STATE_LANDING;
break;
case MAV_ACTION_MOTORS_START:
case MAV_ACTION_MOTORS_START:
status.status = MAV_STATE_ACTIVE;
status.mode = MAV_MODE_LOCKED;
break;
case MAV_ACTION_MOTORS_STOP:
case MAV_ACTION_MOTORS_STOP:
status.status = MAV_STATE_STANDBY;
status.mode = MAV_MODE_LOCKED;
break;
case MAV_ACTION_EMCY_KILL:
case MAV_ACTION_EMCY_KILL:
status.status = MAV_STATE_EMERGENCY;
status.mode = MAV_MODE_MANUAL;
break;
case MAV_ACTION_SHUTDOWN:
case MAV_ACTION_SHUTDOWN:
status.status = MAV_STATE_POWEROFF;
status.mode = MAV_MODE_LOCKED;
break;
......@@ -579,48 +579,6 @@ void MAVLinkSimulationLink::readBytes(char* const data, qint64 maxLength) {
// }
}
/**
* Set the maximum time deviation noise. This amount (in milliseconds) is
* the maximum time offset (+/-) from the specified message send rate.
*
* @param milliseconds The maximum time offset (in milliseconds)
*
* @bug The current implementation might induce one milliseconds additional
* discrepancy, this will be fixed by multithreading
**/
void MAVLinkSimulationLink::setMaximumTimeNoise(int milliseconds) {
maxTimeNoise = milliseconds;
}
/**
* Add or subtract a pseudo random time offset. The maximum time offset is
* defined by setMaximumTimeNoise().
*
* @see setMaximumTimeNoise()
**/
void MAVLinkSimulationLink::addTimeNoise() {
/* Calculate the time deviation */
if(maxTimeNoise == 0) {
/* Don't do expensive calculations if no noise is desired */
timer->setInterval(rate);
} else {
/* Calculate random time noise (gauss distribution):
*
* (1) (2 * rand()) / RAND_MAX: Number between 0 and 2
* (induces numerical noise through floating point representation,
* ignored here)
*
* (2) ((2 * rand()) / RAND_MAX) - 1: Number between -1 and 1
*
* (3) Complete term: Number between -maxTimeNoise and +maxTimeNoise
*/
double timeDeviation = (((2 * rand()) / RAND_MAX) - 1) * maxTimeNoise;
timer->setInterval(static_cast<int>(rate + floor(timeDeviation)));
}
}
/**
* Disconnect the connection.
*
......@@ -636,7 +594,7 @@ bool MAVLinkSimulationLink::disconnect() {
emit disconnected();
exit();
//exit();
}
return true;
......@@ -657,6 +615,25 @@ bool MAVLinkSimulationLink::connect()
return true;
}
/**
* Connect the link.
*
* @param connect true connects the link, false disconnects it
* @return True if connection has been established, false if connection
* couldn't be established.
**/
bool MAVLinkSimulationLink::connectLink(bool connect)
{
_isConnected = connect;
if(connect)
{
this->connect();
}
return true;
}
/**
* Check if connection is active.
*
......
src/comm/MAVLinkSimulationLink.h
View file @ ca963db2
......@@ -84,6 +84,7 @@ public slots:
void writeBytes(const char* data, qint64 size);
void readBytes(char* const data, qint64 maxLength);
void mainloop();
bool connectLink(bool connect);
protected:
......@@ -116,11 +117,9 @@ protected:
qint64 timeOffset;
sys_status_t status;
void setMaximumTimeNoise(int milliseconds);
void addTimeNoise();
void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
signals:
signals:
void valueChanged(int uasId, QString curve, double value, quint64 usec);
};
......
src/ui/HUD.cc
View file @ ca963db2
......@@ -65,7 +65,7 @@ inline bool isinf(T value)
* @param parent
*/
HUD::HUD(int width, int height, QWidget* parent)
: QGLWidget(parent),
: QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
uas(NULL),
values(QMap<QString, float>()),
valuesDot(QMap<QString, float>()),
......@@ -127,7 +127,7 @@ HUD::HUD(int width, int height, QWidget* parent)
// Refresh timer
refreshTimer->setInterval(40); // 25 Hz
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(repaint()));
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
// Resize to correct size and fill with image
resize(fill.size());
......@@ -171,8 +171,8 @@ void HUD::stop()
void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
// if (this->uas == uas)
//{
// UAS is not needed
Q_UNUSED(uas);
if (!isnan(value) && !isinf(value))
{
......@@ -316,6 +316,8 @@ void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 times
*/
void HUD::updateState(UASInterface* uas,QString state)
{
// Only one UAS is connected at a time
Q_UNUSED(uas);
this->state = state;
}
......@@ -327,6 +329,8 @@ void HUD::updateState(UASInterface* uas,QString state)
*/
void HUD::updateMode(UASInterface* uas,QString mode)
{
// Only one UAS is connected at a time
Q_UNUSED(uas);
this->mode = mode;
}
......@@ -467,9 +471,9 @@ void HUD::initializeGL()
}
else
{
//glDisable(GL_BLEND);
//glDisable(GL_POINT_SMOOTH);
//glDisable(GL_LINE_SMOOTH);
glDisable(GL_BLEND);
glDisable(GL_POINT_SMOOTH);
glDisable(GL_LINE_SMOOTH);
}
}
......@@ -510,18 +514,16 @@ void HUD::paintRollPitchStrips()
}
void HUD::paintGL()
{
}
void HUD::paintEvent(QPaintEvent *event)
{
// Event is not needed
Q_UNUSED(event);
// Read out most important values to limit hash table lookups
static float roll = 0.0;
static float pitch = 0.0;
static float yaw = 0.0;
// Read out most important values to limit hash table lookups
roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
......@@ -536,22 +538,29 @@ void HUD::paintEvent(QPaintEvent *event)
// OPEN GL PAINTING
// Store model view matrix to be able to reset it to the previous state
makeCurrent();
//setupViewport(width(), height());
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Blue / Brown background
if (noCamera) paintCenterBackground(roll, pitch, yaw);
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
// END OF OPENGL PAINTING
//glEnable(GL_MULTISAMPLE);
// QT PAINTING
makeCurrent();
QPainter painter;
painter.begin(this);
painter.setRenderHint(QPainter::Antialiasing);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
//painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
......@@ -687,11 +696,10 @@ void HUD::paintEvent(QPaintEvent *event)
// PITCH
paintPitchLines((pitch/M_PI)*180.0f, &painter);
painter.end();
//glDisable(GL_MULTISAMPLE);
glFlush();
//glFlush();
}
/*
......@@ -1379,7 +1387,7 @@ void HUD::finishImage()
void HUD::commitRawDataToGL()
{
//qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
if (image != NULL)
{
QImage::Format format = image->format();
......@@ -1410,7 +1418,7 @@ void HUD::commitRawDataToGL()
//qDebug() << "Now buffer 1";
}
}
updateGL();
update();
}
void HUD::saveImage(QString fileName)
......
src/ui/HUD.h
View file @ ca963db2
......@@ -58,7 +58,7 @@ public:
public slots:
void initializeGL();
void paintGL();
//void paintGL();
/** @brief Start updating the view at 30Hz */
void start();
......
src/ui/MainWindow.cc
View file @ ca963db2
......@@ -146,9 +146,6 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
// Add status bar
setStatusBar(createStatusBar());
// Create actions
connectActions();
// Set the application style (not the same as a style sheet)
// Set the style to Plastique
qApp->setStyle("plastique");
......@@ -167,12 +164,15 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
udpLink->connect();
simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
//connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
LinkManager::instance()->addProtocol(simulationLink, mavlink);
//CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
//ui.menuNetwork->addAction(commWidget->getAction());
//simulationLink->connect();
// Create actions
connectActions();
// Load widgets and show application window
loadWidgets();
......@@ -287,6 +287,7 @@ void MainWindow::connectActions()
// Joystick configuration
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
connect(ui.actionSimulate, SIGNAL(triggered(bool)), simulationLink, SLOT(connectLink(bool)));
}
void MainWindow::configure()
......@@ -338,6 +339,9 @@ void MainWindow::UASCreated(UASInterface* uas)
reloadStylesheet();
}
/**
* Clears the current view completely
*/
void MainWindow::clearView()
{
// Halt HUD
......@@ -502,26 +506,6 @@ void MainWindow::removeCommConfAct(QAction* action)
ui.menuNetwork->removeAction(action);
}*/
//void MainWindow::startUAS()
//{
// UASManager::instance()->getActiveUAS()->launch();
//}
//
//void MainWindow::returnUAS()
//{
// UASManager::instance()->getActiveUAS()->home();
//}
//
//void MainWindow::stopUAS()
//{
// UASManager::instance()->getActiveUAS()->emergencySTOP();
//}
//
//void MainWindow::killUAS()
//{
// UASManager::instance()->getActiveUAS()->emergencyKILL();
//}
void MainWindow::runTests()
{
// TODO Remove after debugging: Add fake data
......
src/ui/MainWindow.h
View file @ ca963db2
......@@ -47,6 +47,7 @@ This file is part of the PIXHAWK project
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "AS4Protocol.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
......@@ -142,7 +143,7 @@ protected:
MAVLinkProtocol* mavlink;
AS4Protocol* as4link;
LinkInterface* simulationLink;
MAVLinkSimulationLink* simulationLink;
LinkInterface* udpLink;
QDockWidget* controlDock;
......
src/ui/MainWindow.ui
View file @ ca963db2
......@@ -35,7 +35,7 @@
<x>0</x>
<y>0</y>
<width>1000</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......@@ -43,6 +43,7 @@
<string>File</string>
</property>
<addaction name="actionJoystickSettings"/>
<addaction name="actionSimulate"/>
<addaction name="separator"/>
<addaction name="actionExit"/>
</widget>
......@@ -225,6 +226,21 @@
<string>Show settings view</string>
</property>
</action>
<action name="actionSimulate">
<property name="checkable">
<bool>true</bool>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
</property>
<property name="text">
<string>Simulate</string>
</property>
<property name="toolTip">
<string>Simulate one vehicle to test and evaluate this application</string>
</property>
</action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources>
......
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