Merge branch 'master' of git@pixhawk.ethz.ch:groundcontrol

qgroundcontrol.pri

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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>