diff --git a/demo-log.txt b/demo-log.txt new file mode 100644 index 0000000000000000000000000000000000000000..216e0d59d6d5f6e5de44b5fee1a72d66f96d0a29 --- /dev/null +++ b/demo-log.txt @@ -0,0 +1,1663 @@ +unix_timestamp Accel._X Accel._Y Accel._Z Battery Bottom_Rotor CPU_Load Ground_Dist. 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29790 29781 29782 0 0 0 96232 356 -0.170208 0.126837 -1.92957 +1270125637287 -62 -190 984 0 29781 29844 29845 0 0 0 96238 356 -0.171382 0.12641 -1.92715 +1270125637307 -67 -191 984 0 29771 29972 29832 0 0 0 96232 356 -0.171246 0.125931 -1.9261 +1270125637328 -62 -188 983 0 29778 29829 29822 0 0 0 96201 355 -0.171942 0.125253 -1.92625 +1270125637368 -63 -192 986 0 29802 29782 29778 0 0 0 96210 355 -0.17259 0.124587 -1.9278 +1270125637388 -63 -187 981 0 29790 29828 29782 0 0 0 96198 355 -0.173748 0.123899 -1.92538 +1270125637408 -58 -188 984 0 29782 29841 29878 0 0 0 96227 355 -0.174785 0.123233 -1.92398 diff --git a/images/style-dev.css b/images/style-dev.css deleted file mode 100644 index 4dd54996c3ee6506000b2edd4970963d4241972e..0000000000000000000000000000000000000000 --- a/images/style-dev.css +++ /dev/null @@ -1,205 +0,0 @@ -QWidget#colorIcon {} - -QWidget { -/*background-color: #252528; -color: #DDDDDF; -border-color: #EEEEEE;*/ -background-clip: border; -font-size: 11px; -} - -QGroupBox { -border: 1px solid;/* #555555; */ -border-radius: 3px; -padding: 10px 0px 0px 0px; -margin-top: 1ex; /* leave space at the top for the title */ -} - -/* -QCheckBox { -background-color: #252528; -color: #454545; -}*/ - - QGroupBox::title { - subcontrol-origin: margin; - subcontrol-position: top center; /* position at the top center */ - margin: 0 3px 0px 3px; - padding: 0 3px 0px 0px; - font: bold 8px; - } - - - QDockWidget { - font: bold; - border: 1px solid #32345E; -} - -QDockWidget::close-button, QDockWidget::float-button { - background-color: #181820; - color: #EEEEEE; -} - -QDockWidget::title { - text-align: left; - background: #222224; - padding-left: 5px; - height: 10px; - border-bottom: 1px solid #555555; -} - -QSeparator { - color: #EEEEEE; - } - - -QSpinBox { - min-height: 12 px; -} - -QPushButton { - font-weight: bold; - min-height: 22px; - max-height: 32px; - border: 1px solid #AAAAAA; - border-radius: 5px; - padding-left: 10px; - padding-right: 10px; - /*background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020);*/ -} - -/* -QPushButton:checked { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #101010, stop: 1 #404040); -} - -QPushButton:pressed { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); -}*/ - -QToolButton { - font-weight: bold; - min-height: 16px; - min-width: 24px; - max-height: 32px; - border: 1px solid #EEEEEE; - border-radius: 5px; - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020); -} - -QToolButton:pressed { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); -} - -QPushButton#forceLandButton { - font-weight: bold; - min-height: 30px; - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #ffee01, stop:1 #ae8f00) url("ICONDIR/control/emergency-button.png"); - background-clip: border; - border-width: 1px; - border-color: #555555; - border-radius: 5px; -} - -QPushButton:pressed#forceLandButton { - font-weight: bold; - min-height: 30px; - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #bbaa00, stop:1 #a05b00) url("ICONDIR/control/emergency-button.png"); - background-clip: border; - border-width: 1px; - border-color: #555555; - border-radius: 5px; -} - -QPushButton#killButton { - font-weight: bold; - min-height: 30px; - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #ffb917, stop:1 #b37300) url("ICONDIR/control/emergency-button.png"); - background-clip: border; - border-width: 1px; - border-color: #555555; - border-radius: 5px; -} - -QPushButton:pressed#killButton { - font-weight: bold; - min-height: 30px; - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #bb8500, stop:1 #903000) url("ICONDIR/control/emergency-button.png"); - background-clip: border; - border-width: 1px; - border-color: #555555; - border-radius: 5px; -} - -QPushButton#autoButton { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #4eb0e8, stop: 1 #285a77); -} - -QPushButton:checked#autoButton { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #a77f11, stop: 1 #f1b718); -} - -QProgressBar { - border: 1px solid white; - border-radius: 4px; - text-align: center; - padding: 2px; - color: white; - background-color: #111111; -} - -QProgressBar:horizontal { - height 12px; -} - -QProgressBar:vertical { - width 12px; -} - -QProgressBar::chunk { - background-color: #656565; -} - -QProgressBar::chunk#batteryBar { - background-color: green; -} - -QProgressBar::chunk#speedBar { - background-color: yellow; -} - -QProgressBar::chunk#thrustBar { - background-color: orange; -} - -QProgressBar::chunk#bandwidthBar { - background-color: orange; -} -QProgressBar::chunk#loadBar { - background-color: yellow; -} - -QProgressBar::chunk#topRotorBar { - background-color: yellow; -} - -QProgressBar::chunk#botRotorBar { - background-color: yellow; -} - -QProgressBar::chunk#leftServoBar { - background-color: #99BFDD; -} - -QProgressBar::chunk#rightServoBar -{ - background-color: blue; -} diff --git a/images/style-mission.css b/images/style-mission.css index 38972389b4ad5c647f785d58c8e16d19b1731067..8435374db046bff9b2b3be543dfc88c3b5d40875 100644 --- a/images/style-mission.css +++ b/images/style-mission.css @@ -1,14 +1,14 @@ QWidget#colorIcon {} QWidget { -background-color: #151518; +background-color: #050508; color: #DDDDDF; background-clip: border; font-size: 11px; } QGroupBox { -border: 1px solid #777777; +border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; margin-top: 1ex; /* leave space at the top for the title */ @@ -107,11 +107,11 @@ QPushButton { font-weight: bold; min-height: 18px; max-height: 32px; - border: 1px solid #EEEEEE; + border: 2px solid #4A4A4F; border-radius: 5px; padding-left: 10px; padding-right: 10px; - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020); + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208); } QPushButton:checked { @@ -186,7 +186,7 @@ QPushButton:pressed#killButton { QPushButton#controlButton { min-height: 25px; - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #b76f11, stop: 1 #e1a718); + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A0AE00, stop: 1 #909E00); } QPushButton:checked#controlButton { @@ -194,12 +194,12 @@ QPushButton:checked#controlButton { } QProgressBar { - border: 1px solid white; + border: 1px solid #EEEEEE; border-radius: 4px; text-align: center; padding: 2px; color: white; - background-color: #111111; + background-color: #111118; } QProgressBar:horizontal { diff --git a/mavground.pro b/mavground.pro index ef33828bb4ae131661f68e2cb3ec354c55ca0d9b..270e3571ac79c21cba8a076991099fc191896eb9 100644 --- a/mavground.pro +++ b/mavground.pro @@ -78,7 +78,7 @@ HEADERS += src/MG.h \ src/configuration.h \ src/ui/uas/UASView.h \ src/ui/CameraView.h \ - src/comm/MavlinkSimulationLink.h \ + src/comm/MAVLinkSimulationLink.h \ src/comm/UDPLink.h \ src/ui/ParameterInterface.h \ src/ui/WaypointList.h \ @@ -129,7 +129,7 @@ SOURCES += src/main.cc \ src/ui/linechart/ScrollZoomer.cc \ src/ui/uas/UASView.cc \ src/ui/CameraView.cc \ - src/comm/MavlinkSimulationLink.cc \ + src/comm/MAVLinkSimulationLink.cc \ src/comm/UDPLink.cc \ src/ui/ParameterInterface.cc \ src/ui/WaypointList.cc \ diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc index ea952e85e38d920ae8878ddfe5a174fddae21809..a45cc4aa1148f266334679c3beab23f9be601e5e 100644 --- a/src/comm/MAVLinkSimulationLink.cc +++ b/src/comm/MAVLinkSimulationLink.cc @@ -1,26 +1,26 @@ /*===================================================================== - + PIXHAWK Micro Air Vehicle Flying Robotics Toolkit - + (c) 2009, 2010 PIXHAWK PROJECT - + This file is part of the PIXHAWK project - + PIXHAWK is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. - + PIXHAWK is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - + You should have received a copy of the GNU General Public License along with PIXHAWK. If not, see . - + ======================================================================*/ - + /** * @file * @brief Implementation of simulated system link @@ -53,17 +53,18 @@ This file is part of the PIXHAWK project * @param writeFile The received messages are written to that file * @param rate The rate at which the messages are sent (in intervals of milliseconds) **/ -MAVLinkSimulationLink::MAVLinkSimulationLink(QFile* readFile, QFile* writeFile, int rate) : - readyBytes(0) +MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate) : + readyBytes(0), + timeOffset(0) { this->id = getNextLinkId(); LinkManager::instance()->add(this); this->rate = rate; _isConnected = false; - if (readFile != NULL) + if (readFile != "") { - this->name = "Simulation: " + readFile->fileName(); + this->name = "Simulation: " + readFile; } else { @@ -72,20 +73,18 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QFile* readFile, QFile* writeFile, // Comments on the variables can be found in the header file - simulationFile = readFile; - simulationHeader = readFile->readLine(); - receiveFile = writeFile; + simulationFile = new QFile(readFile, this); + if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text)) + { + simulationHeader = simulationFile->readLine(); + } + receiveFile = new QFile(writeFile, this); lastSent = MG::TIME::getGroundTimeNow(); // Initialize the pseudo-random number generator srand(QTime::currentTime().msec()); maxTimeNoise = 0; - // timer = new QTimer(this); - // QObject::connect(timer, SIGNAL(timeout()), this, SLOT(mainloop())); - // _isConnected = false; - // this->rate = rate; - } MAVLinkSimulationLink::~MAVLinkSimulationLink() @@ -97,6 +96,13 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink() void MAVLinkSimulationLink::run() { + + status.mode = MAV_MODE_UNINIT; + status.status = MAV_STATE_UNINIT; + status.vbat = 0; + status.motor_block = 1; + status.packet_drop = 0; + forever { @@ -116,72 +122,41 @@ void MAVLinkSimulationLink::run() } } +void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg) +{ + // Allocate buffer with packet data + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; + unsigned int bufferlength = message_to_send_buffer(buf, msg); + //add data into datastream + memcpy(stream+(*index),buf, bufferlength); + (*index) += bufferlength; +} + void MAVLinkSimulationLink::mainloop() { // Test for encoding / decoding packets // Test data stream - const int streamlength = 1024; + const int streamlength = 4096; int streampointer = 0; //const int testoffset = 0; - uint8_t stream[streamlength]; + uint8_t stream[streamlength] = {}; // Fake system values uint8_t systemId = 220; uint8_t componentId = 0; uint16_t version = 1000; - // Fake sensor values - uint32_t xacc = 0; - uint32_t yacc = 0; - uint32_t zacc = 9810; - - uint32_t xgyro = 10; - uint32_t ygyro = 5; - uint32_t zgyro = 100; - - uint32_t xmag = 0; - uint32_t ymag = 1000; - uint32_t zmag = 500; - - uint32_t pressure = 20000; - uint32_t grounddist = 500; - uint32_t temp = 20000; - static float fullVoltage = 4.2 * 3; static float emptyVoltage = 3.35 * 3; static float voltage = fullVoltage; static float drainRate = 0.0025; // x.xx% of the capacity is linearly drained per second -// uint32_t chan1 = 1500; -// uint32_t chan2 = 1500; -// uint32_t chan3 = 1500; -// uint32_t chan4 = 1500; -// uint32_t chan5 = 1500; - - float act1 = 0.1; - float act2 = 0.2; - float act3 = 0.3; - float act4 = 0.4; - - // Fake coordinates - - float roll = 0.0f; - float pitch = 10.0f; - float yaw = 60.5f; - - // Fake Marker positions - - uint32_t markerId = 20; - float confidence = 100.0f; - float posX = -1.0f; - float posY = 1.0f; - float posZ = 2.5f; - - // Fake timestamp - - unsigned int usec = MG::TIME::getGroundTimeNow(); + attitude_t attitude; + raw_aux_t rawAuxValues; + raw_imu_t rawImuValues; + raw_sensor_t rawSensorValues; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; int bufferlength; @@ -200,80 +175,238 @@ void MAVLinkSimulationLink::mainloop() voltage = voltage - ((fullVoltage - emptyVoltage) * drainRate / rate); if (voltage < 3.550 * 3) voltage = 3.550 * 3; - //uint8_t msgbuffer[COMM_MAX_PACKET_LEN]; + static int state = 0; - // 100 HZ TASKS - if (rate50hzCounter == 1000 / rate / 100) + if (state == 0) { - // Read values - char buf[1024]; - qint64 lineLength = simulationFile->readLine(buf, sizeof(buf)); - if (lineLength != -1) - { - // Data is available - } - else + // BOOT + // Pack message and get size of encoded byte string + messageSize = message_boot_pack(systemId, componentId, &msg, version); + // Allocate buffer with packet data + bufferlength = message_to_send_buffer(buffer, &msg); + //add data into datastream + memcpy(stream+streampointer,buffer, bufferlength); + streampointer += bufferlength; + state++; + } + + + // 50 HZ TASKS + if (rate50hzCounter == 1000 / rate / 40) + { + if (simulationFile->isOpen()) { - // We reached the end of the file, start from scratch - file.reset(); - //simulationHeader + if (simulationFile->atEnd()) + { + // We reached the end of the file, start from scratch + simulationFile->reset(); + simulationHeader = simulationFile->readLine(); + } + + // Data was made available, read one line + // first entry is the timestamp + QString values = QString(simulationFile->readLine()); + QStringList parts = values.split("\t"); + QStringList keys = simulationHeader.split("\t"); + //qDebug() << simulationHeader; + //qDebug() << values; + bool ok; + static quint64 lastTime = 0; + static quint64 baseTime = 0; + quint64 time = QString(parts.first()).toLongLong(&ok, 10); + + if (ok) + { + if (timeOffset == 0) + { + timeOffset = time; + baseTime = time; + } + + if (lastTime > time) + { + // We have wrapped around in the logfile + // Add the measurement time interval to the base time + baseTime += lastTime - timeOffset; + } + lastTime = time; + + time = time - timeOffset + baseTime; + + // Gather individual measurement values + for (int i = 1; i < (parts.size() - 1); ++i) + { + // Get one data field + bool res; + double d = QString(parts.at(i)).toDouble(&res); + if (!res) d = 0; + + //qDebug() << "TIME" << time << "VALUE" << d; + //emit valueChanged(220, keys.at(i), d, MG::TIME::getGroundTimeNow()); + + if (keys.value(i, "") == "Accel._X") + { + rawImuValues.xacc = d; + } + + if (keys.value(i, "") == "Accel._Y") + { + rawImuValues.yacc = d; + } + + if (keys.value(i, "") == "Accel._Z") + { + rawImuValues.zacc = d; + } + if (keys.value(i, "") == "Gyro_Phi") + { + rawImuValues.xgyro = d; + } + + if (keys.value(i, "") == "Gyro_Theta") + { + rawImuValues.ygyro = d; + } + + if (keys.value(i, "") == "Gyro_Psi") + { + rawImuValues.zgyro = d; + } + + if (keys.value(i, "") == "Pressure") + { + rawAuxValues.baro = d; + } + + if (keys.value(i, "") == "Battery") + { + rawAuxValues.vbat = d; + } + + if (keys.value(i, "") == "roll_IMU") + { + attitude.roll = d; + } + + if (keys.value(i, "") == "pitch_IMU") + { + attitude.pitch = d; + } + + if (keys.value(i, "") == "yaw_IMU") + { + attitude.yaw = d; + } + + //Accel._X Accel._Y Accel._Z Battery Bottom_Rotor CPU_Load Ground_Dist. Gyro_Phi Gyro_Psi Gyro_Theta Left_Servo Mag._X Mag._Y Mag._Z Pressure Right_Servo Temperature Top_Rotor pitch_IMU roll_IMU yaw_IMU + + } + // Send out packets + + + // ATTITUDE + attitude.msec = time; + // Pack message and get size of encoded byte string + message_attitude_encode(systemId, componentId, &msg, &attitude); + // Allocate buffer with packet data + bufferlength = message_to_send_buffer(buffer, &msg); + //add data into datastream + memcpy(stream+streampointer,buffer, bufferlength); + streampointer += bufferlength; + + // IMU + rawImuValues.msec = time; + rawImuValues.xmag = 0; + rawImuValues.ymag = 0; + rawImuValues.zmag = 0; + // Pack message and get size of encoded byte string + message_raw_imu_encode(systemId, componentId, &msg, &rawImuValues); + // Allocate buffer with packet data + bufferlength = message_to_send_buffer(buffer, &msg); + //add data into datastream + memcpy(stream+streampointer,buffer, bufferlength); + streampointer += bufferlength; + + //qDebug() << "ATTITUDE" << "BUF LEN" << bufferlength << "POINTER" << streampointer; + + //qDebug() << "REALTIME" << MG::TIME::getGroundTimeNow() << "ONBOARDTIME" << attitude.msec << "ROLL" << attitude.roll; + + } + } + + rate50hzCounter = 1; + } + + + // 10 HZ TASKS + if (rate10hzCounter == 1000 / rate / 9) + { + rate10hzCounter = 1; } // 1 HZ TASKS if (rate1hzCounter == 1000 / rate / 1) { - // BOOT + // STATE + static int statusCounter = 0; + if (statusCounter == 100) + { + status.mode = (status.mode + 1) % MAV_MODE_TEST3; + statusCounter = 0; + } + statusCounter++; + + status.vbat = voltage; // Pack message and get size of encoded byte string - messageSize = message_boot_pack(systemId, componentId, &msg, version); + messageSize = message_sys_status_encode(systemId, componentId, &msg, &status); // Allocate buffer with packet data bufferlength = message_to_send_buffer(buffer, &msg); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); streampointer += bufferlength; + /* + // Pack message and get size of encoded byte string + messageSize = message_boot_pack(systemId, componentId, &msg, version); + // Allocate buffer with packet data + bufferlength = message_to_send_buffer(buffer, &msg); + //add data into datastream + memcpy(stream+streampointer,buffer, bufferlength); + streampointer += bufferlength;*/ + // HEARTBEAT + static int typeCounter = 0; + uint8_t mavType = typeCounter % (OCU); + typeCounter++; + // Pack message and get size of encoded byte string - messageSize = message_heartbeat_pack(systemId, componentId, &msg, MAV_GENERIC); + messageSize = message_heartbeat_pack(systemId, componentId, &msg, mavType); // Allocate buffer with packet data bufferlength = message_to_send_buffer(buffer, &msg); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); streampointer += bufferlength; - readyBufferMutex.lock(); - for (int i = 0; i < streampointer; i++) - { - readyBuffer.enqueue(*(stream + i)); - } - readyBufferMutex.unlock(); - - rate1hzCounter = 1; - } + //qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer; - // 10 HZ TASKS - if (rate10hzCounter == 1000 / rate / 10) - { + // AUX STATUS + rawAuxValues.vbat = voltage; - readyBufferMutex.lock(); - for (int i = 0; i < streampointer; i++) - { - readyBuffer.enqueue(*(stream + i)); - } - readyBufferMutex.unlock(); - rate10hzCounter = 1; + rate1hzCounter = 1; } // FULL RATE TASKS // Default is 50 Hz + /* // 50 HZ TASKS if (rate50hzCounter == 1000 / rate / 50) { - streampointer = 0; + //streampointer = 0; // Attitude @@ -286,7 +419,7 @@ void MAVLinkSimulationLink::mainloop() streampointer += bufferlength; rate50hzCounter = 1; - } + }*/ readyBufferMutex.lock(); for (int i = 0; i < streampointer; i++) @@ -317,14 +450,69 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) // Increase write counter //bitsSentTotal += size * 8; + // Parse bytes + mavlink_message_t msg; + mavlink_status_t comm; + // Output all bytes as hex digits int i; for (i=0; iid, data[i], &msg, &comm)) + { + // MESSAGE RECEIVED! + + switch (msg.msgid) + { + // SET THE SYSTEM MODE + case MAVLINK_MSG_ID_SET_MODE: + { + set_mode_t mode; + message_set_mode_decode(&msg, &mode); + // Set mode indepent of mode.target + status.mode = mode.mode; + } + // EXECUTE OPERATOR ACTIONS + case MAVLINK_MSG_ID_ACTION: + { + action_t action; + message_action_decode(&msg, &action); + switch (action.action) + { + case MAV_ACTION_LAUNCH: + status.status = MAV_STATE_ACTIVE; + status.mode = MAV_MODE_AUTO; + break; + case MAV_ACTION_RETURN: + + break; + case MAV_ACTION_MOTORS_START: + status.status = MAV_STATE_ACTIVE; + status.mode = MAV_MODE_LOCKED; + break; + case MAV_ACTION_MOTORS_STOP: + status.status = MAV_STATE_STANDBY; + status.mode = MAV_MODE_LOCKED; + break; + case MAV_ACTION_EMCY_KILL: + status.status = MAV_STATE_EMERGENCY; + status.mode = MAV_MODE_MANUAL; + break; + } + } + break; + } + + + } unsigned char v=data[i]; fprintf(stderr,"%02x ", v); } fprintf(stderr,"\n"); + + // Update comm status + status.packet_drop = comm.packet_rx_drop_count; + } diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h index 84c1b3445566fd9f29b2a1bdbada6e64d68da177..177dc53436f564ba404b84a491ddee4aef8e8b29 100644 --- a/src/comm/MAVLinkSimulationLink.h +++ b/src/comm/MAVLinkSimulationLink.h @@ -38,12 +38,14 @@ This file is part of the PIXHAWK project #include #include #include -#include +#include +#include "LinkInterface.h" class MAVLinkSimulationLink : public LinkInterface { + Q_OBJECT public: - MAVLinkSimulationLink(QFile* readFile=NULL, QFile* writeFile=NULL, int rate=5); + MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5); ~MAVLinkSimulationLink(); bool isConnected(); qint64 bytesAvailable(); @@ -94,7 +96,6 @@ protected: /** File which contains the input data (simulated robot messages) **/ QFile* simulationFile; QString simulationHeader; - int lineCounter = 0; /** File where the commands sent by the groundstation are stored **/ QFile* receiveFile; QTextStream stream; @@ -112,9 +113,15 @@ protected: int id; QString name; + 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: + void valueChanged(int uasId, QString curve, double value, quint64 usec); }; diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 9c212d20242ef57c3f22b35368ef2ba82c073b43..20d53fc4d8cc0f8981e0c46500d72b00593a4686 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -113,6 +113,50 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) emit statusChanged(this, uasState, stateDescription); onboardTimeOffset = 0; // Reset offset measurement break; + case MAVLINK_MSG_ID_SYS_STATUS: + { + sys_status_t state; + message_sys_status_decode(&message, &state); + getStatusForCode((int)state.status, uasState, stateDescription); + emit statusChanged(this, uasState, stateDescription); + + QString mode; + + switch (state.mode) + { + case MAV_MODE_LOCKED: + mode = "MAV_MODE_LOCKED"; + break; + case MAV_MODE_MANUAL: + mode = "MAV_MODE_MANUAL"; + break; + case MAV_MODE_AUTO: + mode = "MAV_MODE_AUTO"; + break; + case MAV_MODE_TEST1: + mode = "MAV_MODE_TEST1"; + break; + case MAV_MODE_TEST2: + mode = "MAV_MODE_TEST2"; + break; + case MAV_MODE_TEST3: + mode = "MAV_MODE_TEST3"; + break; + default: + mode = "MAV_MODE_UNINIT"; + break; + } + + emit modeChanged(this->getUASID(), mode, ""); + currentVoltage = state.vbat; + filterVoltage(currentVoltage); + if (startVoltage == 0) startVoltage = currentVoltage; + timeRemaining = calculateTimeRemaining(); + //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining; + emit batteryChanged(this, filterVoltage(), getChargeLevel(), timeRemaining); + emit voltageChanged(message.sysid, state.vbat/1000.0f); + } + break; /* case MAVLINK_MSG_ID_SYSTEM: // std::cerr << std::endl; @@ -198,9 +242,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) //std::cerr << "BYTES RESSOURCE RECEIVED" << std::endl; emit imageDataReceived(message_bytestream_get_rid(message.payload), message_bytestream_get_data(message.payload), message_bytestream_get_length(message.payload), message_bytestream_get_index(message.payload)); break; - case MAVLINK_MSG_ID_SENSRAW: + */ + case MAVLINK_MSG_ID_RAW_IMU: { - quint64 time = message_sensraw_get_usec(message.payload); + raw_imu_t raw; + message_raw_imu_decode(&message, &raw); + quint64 time = raw.msec; if (time == 0) { time = MG::TIME::getGroundTimeNow(); @@ -214,21 +261,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) time += onboardTimeOffset; } - emit valueChanged(uasId, "Accel. X", message_sensraw_get_xacc(message.payload), time); - emit valueChanged(uasId, "Accel. Y", message_sensraw_get_yacc(message.payload), time); - emit valueChanged(uasId, "Accel. Z", message_sensraw_get_zacc(message.payload), time); - emit valueChanged(uasId, "Gyro Phi", message_sensraw_get_xgyro(message.payload), time); - emit valueChanged(uasId, "Gyro Theta", message_sensraw_get_ygyro(message.payload), time); - emit valueChanged(uasId, "Gyro Psi", message_sensraw_get_zgyro(message.payload), time); - emit valueChanged(uasId, "Mag. X", message_sensraw_get_xmag(message.payload), time); - emit valueChanged(uasId, "Mag. Y", message_sensraw_get_ymag(message.payload), time); - emit valueChanged(uasId, "Mag. Z", message_sensraw_get_zmag(message.payload), time); - emit valueChanged(uasId, "Ground Dist.", message_sensraw_get_gdist(message.payload), time); - emit valueChanged(uasId, "Pressure", message_sensraw_get_baro(message.payload), time); - emit valueChanged(uasId, "Temperature", message_sensraw_get_temp(message.payload), time); + emit valueChanged(uasId, "Accel. X", raw.xacc, time); + emit valueChanged(uasId, "Accel. Y", raw.yacc, time); + emit valueChanged(uasId, "Accel. Z", raw.zacc, time); + emit valueChanged(uasId, "Gyro Phi", raw.xgyro, time); + emit valueChanged(uasId, "Gyro Theta", raw.ygyro, time); + emit valueChanged(uasId, "Gyro Psi", raw.zgyro, time); + emit valueChanged(uasId, "Mag. X", raw.xmag, time); + emit valueChanged(uasId, "Mag. Y", raw.ymag, time); + emit valueChanged(uasId, "Mag. Z", raw.zmag, time); } break; - */ case MAVLINK_MSG_ID_ATTITUDE: //std::cerr << std::endl; //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << message_attitude_get_roll(message.payload) << " pitch: " << message_attitude_get_pitch(message.payload) << " yaw: " << message_attitude_get_yaw(message.payload) << std::endl; @@ -338,12 +381,15 @@ void UAS::setAutoMode(bool autoMode) } } -void UAS::setMode(enum MAV_MODE mode) +void UAS::setMode(int mode) { - this->mode = mode; - mavlink_message_t msg; - message_set_mode_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, getUASID(), (unsigned char)mode); - sendMessage(msg); + if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3) + { + this->mode = mode; + mavlink_message_t msg; + message_set_mode_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, getUASID(), (unsigned char)mode); + sendMessage(msg); + } } void UAS::sendMessage(mavlink_message_t message) diff --git a/src/uas/UAS.h b/src/uas/UAS.h index 8a804110a8e5b320e03ab558470ed3752194fadb..98825a0a7d1adfe7698925a7cffd12716a42d6ab 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -115,7 +115,7 @@ protected: bool controlPitchManual; ///< status flag, true if pitch is controlled manually bool controlYawManual; ///< status flag, true if yaw is controlled manually bool controlThrustManual;///< status flag, true if thrust is controlled manually - enum MAV_MODE mode; ///< The current mode of the MAV + int mode; ///< The current mode of the MAV quint64 onboardTimeOffset; /** @brief Set the current battery type */ @@ -178,7 +178,7 @@ public slots: void setSelected(); /** @brief Set current mode of operation, e.g. auto or manual */ - void setMode(enum MAV_MODE mode); + void setMode(int mode); signals: diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h index 545b0faba4c30ddf8a9d4e2745c5290e5951bb69..8755d6c9d549d4ca945dd1041ac25ed2ec5ecc90 100644 --- a/src/uas/UASInterface.h +++ b/src/uas/UASInterface.h @@ -1,7 +1,6 @@ /*===================================================================== PIXHAWK Micro Air Vehicle Flying Robotics Toolkit -Please see our website at (c) 2009, 2010 PIXHAWK PROJECT @@ -159,6 +158,8 @@ public slots: * @param autoMode true for autonomous operation, false for manual control */ virtual void setAutoMode(bool autoMode) = 0; + + virtual void setMode(int mode) = 0; /** Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/ virtual void emergencySTOP() = 0; /** Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/ @@ -210,6 +211,8 @@ signals: * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars. */ void statusChanged(UASInterface* uas, QString status, QString description); + /** @brief Robot mode has changed */ + void modeChanged(int sysId, QString status, QString description); /** @brief A command has been issued **/ void commandSent(int command); /** @brief The connection status has changed **/ diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc index 0533725bbd35e29cc2bc0b97e702cc4cc30756ab..f49e1c3abfa2c13df05111beb48da2e1888bcf97 100644 --- a/src/ui/HDDisplay.cc +++ b/src/ui/HDDisplay.cc @@ -31,13 +31,14 @@ This file is part of the PIXHAWK project #include #include +#include #include "UASManager.h" #include "HDDisplay.h" #include "ui_HDDisplay.h" #include -HDDisplay::HDDisplay(QWidget *parent) : +HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) : QWidget(parent), uas(NULL), values(QMap()), @@ -45,6 +46,10 @@ HDDisplay::HDDisplay(QWidget *parent) : valuesMean(QMap()), valuesCount(QMap()), lastUpdate(QMap()), + minValues(), + maxValues(), + goodRanges(), + critRanges(), xCenterOffset(0.0f), yCenterOffset(0.0f), vwidth(80.0f), @@ -62,6 +67,7 @@ HDDisplay::HDDisplay(QWidget *parent) : strongStrokeWidth(1.5f), normalStrokeWidth(1.0f), fineStrokeWidth(0.5f), + acceptList(plotList), m_ui(new Ui::HDDisplay) { //m_ui->setupUi(this); @@ -82,7 +88,7 @@ HDDisplay::HDDisplay(QWidget *parent) : if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName; // Connect with UAS - //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); + connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); //start(); } @@ -93,7 +99,6 @@ HDDisplay::~HDDisplay() void HDDisplay::paintEvent(QPaintEvent * event) { - paintGL(); } @@ -108,13 +113,36 @@ void HDDisplay::paintGL() if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH; QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setRenderHint(QPainter::HighQualityAntialiasing, true); painter.fillRect(QRect(0, 0, width(), height()), backgroundColor); - painter.setRenderHint(QPainter::HighQualityAntialiasing); - const float gaugeWidth = 15.0f; + const int columns = 3; + const float spacing = 0.4f; // 40% of width + const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f)); const QColor gaugeColor = QColor(200, 200, 200); - drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter); - drawGauge(10.0f, 10.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true); - drawGauge(10.0f+gaugeWidth*1.7f, 10.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true); + //drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter); + //drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true); + //drawGauge(15.0f+gaugeWidth*1.7f, 15.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true); + + // Left spacing from border / other gauges, measured from left edge to center + float leftSpacing = gaugeWidth * spacing; + float xCoord = leftSpacing + gaugeWidth/2.0f; + + float topSpacing = leftSpacing; + float yCoord = topSpacing + gaugeWidth/2.0f; + + for (int i = 0; i < acceptList->size(); ++i) + { + QString value = acceptList->at(i); + drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, 0.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true); + xCoord += gaugeWidth + leftSpacing; + // Move one row down if necessary + if (xCoord + gaugeWidth > vwidth) + { + yCoord += topSpacing + gaugeWidth; + xCoord = leftSpacing + gaugeWidth/2.0f; + } + } } void HDDisplay::start() @@ -133,7 +161,7 @@ void HDDisplay::stop() */ void HDDisplay::setActiveUAS(UASInterface* uas) { - qDebug() << "ATTEMPTING TO SET UAS"; + //qDebug() << "ATTEMPTING TO SET UAS"; if (this->uas != NULL && this->uas != uas) { // Disconnect any previously connected active MAV @@ -144,7 +172,7 @@ void HDDisplay::setActiveUAS(UASInterface* uas) //if (this->uas != uas) // { - qDebug() << "UAS SET!" << "ID:" << uas->getUASID(); + //qDebug() << "UAS SET!" << "ID:" << uas->getUASID(); // Setup communication connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64))); //} @@ -349,11 +377,8 @@ void HDDisplay::drawSystemIndicator(float xRef, float yRef, int maxNum, float ma float height = 1.5f; const float hspacing = 0.6f; - // TODO ensure that instrument stays smaller than maxWidth and maxHeight - - int i = 0; - while (value.hasNext() && i < maxNum) + while (value.hasNext() && i < maxNum && x < maxWidth && y < maxHeight) { value.next(); QBrush brush(Qt::SolidPattern); diff --git a/src/ui/HDDisplay.h b/src/ui/HDDisplay.h index d73b3b2d1d371ed2700a4db8f3939eeddb17cc50..3cd126238c03c779ae80e190ffb5587debcc4469 100644 --- a/src/ui/HDDisplay.h +++ b/src/ui/HDDisplay.h @@ -36,6 +36,8 @@ This file is part of the PIXHAWK project #include #include #include +#include +#include #include #include "UASInterface.h" @@ -47,7 +49,7 @@ namespace Ui { class HDDisplay : public QWidget { Q_OBJECT public: - HDDisplay(QWidget *parent = 0); + HDDisplay(QStringList* plotList, QWidget *parent = 0); ~HDDisplay(); public slots: @@ -84,6 +86,10 @@ protected: QMap valuesMean; ///< Mean since system startup for this variable QMap valuesCount; ///< Number of values received so far QMap lastUpdate; ///< The last update time for this variable + QMap minValues; ///< The minimum value this variable is assumed to have + QMap maxValues; ///< The maximum value this variable is assumed to have + QMap > goodRanges; ///< The range of good values + QMap > critRanges; ///< The range of critical values double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size. @@ -114,6 +120,8 @@ 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 + private: Ui::HDDisplay *m_ui; }; diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc index d2fd4db4bc9e6884d0a3077ed9c57cad45a7d686..3e31ee28237a8d64c580348ec3a5a4af4f87c516 100644 --- a/src/ui/HUD.cc +++ b/src/ui/HUD.cc @@ -31,6 +31,7 @@ This file is part of the PIXHAWK project #include #include +#include #include "UASManager.h" #include "HUD.h" @@ -41,6 +42,20 @@ This file is part of the PIXHAWK project #define GL_MULTISAMPLE 0x809D #endif +template +inline bool isnan(T value) +{ +return value != value; + +} + +// requires #include +template +inline bool isinf(T value) +{ + return std::numeric_limits::has_infinity && (value == std::numeric_limits::infinity() || (-1*value) == std::numeric_limits::infinity()); +} + /** * @warning The HUD widget will not start painting its content automatically * to update the view, start the auto-update by calling HUD::start(). @@ -158,16 +173,25 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse { // if (this->uas == uas) //{ + if (!isnan(value) && !isinf(value)) + { // Update mean const float oldMean = valuesMean.value(name, 0.0f); const int meanCount = valuesCount.value(name, 0); - valuesMean.insert(name, (oldMean * meanCount + value) / (meanCount + 1)); + double mean = (oldMean * meanCount + value) / (meanCount + 1); + if (isnan(mean) || isinf(mean)) mean = 0.0; + valuesMean.insert(name, mean); valuesCount.insert(name, meanCount + 1); // Two-value sliding average - valuesDot.insert(name, (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f); + double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f; + if (isnan(dot) || isinf(dot)) dot = 0.0; + valuesDot.insert(name, dot); values.insert(name, value); lastUpdate.insert(name, msec); //} + + qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount; + } } /** @@ -477,9 +501,9 @@ void HUD::paintRollPitchStrips() void HUD::paintGL() { // Read out most important values to limit hash table lookups - const float roll = values.value("roll", 0.0f); - const float pitch = values.value("pitch", 0.0f); - const float yaw = values.value("yaw", 0.0f); + static float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f); + static float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f); + static float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f); //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw; @@ -616,20 +640,15 @@ void HUD::paintGL() // MOVING PARTS - painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f)); + // Translate for yaw - const float maxYawTrans = 100.0f; + const float maxYawTrans = 60.0f; float yawDiff = valuesDot.value("yaw", 0.0f); - while (yawDiff > M_PI) - { - yawDiff = yawDiff - M_PI; - } + if (isinf(yawDiff)) yawDiff = 0.0f; + if (yawDiff > M_PI) yawDiff = yawDiff - M_PI; - while (yawDiff < -M_PI) - { - yawDiff = yawDiff + M_PI; - } + if (yawDiff < -M_PI) yawDiff = yawDiff + M_PI; yawInt += yawDiff; @@ -642,6 +661,8 @@ void HUD::paintGL() painter.translate(refToScreenX(yawTrans), 0); + painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f)); + // Rotate view and draw all roll-dependent indicators painter.rotate((roll/M_PI)* -180.0f); diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 341d73596accd4a49d5063029b50a0480943ec69..3452a9fa31e967358411bafc57e917a60e9a7b1b 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -96,10 +96,19 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent) protocol->setVisible(false); parameters = new ParameterInterface(this); parameters->setVisible(false); - /*headDown1 = new HDDisplay(this); + + QStringList* acceptList = new QStringList(); + acceptList->append("roll IMU"); + acceptList->append("pitch IMU"); + acceptList->append("yaw IMU"); + headDown1 = new HDDisplay(acceptList, this); headDown1->setVisible(false); - headDown2 = new HDDisplay(this); - headDown2->setVisible(false);*/ + + QStringList* acceptList2 = new QStringList(); + acceptList2->append("Battery"); + acceptList2->append("Pressure"); + headDown2 = new HDDisplay(acceptList2, this); + headDown2->setVisible(false); centerStack->addWidget(map); centerStack->addWidget(hud); setCentralWidget(centerStack); @@ -107,7 +116,8 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent) // Get IPs QList hostAddresses = QNetworkInterface::allAddresses(); - QString windowname = qApp->applicationName() + qApp->applicationVersion(); + QString windowname = qApp->applicationName() + " " + qApp->applicationVersion(); + /* windowname.append(" (" + QHostInfo::localHostName() + ": "); bool prevAddr = false; for (int i = 0; i < hostAddresses.size(); i++) @@ -122,6 +132,7 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent) } windowname.append(")"); + */ setWindowTitle(windowname); #ifndef Q_WS_MAC @@ -155,7 +166,8 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent) ui.menuNetwork->addAction(commWidget->getAction()); udpLink->connect(); - simulationLink = new MAVLinkSimulationLink(); + simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt"); + 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()); @@ -177,6 +189,40 @@ QStatusBar* MGMainWindow::createStatusBar() return bar; } +void MGMainWindow::startVideoCapture() +{ + QString format = "bmp"; + QString initialPath = QDir::currentPath() + tr("/untitled.") + format; + + QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"), + initialPath, + tr("%1 Files (*.%2);;All Files (*)") + .arg(format.toUpper()) + .arg(format)); + delete videoTimer; + videoTimer = new QTimer(this); + videoTimer->setInterval(40); + connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen())); +} + +void MGMainWindow::stopVideoCapture() +{ + videoTimer->stop(); + + // TODO Convert raw images to PNG +} + +void MGMainWindow::saveScreen() +{ + QPixmap window = QPixmap::grabWindow(this->winId()); + QString format = "bmp"; + + if (!screenFileName.isEmpty()) + { + window.save(screenFileName, format.toAscii()); + } +} + void MGMainWindow::reloadStylesheet() { // Load style sheet @@ -313,18 +359,19 @@ void MGMainWindow::loadPilotView() // HEAD UP DISPLAY centerStack->setCurrentWidget(hud); hud->start(); - /*headDown1->start(); - headDown2->start(); //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*))); - QDockWidget* container1 = new QDockWidget(tr("Main Instruments"), this); + QDockWidget* container1 = new QDockWidget(tr("Primary Flight Display"), this); container1->setWidget(headDown1); addDockWidget(Qt::RightDockWidgetArea, container1); - QDockWidget* container2 = new QDockWidget(tr("Auxiliary Instruments"), this); + QDockWidget* container2 = new QDockWidget(tr("Payload Status"), this); container2->setWidget(headDown2); addDockWidget(Qt::RightDockWidgetArea, container2); - */ + + headDown1->start(); + headDown2->start(); + this->show(); } diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h index 21228119a620ef498c7fdf614153cc15e6ae4590..c73ad4e3b6388127122c37c4506c74b14dcf618a 100644 --- a/src/ui/MainWindow.h +++ b/src/ui/MainWindow.h @@ -114,6 +114,9 @@ public slots: void addLink(); void configure(); void UASCreated(UASInterface* uas); + void startVideoCapture(); + void stopVideoCapture(); + void saveScreen(); /** @brief Load view for pilot */ void loadPilotView(); @@ -154,6 +157,8 @@ protected: LogCompressor* comp; + QString screenFileName; + QTimer* videoTimer; private: Ui::MGMainWindow ui; diff --git a/src/ui/UASView.ui b/src/ui/UASView.ui index d0f4546cb8c3b0ccc4ed0a9b4d900b15efcc525c..b856d00907b439098b6ca811b6e1be0ba1cf8dee 100644 --- a/src/ui/UASView.ui +++ b/src/ui/UASView.ui @@ -245,7 +245,7 @@ QProgressBar::chunk#thrustBar { - + 16777215 @@ -288,19 +288,7 @@ QProgressBar::chunk#thrustBar { - - - - - 8 - - - - 0 - - - - + @@ -402,19 +390,6 @@ QProgressBar::chunk#thrustBar { - - - - Qt::Horizontal - - - - 5 - 5 - - - - @@ -495,13 +470,13 @@ QProgressBar::chunk#thrustBar { - + 4 - QLayout::SetDefaultConstraint + QLayout::SetMinimumSize diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc index eb8832c1a5605e0990793398381ed33aa923937f..4efba1f4de8c54089c7f6eed2d73a8e6a4b00146 100644 --- a/src/ui/uas/UASControlWidget.cc +++ b/src/ui/uas/UASControlWidget.cc @@ -117,6 +117,9 @@ void UASControlWidget::setMode(int mode) case MAV_MODE_TEST3: break; } + + // Set mode on system + if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3) this->uas->setMode(mode); } void UASControlWidget::cycleContextButton() diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc index e4b2fe84b29604eb97842c241a33c68d44927fae..18e20832edc6e3e44a1ea23409a68028bffd42e1 100644 --- a/src/ui/uas/UASView.cc +++ b/src/ui/uas/UASView.cc @@ -23,7 +23,7 @@ This file is part of the PIXHAWK project /** * @file - * @brief Display the airstrip of one unmanned vehicle in the UAS list + * @brief Implementation of one airstrip * * @author Lorenz Meier * @@ -43,6 +43,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : timeRemaining(0), state("UNKNOWN"), stateDesc(tr("Unknown system state")), + mode("MAV_MODE_UNKNOWN"), + thrust(0), m_ui(new Ui::UASView) { this->uas = uas; @@ -58,6 +60,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString))); + connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString))); connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double))); //connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool))); connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int))); @@ -104,6 +107,11 @@ UASView::~UASView() delete m_ui; } +void UASView::updateMode(int sysId, QString status, QString description) +{ + if (sysId == this->uas->getUASID()) m_ui->modeLabel->setText(status); +} + void UASView::mouseDoubleClickEvent (QMouseEvent * event) { UASManager::instance()->setActiveUAS(uas); @@ -269,7 +277,8 @@ void UASView::refresh() // Battery m_ui->batteryBar->setValue(static_cast(this->chargeLevel)); - m_ui->loadBar->setValue(static_cast(this->load)); + //m_ui->loadBar->setValue(static_cast(this->load)); + m_ui->thrustBar->setValue(this->thrust); if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME) { diff --git a/src/ui/uas/UASView.h b/src/ui/uas/UASView.h index 6abfc042b978cdf65a5fad6b38a295f44d166d3b..a57b44d097515266de2755d4061cf4962706d9ea 100644 --- a/src/ui/uas/UASView.h +++ b/src/ui/uas/UASView.h @@ -1,7 +1,6 @@ /*===================================================================== PIXHAWK Micro Air Vehicle Flying Robotics Toolkit -Please see our website at (c) 2009 PIXHAWK PROJECT @@ -24,7 +23,7 @@ This file is part of the PIXHAWK project /** * @file - * @brief Display the airstrip of one unmanned vehicle in the UAS list + * @brief Definition of one airstrip * * @author Lorenz Meier * @@ -57,6 +56,8 @@ public slots: void updateGlobalPosition(UASInterface*, double lon, double lat, double alt, quint64 usec); void updateSpeed(UASInterface*, double x, double y, double z, quint64 usec); void updateState(UASInterface*, QString uasState, QString stateDescription); + /** @brief Update the MAV mode */ + void updateMode(int sysId, QString status, QString description); void updateLoad(UASInterface* uas, double load); void receiveValue(int uasid, QString id, double value, quint64 time); void refresh(); @@ -78,6 +79,8 @@ protected: double load; QString state; QString stateDesc; + QString mode; + double thrust; void mouseDoubleClickEvent (QMouseEvent * event); /** @brief Mouse enters the widget */