Skip to content

Q
qgroundcontrol
Commit e69732cc authored by pixhawk's avatar pixhawk
Browse files
Options

Minor cleanups, major: MAVLink logging 100% implemented

parent c70292f0
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 573 additions and 306 deletions
images/style-mission.css
View file @ e69732cc
...@@ -49,15 +49,15 @@ border: 1px solid #777777; ...@@ -49,15 +49,15 @@ border: 1px solid #777777;
} }
QCheckBox::indicator:checked { QCheckBox::indicator:checked {
background-color: #555555; background-color: #379AC3;
} }
QCheckBox::indicator:checked:hover { QCheckBox::indicator:checked:hover {
background-color: #555555; background-color: #379AC3;
} }
QCheckBox::indicator:checked:pressed { QCheckBox::indicator:checked:pressed {
background-color: #555555; background-color: #379AC3;
} }
QCheckBox::indicator:indeterminate:hover { QCheckBox::indicator:indeterminate:hover {
...@@ -189,10 +189,12 @@ QPushButton { ...@@ -189,10 +189,12 @@ QPushButton {
QPushButton:checked { QPushButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080); background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
border: 2px solid #379AC3;
} }
QPushButton:pressed { QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
border: 2px solid #379AC3;
} }
QToolButton { QToolButton {
...@@ -207,10 +209,12 @@ QToolButton { ...@@ -207,10 +209,12 @@ QToolButton {
QToolButton:checked { QToolButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535); background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
border: 2px solid #379AC3;
} }
QToolButton:pressed { QToolButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
border: 2px solid #379AC3;
} }
QToolTip { QToolTip {
......
src/comm/AS4Protocol.cc
View file @ e69732cc
...@@ -43,6 +43,8 @@ This file is part of the QGROUNDCONTROL project ...@@ -43,6 +43,8 @@ This file is part of the QGROUNDCONTROL project
#include <inttypes.h> #include <inttypes.h>
#include <iostream> #include <iostream>
#include "QGC.h"
AS4Protocol::AS4Protocol() AS4Protocol::AS4Protocol()
{ {
...@@ -84,6 +86,10 @@ AS4Protocol::~AS4Protocol() ...@@ -84,6 +86,10 @@ AS4Protocol::~AS4Protocol()
void AS4Protocol::run() void AS4Protocol::run()
{ {
forever
{
QGC::SLEEP::msleep(5000);
}
} }
......
src/comm/MAVLinkProtocol.cc
View file @ e69732cc
/*===================================================================== /*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL 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.
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/ ======================================================================*/
/** /**
...@@ -59,7 +39,7 @@ MAVLinkProtocol::MAVLinkProtocol() : ...@@ -59,7 +39,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE), heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(false), m_heartbeatsEnabled(false),
m_loggingEnabled(false), m_loggingEnabled(false),
m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink.log")), m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink_packetlog.mavlink")),
m_enable_version_check(true), m_enable_version_check(true),
versionMismatchIgnore(false) versionMismatchIgnore(false)
{ {
...@@ -86,6 +66,7 @@ MAVLinkProtocol::~MAVLinkProtocol() ...@@ -86,6 +66,7 @@ MAVLinkProtocol::~MAVLinkProtocol()
{ {
if (m_logfile) if (m_logfile)
{ {
m_logfile->flush();
m_logfile->close(); m_logfile->close();
delete m_logfile; delete m_logfile;
} }
...@@ -95,6 +76,10 @@ MAVLinkProtocol::~MAVLinkProtocol() ...@@ -95,6 +76,10 @@ MAVLinkProtocol::~MAVLinkProtocol()
void MAVLinkProtocol::run() void MAVLinkProtocol::run()
{ {
forever
{
QGC::SLEEP::msleep(5000);
}
} }
QString MAVLinkProtocol::getLogfileName() QString MAVLinkProtocol::getLogfileName()
...@@ -124,12 +109,18 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -124,12 +109,18 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Log data // Log data
if (m_loggingEnabled) if (m_loggingEnabled)
{ {
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
quint64 time = MG::TIME::getGroundTimeNowUsecs(); uint8_t buf[len];
quint64 time = QGC::groundTimeUsecs();
memcpy(buf, (void*)&time, sizeof(quint64)); memcpy(buf, (void*)&time, sizeof(quint64));
// int packetlen =
// quint64 checktime = *((quint64*)buf);
// qDebug() << "TIME" << time << "CHECKTIME:" << checktime;
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message); mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
m_logfile->write((const char*) buf); QByteArray b((const char*)buf, len);
qDebug() << "WROTE LOGFILE"; //int packetlen =
if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64)) qDebug() << "WRITING TO LOG FAILED!";
//qDebug() << "WROTE LOGFILE";
} }
// ORDER MATTERS HERE! // ORDER MATTERS HERE!
...@@ -170,7 +161,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -170,7 +161,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (!versionMismatchIgnore) if (!versionMismatchIgnore)
{ {
emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"), emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION)); tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
versionMismatchIgnore = true; versionMismatchIgnore = true;
} }
...@@ -189,37 +180,37 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -189,37 +180,37 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
break; break;
case MAV_AUTOPILOT_PIXHAWK: case MAV_AUTOPILOT_PIXHAWK:
{ {
// Fixme differentiate between quadrotor and coaxial here // Fixme differentiate between quadrotor and coaxial here
PxQuadMAV* mav = new PxQuadMAV(this, message.sysid); PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
// Connect this robot to the UAS object // Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type, // it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special // else the slot of the parent object is called (and thus the special
// packets never reach their goal) // packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav; uas = mav;
} }
break; break;
case MAV_AUTOPILOT_SLUGS: case MAV_AUTOPILOT_SLUGS:
{ {
SlugsMAV* mav = new SlugsMAV(this, message.sysid); SlugsMAV* mav = new SlugsMAV(this, message.sysid);
// Connect this robot to the UAS object // Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type, // it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special // else the slot of the parent object is called (and thus the special
// packets never reach their goal) // packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav; uas = mav;
} }
break; break;
case MAV_AUTOPILOT_ARDUPILOTMEGA: case MAV_AUTOPILOT_ARDUPILOTMEGA:
{ {
ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid); ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
// Connect this robot to the UAS object // Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type, // it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special // else the slot of the parent object is called (and thus the special
// packets never reach their goal) // packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav; uas = mav;
} }
break; break;
default: default:
uas = new UAS(this, message.sysid); uas = new UAS(this, message.sysid);
...@@ -389,23 +380,37 @@ void MAVLinkProtocol::enableHeartbeats(bool enabled) ...@@ -389,23 +380,37 @@ void MAVLinkProtocol::enableHeartbeats(bool enabled)
void MAVLinkProtocol::enableLogging(bool enabled) void MAVLinkProtocol::enableLogging(bool enabled)
{ {
if (enabled && !m_loggingEnabled) bool changed = false;
if (enabled != m_loggingEnabled) changed = true;
if (enabled)
{ {
if (m_logfile->isOpen()) m_logfile->close(); if (m_logfile->isOpen())
m_logfile->open(QIODevice::WriteOnly | QIODevice::Append); {
m_logfile->flush();
m_logfile->close();
}
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
qDebug() << "OPENING LOGFILE FAILED!";
}
} }
else if (!enabled) else if (!enabled)
{ {
m_logfile->close(); m_logfile->flush();
m_logfile->close();
} }
m_loggingEnabled = enabled; m_loggingEnabled = enabled;
emit loggingChanged(enabled); if (changed) emit loggingChanged(enabled);
} }
void MAVLinkProtocol::setLogfileName(const QString& filename) void MAVLinkProtocol::setLogfileName(const QString& filename)
{ {
m_logfile->flush();
m_logfile->close(); m_logfile->close();
m_logfile->setFileName(filename); m_logfile->setFileName(filename);
enableLogging(m_loggingEnabled);
} }
void MAVLinkProtocol::enableVersionCheck(bool enabled) void MAVLinkProtocol::enableVersionCheck(bool enabled)
......
src/comm/MAVLinkSimulationLink.cc
View file @ e69732cc
...@@ -141,7 +141,7 @@ void MAVLinkSimulationLink::run() ...@@ -141,7 +141,7 @@ void MAVLinkSimulationLink::run()
} }
last = MG::TIME::getGroundTimeNow(); last = MG::TIME::getGroundTimeNow();
} }
MG::SLEEP::msleep(3); QGC::SLEEP::msleep(3);
} }
} }
...@@ -381,14 +381,16 @@ void MAVLinkSimulationLink::mainloop() ...@@ -381,14 +381,16 @@ void MAVLinkSimulationLink::mainloop()
float hackDt = 0.1f; // 100 ms float hackDt = 0.1f; // 100 ms
// Move X Position // Move X Position
x = 12.0*sin(((double)circleCounter)/100.0); x = 12.0*sin(((double)circleCounter)/200.0);
y = 5.0*cos(((double)circleCounter)/100.0); y = 5.0*cos(((double)circleCounter)/200.0);
z = 1.8 + 1.2*sin(((double)circleCounter)/60.0); z = 1.8 + 1.2*sin(((double)circleCounter)/200.0);
float xSpeed = (x - lastX)/hackDt; float xSpeed = (x - lastX)/hackDt;
float ySpeed = (y - lastY)/hackDt; float ySpeed = (y - lastY)/hackDt;
float zSpeed = (z - lastZ)/hackDt; float zSpeed = (z - lastZ)/hackDt;
circleCounter++; circleCounter++;
...@@ -423,14 +425,14 @@ void MAVLinkSimulationLink::mainloop() ...@@ -423,14 +425,14 @@ void MAVLinkSimulationLink::mainloop()
// streampointer += bufferlength; // streampointer += bufferlength;
// GLOBAL POSITION // GLOBAL POSITION
mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15*100.0); mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed, ySpeed, zSpeed);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream //add data into datastream
memcpy(stream+streampointer,buffer, bufferlength); memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength; streampointer += bufferlength;
// GLOBAL POSITION VEHICLE 2 // GLOBAL POSITION VEHICLE 2
mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15.0*100.0); mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed, ySpeed, zSpeed);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream //add data into datastream
memcpy(stream+streampointer,buffer, bufferlength); memcpy(stream+streampointer,buffer, bufferlength);
......
src/comm/SerialSimulationLink.cc
View file @ e69732cc
...@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include <QFile> #include <QFile>
#include <QDebug> #include <QDebug>
#include <MG.h> #include <MG.h>
#include "QGC.h"
/** /**
* Create a simulated link. This link is connected to an input and output file. * Create a simulated link. This link is connected to an input and output file.
...@@ -92,6 +93,10 @@ void SerialSimulationLink::run() ...@@ -92,6 +93,10 @@ void SerialSimulationLink::run()
msleep(rate); msleep(rate);
}*/ }*/
forever
{
QGC::SLEEP::msleep(5000);
}
} }
void SerialSimulationLink::enableLoopBackMode(SerialLink* loop) void SerialSimulationLink::enableLoopBackMode(SerialLink* loop)
......
src/comm/UDPLink.cc
View file @ e69732cc
...@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
#include <iostream> #include <iostream>
#include "UDPLink.h" #include "UDPLink.h"
#include "LinkManager.h" #include "LinkManager.h"
#include "MG.h" #include "QGC.h"
//#include <netinet/in.h> //#include <netinet/in.h>
UDPLink::UDPLink(QHostAddress host, quint16 port) UDPLink::UDPLink(QHostAddress host, quint16 port)
...@@ -64,6 +64,10 @@ UDPLink::~UDPLink() ...@@ -64,6 +64,10 @@ UDPLink::~UDPLink()
**/ **/
void UDPLink::run() void UDPLink::run()
{ {
forever
{
QGC::SLEEP::msleep(5000);
}
} }
void UDPLink::setAddress(QString address) void UDPLink::setAddress(QString address)
...@@ -242,7 +246,7 @@ bool UDPLink::connect() ...@@ -242,7 +246,7 @@ bool UDPLink::connect()
if (connectState) if (connectState)
{ {
emit connected(); emit connected();
connectionStartTime = MG::TIME::getGroundTimeNow(); connectionStartTime = QGC::groundTimeUsecs()/1000;
} }
start(HighPriority); start(HighPriority);
...@@ -281,7 +285,7 @@ qint64 UDPLink::getNominalDataRate() { ...@@ -281,7 +285,7 @@ qint64 UDPLink::getNominalDataRate() {
qint64 UDPLink::getTotalUpstream() { qint64 UDPLink::getTotalUpstream() {
statisticsMutex.lock(); statisticsMutex.lock();
qint64 totalUpstream = bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000); qint64 totalUpstream = bitsSentTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
statisticsMutex.unlock(); statisticsMutex.unlock();
return totalUpstream; return totalUpstream;
} }
...@@ -304,7 +308,7 @@ qint64 UDPLink::getBitsReceived() { ...@@ -304,7 +308,7 @@ qint64 UDPLink::getBitsReceived() {
qint64 UDPLink::getTotalDownstream() { qint64 UDPLink::getTotalDownstream() {
statisticsMutex.lock(); statisticsMutex.lock();
qint64 totalDownstream = bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000); qint64 totalDownstream = bitsReceivedTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
statisticsMutex.unlock(); statisticsMutex.unlock();
return totalDownstream; return totalDownstream;
} }
......
src/input/JoystickInput.cc
View file @ e69732cc
...@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project ...@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
#include <limits.h> #include <limits.h>
#include "UAS.h" #include "UAS.h"
#include "UASManager.h" #include "UASManager.h"
#include "QGC.h"
/** /**
* The coordinate frame of the joystick axis is the aeronautical frame like shown on this image: * The coordinate frame of the joystick axis is the aeronautical frame like shown on this image:
...@@ -276,7 +277,7 @@ void JoystickInput::run() ...@@ -276,7 +277,7 @@ void JoystickInput::run()
} }
// Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms) // Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms)
MG::SLEEP::msleep(20); QGC::SLEEP::msleep(20);
} }
......
src/uas/UAS.cc
View file @ e69732cc
...@@ -434,7 +434,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -434,7 +434,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{ {
emit valueChanged(uasId, "speed", "m/s", pos.v, time); emit valueChanged(uasId, "speed", "m/s", pos.v, time);
//qDebug() << "GOT GPS RAW"; //qDebug() << "GOT GPS RAW";
emit speedChanged(this, (double)pos.v, 0.0, 0.0, time); // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
} }
else else
{ {
......
src/uas/UASManager.cc
View file @ e69732cc
...@@ -33,10 +33,12 @@ This file is part of the QGROUNDCONTROL project ...@@ -33,10 +33,12 @@ This file is part of the QGROUNDCONTROL project
#include <QMessageBox> #include <QMessageBox>
#include <QTimer> #include <QTimer>
#include "UAS.h" #include "UAS.h"
#include <UASInterface.h> #include "UASInterface.h"
#include <UASManager.h> #include "UASManager.h"
#include "QGC.h"
UASManager* UASManager::instance() { UASManager* UASManager::instance()
{
static UASManager* _instance = 0; static UASManager* _instance = 0;
if(_instance == 0) { if(_instance == 0) {
_instance = new UASManager(); _instance = new UASManager();
...@@ -67,6 +69,10 @@ UASManager::~UASManager() ...@@ -67,6 +69,10 @@ UASManager::~UASManager()
void UASManager::run() void UASManager::run()
{ {
forever
{
QGC::SLEEP::msleep(5000);
}
} }
void UASManager::addUAS(UASInterface* uas) void UASManager::addUAS(UASInterface* uas)
...@@ -104,12 +110,6 @@ QList<UASInterface*> UASManager::getUASList() ...@@ -104,12 +110,6 @@ QList<UASInterface*> UASManager::getUASList()
UASInterface* UASManager::getActiveUAS() UASInterface* UASManager::getActiveUAS()
{ {
// if(!activeUAS)
// {
// QMessageBox msgBox;
// msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
// msgBox.exec();
// }
return activeUAS; ///< Return zero pointer if no UAS has been loaded return activeUAS; ///< Return zero pointer if no UAS has been loaded
} }
...@@ -193,8 +193,6 @@ void UASManager::setActiveUAS(UASInterface* uas) ...@@ -193,8 +193,6 @@ void UASManager::setActiveUAS(UASInterface* uas)
activeUAS = uas; activeUAS = uas;
activeUASMutex.unlock(); activeUASMutex.unlock();
qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << uas->getUASName();
emit activeUASSet(uas); emit activeUASSet(uas);
emit activeUASSet(uas->getUASID()); emit activeUASSet(uas->getUASID());
emit activeUASStatusChanged(uas, true); emit activeUASStatusChanged(uas, true);
......
src/ui/HDDisplay.cc
View file @ e69732cc
...@@ -66,6 +66,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) : ...@@ -66,6 +66,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
setWindowTitle(title); setWindowTitle(title);
//m_ui->setupUi(this); //m_ui->setupUi(this);
setAutoFillBackground(true);
// Add all items in accept list to gauge // Add all items in accept list to gauge
if (plotList) if (plotList)
{ {
...@@ -150,7 +152,7 @@ HDDisplay::~HDDisplay() ...@@ -150,7 +152,7 @@ HDDisplay::~HDDisplay()
QSize HDDisplay::sizeHint() const QSize HDDisplay::sizeHint() const
{ {
return QSize(400, 400*(vwidth/vheight)); return QSize(400, 400.0f*(vwidth/vheight)*1.1f);
} }
void HDDisplay::enableGLRendering(bool enable) void HDDisplay::enableGLRendering(bool enable)
...@@ -164,6 +166,35 @@ void HDDisplay::triggerUpdate() ...@@ -164,6 +166,35 @@ void HDDisplay::triggerUpdate()
update(this->geometry()); update(this->geometry());
} }
//void HDDisplay::updateValue(UASInterface* uas, const QString& name, const QString& unit, double value, quint64 msec)
//{
// // UAS is not needed
// Q_UNUSED(uas);
// if (!isnan(value) && !isinf(value))
// {
// // Update mean
// const float oldMean = valuesMean.value(name, 0.0f);
// const int meanCount = valuesCount.value(name, 0);
// 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
// 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;
// }
//}
void HDDisplay::paintEvent(QPaintEvent * event) void HDDisplay::paintEvent(QPaintEvent * event)
{ {
Q_UNUSED(event); Q_UNUSED(event);
...@@ -180,7 +211,12 @@ void HDDisplay::contextMenuEvent (QContextMenuEvent* event) ...@@ -180,7 +211,12 @@ void HDDisplay::contextMenuEvent (QContextMenuEvent* event)
menu.addActions(getItemRemoveActions()); menu.addActions(getItemRemoveActions());
menu.addSeparator(); menu.addSeparator();
menu.addAction(setColumnsAction); menu.addAction(setColumnsAction);
menu.addAction(setTitleAction); // Title change would ruin settings
// this can only be allowed once
// HDDisplays are instantiated
// by a factory method based on
// QSettings
//menu.addAction(setTitleAction);
menu.exec(event->globalPos()); menu.exec(event->globalPos());
} }
...@@ -249,11 +285,20 @@ void HDDisplay::addGauge() ...@@ -249,11 +285,20 @@ void HDDisplay::addGauge()
QStringList items; QStringList items;
for (int i = 0; i < values.count(); ++i) for (int i = 0; i < values.count(); ++i)
{ {
items.append(QString("%1,%2,%3,%4").arg("-180").arg(values.keys().at(i)).arg(units.keys().at(i)).arg("+180")); QString key = values.keys().at(i);
QString unit = units.value(key);
if (unit.contains("deg") || unit.contains("rad"))
{
items.append(QString("%1,%2,%3,%4,s").arg("-180").arg(key).arg(unit).arg("+180"));
}
else
{
items.append(QString("%1,%2,%3,%4").arg("-180").arg(key).arg(unit).arg("+180"));
}
} }
bool ok; bool ok;
QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"), QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
tr("Format: min, curve name, max"), items, 0, true, &ok); tr("Format: min, curve name, max[,s]"), items, 0, true, &ok);
if (ok && !item.isEmpty()) if (ok && !item.isEmpty())
{ {
addGauge(item); addGauge(item);
...@@ -573,6 +618,11 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float ...@@ -573,6 +618,11 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
} }
circlePen.setWidth(refLineWidthToPen(radius/12.0f)); circlePen.setWidth(refLineWidthToPen(radius/12.0f));
circlePen.setColor(color); circlePen.setColor(color);
if (symmetric)
{
circlePen.setStyle(Qt::DashLine);
}
painter->setBrush(Qt::NoBrush); painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen); painter->setPen(circlePen);
drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter); drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
...@@ -634,8 +684,8 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float ...@@ -634,8 +684,8 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
QPolygonF p(6); QPolygonF p(6);
p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f)); p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
p.replace(1, QPointF(xRef-minWidth/2.0f, yRef+nameHeight+radius * 0.9f)); p.replace(1, QPointF(xRef-minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.9f)); p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef+nameHeight+radius * 0.05f)); p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
p.replace(4, QPointF(xRef, yRef+nameHeight+radius * 0.0f)); p.replace(4, QPointF(xRef, yRef+nameHeight+radius * 0.0f));
p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f)); p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
...@@ -818,6 +868,7 @@ void HDDisplay::updateValue(const int uasId, const QString& name, const QString& ...@@ -818,6 +868,7 @@ void HDDisplay::updateValue(const int uasId, const QString& name, const QString&
valuesCount.insert(name, meanCount + 1); valuesCount.insert(name, meanCount + 1);
valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f)); valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
values.insert(name, value); values.insert(name, value);
units.insert(name, unit);
lastUpdate.insert(name, msec); lastUpdate.insert(name, msec);
} }
......
src/ui/HDDisplay.h
View file @ e69732cc
...@@ -137,7 +137,7 @@ protected: ...@@ -137,7 +137,7 @@ protected:
UASInterface* uas; ///< The uas currently monitored UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays QMap<QString, float> values; ///< The variables this HUD displays
QMap<QString, float> units; ///< The units QMap<QString, QString> units; ///< The units
QMap<QString, float> valuesDot; ///< First derivative of the variable QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far QMap<QString, int> valuesCount; ///< Number of values received so far
......
src/ui/HUD.cc
View file @ e69732cc
This diff is collapsed.
src/ui/HUD.h
View file @ e69732cc
...@@ -63,11 +63,8 @@ public slots: ...@@ -63,11 +63,8 @@ public slots:
/** @brief Set the currently monitored UAS */ /** @brief Set the currently monitored UAS */
void setActiveUAS(UASInterface* uas); void setActiveUAS(UASInterface* uas);
/** @brief Update a HUD value */
void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp); void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec); // void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
void updateBattery(UASInterface*, double, double, int); void updateBattery(UASInterface*, double, double, int);
void receiveHeartbeat(UASInterface*); void receiveHeartbeat(UASInterface*);
void updateThrust(UASInterface*, double); void updateThrust(UASInterface*, double);
...@@ -103,8 +100,6 @@ protected slots: ...@@ -103,8 +100,6 @@ protected slots:
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter); void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true); void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void drawPolygon(QPolygonF refPolygon, QPainter* painter); void drawPolygon(QPolygonF refPolygon, QPainter* painter);
...@@ -130,11 +125,6 @@ protected: ...@@ -130,11 +125,6 @@ protected:
QImage* image; ///< Double buffer image QImage* image; ///< Double buffer image
QImage glImage; ///< The background / camera image QImage glImage; ///< The background / camera image
UASInterface* uas; ///< The uas currently monitored UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
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
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
float yawInt; ///< The yaw integral. Used to damp the yaw indication. float yawInt; ///< The yaw integral. Used to damp the yaw indication.
QString mode; ///< The current vehicle mode QString mode; ///< The current vehicle mode
QString state; ///< The current vehicle state QString state; ///< The current vehicle state
...@@ -188,7 +178,20 @@ protected: ...@@ -188,7 +178,20 @@ protected:
float roll; float roll;
float pitch; float pitch;
float yaw; float yaw;
float yawDiff; float rollLP;
float pitchLP;
float yawLP;
double yawDiff;
double xPos;
double yPos;
double zPos;
double xSpeed;
double ySpeed;
double zSpeed;
double lat;
double lon;
double alt;
float load;
void paintEvent(QPaintEvent *event); void paintEvent(QPaintEvent *event);
}; };
......
src/ui/MainWindow.cc
View file @ e69732cc
...@@ -86,7 +86,10 @@ MainWindow::MainWindow(QWidget *parent): ...@@ -86,7 +86,10 @@ MainWindow::MainWindow(QWidget *parent):
} }
else else
{ {
currentView = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt(); if (settings.value("CURRENT_VIEW", VIEW_PILOT) != VIEW_PILOT)
{
currentView = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
}
} }
// Check if the settings exist, instantiate defaults if necessary // Check if the settings exist, instantiate defaults if necessary
...@@ -316,8 +319,8 @@ void MainWindow::buildPxWidgets() ...@@ -316,8 +319,8 @@ void MainWindow::buildPxWidgets()
//FIXME: memory of acceptList2 will never be freed again //FIXME: memory of acceptList2 will never be freed again
QStringList* acceptList2 = new QStringList(); QStringList* acceptList2 = new QStringList();
acceptList2->append("0,abs pressure,hPa,65500"); acceptList2->append("0,abs pressure,hPa,65500");
acceptList2->append("-2000,accel. X,raw,2000,s"); acceptList2->append("-999,accel. X,raw,999,s");
acceptList2->append("-2000,accel. Y,raw,2000,s"); acceptList2->append("-999,accel. Y,raw,999,s");
if (!linechartWidget) if (!linechartWidget)
{ {
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ e69732cc
...@@ -2,7 +2,9 @@ ...@@ -2,7 +2,9 @@
#include <QMessageBox> #include <QMessageBox>
#include <QDesktopServices> #include <QDesktopServices>
#include "MainWindow.h"
#include "QGCMAVLinkLogPlayer.h" #include "QGCMAVLinkLogPlayer.h"
#include "QGC.h"
#include "ui_QGCMAVLinkLogPlayer.h" #include "ui_QGCMAVLinkLogPlayer.h"
QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent) : QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent) :
...@@ -11,18 +13,27 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare ...@@ -11,18 +13,27 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
totalLines(0), totalLines(0),
startTime(0), startTime(0),
endTime(0), endTime(0),
currentTime(0), currentStartTime(0),
accelerationFactor(1.0f),
mavlink(mavlink), mavlink(mavlink),
logLink(NULL),
loopCounter(0),
ui(new Ui::QGCMAVLinkLogPlayer) ui(new Ui::QGCMAVLinkLogPlayer)
{ {
ui->setupUi(this); ui->setupUi(this);
ui->gridLayout->setAlignment(Qt::AlignTop); ui->gridLayout->setAlignment(Qt::AlignTop);
// Setup timer
connect(&loopTimer, SIGNAL(timeout()), this, SLOT(logLoop()));
// Setup buttons // Setup buttons
connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectLogFile())); connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectLogFile()));
connect(ui->pauseButton, SIGNAL(clicked()), this, SLOT(pause())); connect(ui->pauseButton, SIGNAL(clicked()), this, SLOT(pause()));
connect(ui->playButton, SIGNAL(clicked()), this, SLOT(play())); connect(ui->playButton, SIGNAL(clicked()), this, SLOT(play()));
connect(ui->speedSlider, SIGNAL(valueChanged(int)), this, SLOT(setAccelerationFactorInt(int)));
setAccelerationFactorInt(49);
ui->speedSlider->setValue(49);
} }
QGCMAVLinkLogPlayer::~QGCMAVLinkLogPlayer() QGCMAVLinkLogPlayer::~QGCMAVLinkLogPlayer()
...@@ -35,6 +46,15 @@ void QGCMAVLinkLogPlayer::play() ...@@ -35,6 +46,15 @@ void QGCMAVLinkLogPlayer::play()
if (logFile.isOpen()) if (logFile.isOpen())
{ {
ui->pauseButton->setChecked(false); ui->pauseButton->setChecked(false);
ui->selectFileButton->setEnabled(false);
if (logLink != NULL)
{
delete logLink;
}
logLink = new MAVLinkSimulationLink("");
// Start timer
loopTimer.start(1);
} }
else else
{ {
...@@ -51,7 +71,21 @@ void QGCMAVLinkLogPlayer::play() ...@@ -51,7 +71,21 @@ void QGCMAVLinkLogPlayer::play()
void QGCMAVLinkLogPlayer::pause() void QGCMAVLinkLogPlayer::pause()
{ {
loopTimer.stop();
ui->playButton->setChecked(false); ui->playButton->setChecked(false);
ui->selectFileButton->setEnabled(true);
delete logLink;
logLink = NULL;
}
void QGCMAVLinkLogPlayer::reset()
{
pause();
loopCounter = 0;
logFile.reset();
ui->pauseButton->setChecked(true);
ui->progressBar->setValue(0);
startTime = 0;
} }
void QGCMAVLinkLogPlayer::selectLogFile() void QGCMAVLinkLogPlayer::selectLogFile()
...@@ -61,27 +95,60 @@ void QGCMAVLinkLogPlayer::selectLogFile() ...@@ -61,27 +95,60 @@ void QGCMAVLinkLogPlayer::selectLogFile()
loadLogFile(fileName); loadLogFile(fileName);
} }
/**
* @param factor 0: 0.01X, 50: 1.0X, 100: 100.0X
*/
void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor)
{
float f = factor+1.0f;
f -= 50.0f;
if (f < 0.0f)
{
accelerationFactor = 1.0f / (-f/2.0f);
}
else
{
accelerationFactor = 1+(f/2.0f);
}
//qDebug() << "FACTOR:" << accelerationFactor;
ui->speedLabel->setText(tr("Speed: %1X").arg(accelerationFactor, 0, 'f', 2));
}
void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
{ {
// Ensure that the playback process is stopped
if (logFile.isOpen())
{
loopTimer.stop();
logFile.reset();
logFile.close();
}
logFile.setFileName(file); logFile.setFileName(file);
if (!logFile.open(QFile::ReadOnly)) if (!logFile.open(QFile::ReadOnly))
{ {
QMessageBox msgBox; MainWindow::instance()->showCriticalMessage(tr("The selected logfile is unreadable"), tr("Please make sure that the file %1 is readable or select a different file").arg(file));
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(tr("The selected logfile is unreadable"));
msgBox.setInformativeText(tr("Please make sure that the file %1 is readable or select a different file").arg(file));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
logFile.setFileName(""); logFile.setFileName("");
} }
else else
{ {
ui->logFileNameLabel->setText(tr("%1").arg(file)); QFileInfo logFileInfo(file);
logFile.reset();
startTime = 0;
ui->logFileNameLabel->setText(tr("%1").arg(logFileInfo.baseName()));
ui->logStatsLabel->setText(tr("Log: %2 MB, %3 packets").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))));
} }
} }
union log64
{
quint64 q;
const char* b;
};
/** /**
* This function is the "mainloop" of the log player, reading one line * This function is the "mainloop" of the log player, reading one line
* and adjusting the mainloop timer to read the next line in time. * and adjusting the mainloop timer to read the next line in time.
...@@ -90,14 +157,118 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file) ...@@ -90,14 +157,118 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
* For scientific logging, the use of onboard timestamps and the log * For scientific logging, the use of onboard timestamps and the log
* functionality of the line chart plot is recommended. * functionality of the line chart plot is recommended.
*/ */
void QGCMAVLinkLogPlayer::readLine() void QGCMAVLinkLogPlayer::logLoop()
{ {
const int packetLen = MAVLINK_MAX_PACKET_LEN;
const int timeLen = sizeof(quint64);
bool ok;
// Ui update: Only every 20 messages // First check initialization
// to prevent flickering and high CPU load if (startTime == 0)
{
QByteArray startBytes = logFile.read(timeLen);
// Check if the correct number of bytes could be read
if (startBytes.length() != timeLen)
{
ui->logStatsLabel->setText(tr("Error reading first %1 bytes").arg(timeLen));
MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Error reading first %1 bytes from logfile. Got %2 instead of %1 bytes. Is the logfile readable?").arg(timeLen).arg(startBytes.length()));
reset();
return;
}
// Convert data to timestamp
startTime = *((quint64*)(startBytes.constData()));
currentStartTime = QGC::groundTimeUsecs();
ok = true;
//qDebug() << "START TIME: " << startTime;
// Check if these bytes could be correctly decoded
if (!ok)
{
ui->logStatsLabel->setText(tr("Error decoding first timestamp, aborting."));
MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Could not load initial timestamp from file %1. Is the file corrupted?").arg(logFile.fileName()));
reset();
return;
}
}
// Initialization seems fine, load next chunk
QByteArray chunk = logFile.read(timeLen+packetLen);
QByteArray packet = chunk.mid(0, packetLen);
// Emit this packet
mavlink->receiveBytes(logLink, packet);
// Check if reached end of file before reading next timestamp
if (chunk.length() < timeLen+packetLen || logFile.atEnd())
{
// Reached end of file
reset();
QString status = tr("Reached end of MAVLink log file.");
ui->logStatsLabel->setText(status);
ui->progressBar->setValue(100);
MainWindow::instance()->showStatusMessage(status);
return;
}
// End of file not reached, read next timestamp
QByteArray rawTime = chunk.mid(packetLen);
// Update status label // This is the timestamp of the next packet
// Update progress bar quint64 time = *((quint64*)(rawTime.constData()));
ok = true;
if (!ok)
{
// Convert it to 64bit number
QString status = tr("Time conversion error during log replay. Continuing..");
ui->logStatsLabel->setText(status);
MainWindow::instance()->showStatusMessage(status);
}
else
{
// Normal processing, passed all checks
// start timer to match time offset between
// this and next packet
// Offset in ms
qint64 timediff = (time - startTime)/accelerationFactor;
// Immediately load any data within
// a 3 ms interval
int nextExecutionTime = (((qint64)currentStartTime + (qint64)timediff) - (qint64)QGC::groundTimeUsecs())/1000;
//qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
if (nextExecutionTime < 5)
{
logLoop();
}
else
{
loopTimer.start(nextExecutionTime);
}
// loopTimer.start(20);
if (loopCounter % 40 == 0)
{
QFileInfo logFileInfo(logFile);
int progress = 100.0f*(loopCounter/(float)(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))));
//qDebug() << "Progress:" << progress;
ui->progressBar->setValue(progress);
}
loopCounter++;
// Ui update: Only every 20 messages
// to prevent flickering and high CPU load
// Update status label
// Update progress bar
}
} }
void QGCMAVLinkLogPlayer::changeEvent(QEvent *e) void QGCMAVLinkLogPlayer::changeEvent(QEvent *e)
......
src/ui/QGCMAVLinkLogPlayer.h
View file @ e69732cc
...@@ -5,6 +5,7 @@ ...@@ -5,6 +5,7 @@
#include <QFile> #include <QFile>
#include "MAVLinkProtocol.h" #include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
namespace Ui { namespace Ui {
class QGCMAVLinkLogPlayer; class QGCMAVLinkLogPlayer;
...@@ -30,22 +31,30 @@ public slots: ...@@ -30,22 +31,30 @@ public slots:
void play(); void play();
/** @brief Pause the logfile */ /** @brief Pause the logfile */
void pause(); void pause();
/** @brief Reset the logfile */
void reset();
/** @brief Select logfile */ /** @brief Select logfile */
void selectLogFile(); void selectLogFile();
/** @brief Load log file */ /** @brief Load log file */
void loadLogFile(const QString& file); void loadLogFile(const QString& file);
/** @brief The logging mainloop */
void logLoop();
/** @brief Set acceleration factor in percent */
void setAccelerationFactorInt(int factor);
protected: protected:
int lineCounter; int lineCounter;
int totalLines; int totalLines;
quint64 startTime; quint64 startTime;
quint64 endTime; quint64 endTime;
quint64 currentTime; quint64 currentStartTime;
float accelerationFactor;
MAVLinkProtocol* mavlink; MAVLinkProtocol* mavlink;
MAVLinkSimulationLink* logLink;
QFile logFile; QFile logFile;
QTimer loopTimer; QTimer loopTimer;
int loopCounter;
void changeEvent(QEvent *e); void changeEvent(QEvent *e);
void readLine();
private: private:
Ui::QGCMAVLinkLogPlayer *ui; Ui::QGCMAVLinkLogPlayer *ui;
......
src/ui/linechart/LinechartWidget.cc
View file @ e69732cc
...@@ -142,15 +142,41 @@ updateTimer(new QTimer()) ...@@ -142,15 +142,41 @@ updateTimer(new QTimer())
updateTimer->setInterval(300); updateTimer->setInterval(300);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh())); connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
updateTimer->start(); readSettings();
} }
LinechartWidget::~LinechartWidget() { LinechartWidget::~LinechartWidget()
{
writeSettings();
stopLogging(); stopLogging();
delete listedCurves; delete listedCurves;
listedCurves = NULL; listedCurves = NULL;
} }
void LinechartWidget::writeSettings()
{
QSettings settings;
settings.beginGroup("LINECHART");
if (timeButton) settings.setValue("ENFORCE_GROUNDTIME", timeButton->isChecked());
if (unitsCheckBox) settings.setValue("SHOW_UNITS", unitsCheckBox->isChecked());
settings.endGroup();
settings.sync();
}
void LinechartWidget::readSettings()
{
QSettings settings;
settings.sync();
settings.beginGroup("LINECHART");
if (activePlot)
{
timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
activePlot->enforceGroundTime(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
}
if (unitsCheckBox) unitsCheckBox->setChecked(settings.value("SHOW_UNITS").toBool());
settings.endGroup();
}
void LinechartWidget::createLayout() void LinechartWidget::createLayout()
{ {
// Create actions // Create actions
...@@ -215,7 +241,7 @@ void LinechartWidget::createLayout() ...@@ -215,7 +241,7 @@ void LinechartWidget::createLayout()
connect(logButton, SIGNAL(clicked()), this, SLOT(startLogging())); connect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
// Ground time button // Ground time button
QCheckBox* timeButton = new QCheckBox(this); timeButton = new QCheckBox(this);
timeButton->setText(tr("Ground Time")); timeButton->setText(tr("Ground Time"));
timeButton->setToolTip(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time.")); timeButton->setToolTip(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
timeButton->setWhatsThis(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time.")); timeButton->setWhatsThis(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
...@@ -225,6 +251,7 @@ void LinechartWidget::createLayout() ...@@ -225,6 +251,7 @@ void LinechartWidget::createLayout()
layout->addWidget(timeButton, 1, 4); layout->addWidget(timeButton, 1, 4);
layout->setColumnStretch(4, 0); layout->setColumnStretch(4, 0);
connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool))); connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
connect(timeButton, SIGNAL(clicked()), this, SLOT(writeSettings()));
unitsCheckBox = new QCheckBox(this); unitsCheckBox = new QCheckBox(this);
unitsCheckBox->setText(tr("Show units")); unitsCheckBox->setText(tr("Show units"));
...@@ -232,21 +259,7 @@ void LinechartWidget::createLayout() ...@@ -232,21 +259,7 @@ void LinechartWidget::createLayout()
unitsCheckBox->setToolTip(tr("Enable unit display in curve list")); unitsCheckBox->setToolTip(tr("Enable unit display in curve list"));
unitsCheckBox->setWhatsThis(tr("Enable unit display in curve list")); unitsCheckBox->setWhatsThis(tr("Enable unit display in curve list"));
layout->addWidget(unitsCheckBox, 1, 5); layout->addWidget(unitsCheckBox, 1, 5);
connect(unitsCheckBox, SIGNAL(clicked()), this, SLOT(writeSettings()));
// Create the scroll bar
//scrollbar = new QScrollBar(Qt::Horizontal, ui.diagramGroupBox);
//scrollbar->setMinimum(MIN_TIME_SCROLLBAR_VALUE);
//scrollbar->setMaximum(MAX_TIME_SCROLLBAR_VALUE);
//scrollbar->setPageStep(PAGESTEP_TIME_SCROLLBAR_VALUE);
// Set scrollbar to maximum and disable it
//scrollbar->setValue(MIN_TIME_SCROLLBAR_VALUE);
//scrollbar->setDisabled(true);
// scrollbar->setFixedHeight(20);
// Add scroll bar to layout and make sure it gets all available space
//layout->addWidget(scrollbar, 1, 5);
//layout->setColumnStretch(5, 10);
ui.diagramGroupBox->setLayout(layout); ui.diagramGroupBox->setLayout(layout);
...@@ -255,14 +268,6 @@ void LinechartWidget::createLayout() ...@@ -255,14 +268,6 @@ void LinechartWidget::createLayout()
// Connect notifications from the user interface to the plot // Connect notifications from the user interface to the plot
connect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString))); connect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString)));
//connect(this, SIGNAL(curveSet(QString, int)), activePlot, SLOT(showshowCurveCurve(QString, int)));
// FIXME
// Connect notifications from the plot to the user interface
//connect(activePlot, SIGNAL(curveAdded(QString)), this, SLOT(addCurve(QString)));
//connect(activePlot, SIGNAL(curveRemoved(QString)), this, SLOT(removeCurve(QString)));
// Scrollbar
// Update scrollbar when plot window changes (via translator method setPlotWindowPosition() // Update scrollbar when plot window changes (via translator method setPlotWindowPosition()
connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64))); connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64)));
...@@ -612,6 +617,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit) ...@@ -612,6 +617,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
unitLabel->setToolTip(tr("Unit of ") + curve); unitLabel->setToolTip(tr("Unit of ") + curve);
unitLabel->setWhatsThis(tr("Unit of ") + curve); unitLabel->setWhatsThis(tr("Unit of ") + curve);
curvesWidgetLayout->addWidget(unitLabel, labelRow, 4); curvesWidgetLayout->addWidget(unitLabel, labelRow, 4);
unitLabel->setVisible(unitsCheckBox->isChecked());
connect(unitsCheckBox, SIGNAL(clicked(bool)), unitLabel, SLOT(setVisible(bool))); connect(unitsCheckBox, SIGNAL(clicked(bool)), unitLabel, SLOT(setVisible(bool)));
// Mean // Mean
...@@ -649,6 +655,10 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit) ...@@ -649,6 +655,10 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
// Set stretch factors so that the label gets the whole space // Set stretch factors so that the label gets the whole space
// Load visibility settings
// TODO
// Connect actions // Connect actions
QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool))); QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool)));
QObject::connect(this, SIGNAL(curveVisible(QString, bool)), plot, SLOT(setVisible(QString, bool))); QObject::connect(this, SIGNAL(curveVisible(QString, bool)), plot, SLOT(setVisible(QString, bool)));
...@@ -691,7 +701,7 @@ void LinechartWidget::setActive(bool active) ...@@ -691,7 +701,7 @@ void LinechartWidget::setActive(bool active)
} }
if (active) if (active)
{ {
updateTimer->start(); updateTimer->start(updateInterval);
} }
else else
{ {
......
src/ui/linechart/LinechartWidget.h
View file @ e69732cc
...@@ -95,6 +95,10 @@ public slots: ...@@ -95,6 +95,10 @@ public slots:
void stopLogging(); void stopLogging();
/** @brief Refresh the view */ /** @brief Refresh the view */
void refresh(); void refresh();
/** @brief Write the current configuration to disk */
void writeSettings();
/** @brief Read the current configuration from disk */
void readSettings();
protected: protected:
void addCurveToList(QString curve); void addCurveToList(QString curve);
...@@ -133,6 +137,7 @@ protected: ...@@ -133,6 +137,7 @@ protected:
QToolButton* scalingLogButton; QToolButton* scalingLogButton;
QToolButton* logButton; QToolButton* logButton;
QPointer<QCheckBox> unitsCheckBox; QPointer<QCheckBox> unitsCheckBox;
QPointer<QCheckBox> timeButton;
QFile* logFile; QFile* logFile;
unsigned int logindex; unsigned int logindex;
...@@ -140,6 +145,7 @@ protected: ...@@ -140,6 +145,7 @@ protected:
quint64 logStartTime; quint64 logStartTime;
QTimer* updateTimer; QTimer* updateTimer;
LogCompressor* compressor; LogCompressor* compressor;
static const int updateInterval = 400; ///< Time between number updates, in milliseconds
static const int MAX_CURVE_MENUITEM_NUMBER = 8; static const int MAX_CURVE_MENUITEM_NUMBER = 8;
static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10; static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment