Improved runtime performance, currently hunting down a bug where the whole...

Improved runtime performance, currently hunting down a bug where the whole application gets repainted although only parts of it are refreshed

src/ui/HDDisplay.cc

@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 #include "UASManager.h"
 #include "HDDisplay.h"
 #include "ui_HDDisplay.h"
+#include "MG.h"
 
 #include <QDebug>
 
@@ -68,14 +69,17 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
         normalStrokeWidth(1.0f),
         fineStrokeWidth(0.5f),
         acceptList(plotList),
+        lastPaintTime(0),
         m_ui(new Ui::HDDisplay)
 {
     //m_ui->setupUi(this);
 
+    this->setMinimumHeight(125);
+    this->setMinimumWidth(100);
 
     // Refresh timer
-    refreshTimer->setInterval(60);
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(repaint()));
+    refreshTimer->setInterval(100);
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
     //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintGL()));
 
     fontDatabase = QFontDatabase();
@@ -99,11 +103,27 @@ HDDisplay::~HDDisplay()
 
 void HDDisplay::paintEvent(QPaintEvent * event)
 {
-    paintGL();
+    //paintGL();
+    static quint64 interval = 0;
+    //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
+    interval = MG::TIME::getGroundTimeNow();
+    paintDisplay();
 }
 
 void HDDisplay::paintGL()
 {
+}
+
+void HDDisplay::paintDisplay()
+{
+    int refreshInterval = 100;
+    quint64 currTime = MG::TIME::getGroundTimeNow();
+    if (currTime - lastPaintTime < refreshInterval)
+    {
+        // FIXME Need to find the source of the spurious paint events
+        //return;
+    }
+    lastPaintTime = currTime;
     // Draw instruments
     // TESTING THIS SHOULD BE MOVED INTO A QGRAPHICSVIEW
     // Update scaling factor

src/ui/HDDisplay.h

@@ -61,6 +61,7 @@ public slots:
 
     protected slots:
     void paintGL();
+    void paintDisplay();
 
 protected:
     void changeEvent(QEvent *e);
@@ -122,6 +123,8 @@ protected:
 
     QStringList* acceptList;   ///< Variable names to plot
 
+    quint64 lastPaintTime;     ///< Last time this widget was refreshed
+
 private:
     Ui::HDDisplay *m_ui;
 };

src/ui/HUD.cc

@@ -126,8 +126,9 @@ HUD::HUD(int width, int height, QWidget* parent)
     glImage = QGLWidget::convertToGLFormat(fill);
 
     // Refresh timer
-    refreshTimer->setInterval(40); // 25 Hz
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
+    refreshTimer->setInterval(50); // 20 Hz
+    //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
 
     // Resize to correct size and fill with image
     resize(fill.size());
@@ -216,7 +217,7 @@ void HUD::setActiveUAS(UASInterface* uas)
         disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
-        disconnect(uas, SIGNAL(modeChanged(UASInterface*,QString,QString)), this, SLOT(updateMode(UASInterface*,QString)));
+        disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
         disconnect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
         disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
@@ -229,8 +230,10 @@ void HUD::setActiveUAS(UASInterface* uas)
     qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
     // Setup communication
     connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
-    //connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
-    //connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
+    connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
+    connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
+    connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+    connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
     //connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
     //connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
     //connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
@@ -264,6 +267,8 @@ void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int s
     updateValue(uas, "time remaining", seconds, MG::TIME::getGroundTimeNow());
     updateValue(uas, "charge level", percent, MG::TIME::getGroundTimeNow());
 
+    fuelStatus.sprintf("BAT [%02.0f \%% | %05.2fV] (%02dm:%02ds)", percent, voltage, seconds/60, seconds%60);
+
     if (percent < 20.0f)
     {
         fuelColor = warningColor;
@@ -327,10 +332,11 @@ void HUD::updateState(UASInterface* uas,QString state)
  * @param uas the system the state message originates from
  * @param mode short mode text, displayed in HUD
  */
-void HUD::updateMode(UASInterface* uas,QString mode)
+void HUD::updateMode(int id,QString mode, QString description)
 {
     // Only one UAS is connected at a time
-    Q_UNUSED(uas);
+    Q_UNUSED(id);
+    Q_UNUSED(description);
     this->mode = mode;
 }
 
@@ -365,7 +371,6 @@ float HUD::refToScreenY(float y)
  */
 void HUD::paintCenterBackground(float roll, float pitch, float yaw)
 {
-
     // Center indicator is 100 mm wide
     float referenceWidth = 70.0;
     float referenceHeight = 70.0;
@@ -422,7 +427,6 @@ void HUD::paintCenterBackground(float roll, float pitch, float yaw)
     glVertex2f(-300,0);
 
     glEnd();
-
 }
 
 /**
@@ -522,16 +526,26 @@ void HUD::paintRollPitchStrips()
 void HUD::paintEvent(QPaintEvent *event)
 {
     // Event is not needed
+    // the event is ignored as this widget
+    // is refreshed automatically
     Q_UNUSED(event);
+}
+
+void HUD::paintHUD()
+{
+//    static quint64 interval = 0;
+//    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
+//    interval = MG::TIME::getGroundTimeNow();
 
     // Read out most important values to limit hash table lookups
-    static float roll = 0.0;
-    static float pitch = 0.0;
-    static float yaw = 0.0;
+    static float roll = 0.0f;
+    static float pitch = 0.0f;
+    static float yaw = 0.0f;
 
-    roll = roll * 0.3 + 0.7 * values.value("roll", 0.0f);
-    pitch = pitch * 0.3 + 0.7 * values.value("pitch", 0.0f);
-    yaw = yaw * 0.3 + 0.7 * values.value("yaw", 0.0f);
+    // Low-pass roll, pitch and yaw
+    roll = roll * 0.2f + 0.8f * values.value("roll", 0.0f);
+    pitch = pitch * 0.2f + 0.8f * values.value("pitch", 0.0f);
+    yaw = yaw * 0.2f + 0.8f * values.value("yaw", 0.0f);
 
     // Translate for yaw
     const float maxYawTrans = 60.0f;
@@ -555,8 +569,6 @@ void HUD::paintEvent(QPaintEvent *event)
     yawInt *= 0.6f;
     //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
 
-
-
     // Update scaling factor
     // adjust scaling to fit both horizontally and vertically
     scalingFactor = this->width()/vwidth;
@@ -1304,6 +1316,8 @@ void HUD::resizeGL(int w, int h)
     glOrtho(0, w, 0, h, -1, 1);
     glMatrixMode(GL_MODELVIEW);
     glPolygonMode(GL_FRONT, GL_FILL);
+    //FIXME
+    paintHUD();
 }
 
 void HUD::selectWaypoint(UASInterface* uas, int id)

src/ui/HUD.h

@@ -80,7 +80,7 @@ public slots:
     void updateGlobalPosition(UASInterface*,double,double,double,quint64);
     void updateSpeed(UASInterface*,double,double,double,quint64);
     void updateState(UASInterface*,QString);
-    void updateMode(UASInterface*,QString);
+    void updateMode(int id,QString mode, QString description);
     void updateLoad(UASInterface*, double);
     void selectWaypoint(UASInterface* uas, int id);
 
@@ -98,6 +98,7 @@ protected slots:
     void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
     /** @brief Setup the OpenGL view for drawing a sub-component of the HUD */
     void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight);
+    void paintHUD();
     void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter);
     void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter);
 

src/ui/MainWindow.cc

@@ -77,6 +77,7 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
     // Initialize views, NOT show them yet, only initialize model and controller
     centerStack = new QStackedWidget(this);
     linechart = new LinechartWidget(this);
+    linechart->setActive(false);
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), linechart, SLOT(setActivePlot(UASInterface*)));
     centerStack->addWidget(linechart);
     control = new UASControlWidget(this);
@@ -346,6 +347,7 @@ void MainWindow::clearView()
 { 
     // Halt HUD
     hud->stop();
+    linechart->setActive(false);
     headDown1->stop();
     headDown2->stop();
 
@@ -399,7 +401,7 @@ void MainWindow::loadOperatorView()
 
     GAudioOutput::instance()->say("Switched to Operator View");
 
-    // LINE CHART
+    // MAP
     centerStack->setCurrentWidget(map);
 
     // UAS CONTROL
@@ -442,6 +444,7 @@ void MainWindow::loadSettingsView()
     GAudioOutput::instance()->say("Switched to Settings View");
 
     // LINE CHART
+    linechart->setActive(true);
     centerStack->setCurrentWidget(linechart);
 
     // COMM XML
@@ -463,6 +466,7 @@ void MainWindow::loadEngineerView()
     GAudioOutput::instance()->say("Switched to Engineer View");
 
     // LINE CHART
+    linechart->setActive(true);
     centerStack->setCurrentWidget(linechart);
 
     // UAS CONTROL

src/ui/MapWidget.cc

@@ -153,12 +153,10 @@ void MapWidget::keyPressEvent(QKeyEvent *event)
     }
 }
 
-void MapWidget::resizeEvent(QResizeEvent * event )
+void MapWidget::resizeEvent(QResizeEvent* event )
 {
-    if (event->isAccepted())
-    {
-        mc->resize(this->size());
-    }
+    Q_UNUSED(event);
+    mc->resize(this->size());
 }
 
 

src/ui/linechart/LinechartPlot.cc

@@ -189,10 +189,10 @@ void LinechartPlot::setRefreshRate(int ms)
     updateTimer->setInterval(ms);
 }
 
-//void LinechartPlot::setActive(bool active)
-//{
-
-//}
+void LinechartPlot::setActive(bool active)
+{
+    m_active = active;
+}
 
 /**
  * @brief Set the zero (center line) value
@@ -497,7 +497,6 @@ void LinechartPlot::setPlotInterval(int interval)
         TimeSeriesData* d = data.value(j.key());
         d->setInterval(interval);
     }
-    paintRealtime();
 }
 
 /**
@@ -552,56 +551,56 @@ void LinechartPlot::setAverageWindow(int windowSize)
  **/
 void LinechartPlot::paintRealtime()
 {
-    // Update plot window value to new max time if the last time was also the max time
-    windowLock.lock();
-    if (automaticScrollActive) {
-        if (MG::TIME::getGroundTimeNow() > maxTime && abs(MG::TIME::getGroundTimeNow() - maxTime) < 5000000)
-        {
-            plotPosition = MG::TIME::getGroundTimeNow();
-        }
-        else
-        {
-            plotPosition = maxTime;// + lastMaxTimeAdded.msec();
-        }
-        setAxisScale(QwtPlot::xBottom, plotPosition - plotInterval, plotPosition, timeScaleStep);
-        /* Notify about change. Even if the window position was not changed
+    if (m_active)
+    {
+        // Update plot window value to new max time if the last time was also the max time
+        windowLock.lock();
+        if (automaticScrollActive) {
+            if (MG::TIME::getGroundTimeNow() > maxTime && abs(MG::TIME::getGroundTimeNow() - maxTime) < 5000000)
+            {
+                plotPosition = MG::TIME::getGroundTimeNow();
+            }
+            else
+            {
+                plotPosition = maxTime;// + lastMaxTimeAdded.msec();
+            }
+            setAxisScale(QwtPlot::xBottom, plotPosition - plotInterval, plotPosition, timeScaleStep);
+            /* Notify about change. Even if the window position was not changed
          * itself, the relative position of the window to the interval must
          * have changed, as the interval likely increased in length */
-        emit windowPositionChanged(getWindowPosition());
-    }
+            emit windowPositionChanged(getWindowPosition());
+        }
 
-    windowLock.unlock();
+        windowLock.unlock();
 
-    // Defined both on windows 32- and 64 bit
+        // Defined both on windows 32- and 64 bit
 #ifndef _WIN32
 
-    //    const bool cacheMode =
-    //            canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached);
-    const bool oldDirectPaint =
-            canvas()->testAttribute(Qt::WA_PaintOutsidePaintEvent);
+        //    const bool cacheMode =
+        //            canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached);
+        const bool oldDirectPaint =
+                canvas()->testAttribute(Qt::WA_PaintOutsidePaintEvent);
 
-    const QPaintEngine *pe = canvas()->paintEngine();
-    bool directPaint = pe->hasFeature(QPaintEngine::PaintOutsidePaintEvent);
-    if ( pe->type() == QPaintEngine::X11 )
-    {
-        // Even if not recommended by TrollTech, Qt::WA_PaintOutsidePaintEvent
-        // works on X11. This has an tremendous effect on the performance..
-        directPaint = true;
-    }
-    canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, directPaint);
+        const QPaintEngine *pe = canvas()->paintEngine();
+        bool directPaint = pe->hasFeature(QPaintEngine::PaintOutsidePaintEvent);
+        if ( pe->type() == QPaintEngine::X11 )
+        {
+            // Even if not recommended by TrollTech, Qt::WA_PaintOutsidePaintEvent
+            // works on X11. This has an tremendous effect on the performance..
+            directPaint = true;
+        }
+        canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, directPaint);
 #endif
 
-    if (m_active)
-    {
+
         replot();
-    }
 
 #ifndef _WIN32
-    canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, oldDirectPaint);
+        canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, oldDirectPaint);
 #endif
 
 
-    /*
+        /*
         QMap<QString, QwtPlotCurve*>::iterator i;
         for(i = curves.begin(); i != curves.end(); ++i) {
                 const bool cacheMode = canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached);
@@ -610,7 +609,13 @@ void LinechartPlot::paintRealtime()
                 canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, cacheMode);
         }*/
 
-
+//        static quint64 timestamp = 0;
+//
+//
+//        qDebug() << "PLOT INTERVAL:" << MG::TIME::getGroundTimeNow() - timestamp;
+//
+//        timestamp = MG::TIME::getGroundTimeNow();
+    }
 }
 
 /**

src/ui/linechart/LinechartPlot.h

@@ -225,6 +225,8 @@ public slots:
     void appendData(QString dataname, quint64 ms, double value);
     void hideCurve(QString id);
     void showCurve(QString id);
+    /** @brief Enable auto-refreshing of plot */
+    void setActive(bool active);
 
     // Functions referring to the currently active plot
     void setVisible(QString id, bool visible);

src/ui/linechart/LinechartWidget.cc

@@ -384,6 +384,14 @@ LinechartPlot* LinechartWidget::getPlot(int plotid) {
     return plots.value(plotid);
 }
 
+void LinechartWidget::setActive(bool active)
+{
+    if (activePlot)
+    {
+        activePlot->setActive(active);
+    }
+}
+
 void LinechartWidget::setActivePlot(UASInterface* uas)
 {
     setActivePlot(uas->getUASID());

src/ui/linechart/LinechartWidget.h

@@ -81,6 +81,7 @@ public slots:
     void setPlotInterval(quint64 interval);
     void setActivePlot(int uasid);
     void setActivePlot(UASInterface* uas);
+    void setActive(bool active);
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);