Added support for fine-granularity sensor status

src/uas/UASInterface.h

@@ -475,6 +475,7 @@ signals:
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
     /** @brief Emit the new system type */
     void systemTypeSet(UASInterface* uas, unsigned int type);
+
     /** @brief Attitude control enabled/disabled */
     void attitudeControlEnabled(bool enabled);
     /** @brief Position 2D control enabled/disabled */
@@ -483,6 +484,30 @@ signals:
     void positionZControlEnabled(bool enabled);
     /** @brief Heading control enabled/disabled */
     void positionYawControlEnabled(bool enabled);
+    /** @brief Optical flow status changed */
+    void opticalFlowStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Vision based localization status changed */
+    void visionLocalizationStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Infrared / Ultrasound status changed */
+    void distanceSensorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Gyroscope status changed */
+    void gyroStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Accelerometer status changed */
+    void accelStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Magnetometer status changed */
+    void magSensorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Barometer status changed */
+    void baroStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Differential pressure / airspeed status changed */
+    void airspeedStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Actuator status changed */
+    void actuatorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Laser scanner status changed */
+    void laserStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Vicon / Leica Geotracker status changed */
+    void groundTruthSensorStatusChanged(bool supported, bool enabled, bool ok);
+
+
     /** @brief Value of a remote control channel (raw) */
     void remoteControlChannelRawChanged(int channelId, float raw);
     /** @brief Value of a remote control channel (scaled)*/

src/ui/HSIDisplay.cc

@@ -123,7 +123,34 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     userSetPointSet(false),
     userXYSetPointSet(false),
     userZSetPointSet(false),
-    userYawSetPointSet(false)
+    userYawSetPointSet(false),
+    gyroKnown(false),
+    gyroON(false),
+    gyroOK(false),
+    accelKnown(false),
+    accelON(false),
+    accelOK(false),
+    magKnown(false),
+    magON(false),
+    magOK(false),
+    pressureKnown(false),
+    pressureON(false),
+    pressureOK(false),
+    diffPressureKnown(false),
+    diffPressureON(false),
+    diffPressureOK(false),
+    flowKnown(false),
+    flowON(false),
+    flowOK(false),
+    laserKnown(false),
+    laserON(false),
+    laserOK(false),
+    viconKnown(false),
+    viconON(false),
+    viconOK(false),
+    actuatorsKnown(false),
+    actuatorsON(false),
+    actuatorsOK(false)
 {
     refreshTimer->setInterval(updateInterval);
 
@@ -845,6 +872,16 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
         disconnect(this->uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
         disconnect(this->uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
+
+        disconnect(this->uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
     }
 
     connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
@@ -867,6 +904,16 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
     connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
 
+    connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
+
     this->uas = uas;
 
     resetMAVState();

src/ui/HSIDisplay.h

@@ -66,6 +66,83 @@ public slots:
     void updateAttitudeControllerEnabled(bool enabled);
     void updatePositionXYControllerEnabled(bool enabled);
     void updatePositionZControllerEnabled(bool enabled);
+
+    /** @brief Optical flow status changed */
+    void updateOpticalFlowStatus(bool supported, bool enabled, bool ok) {
+        if (supported && enabled && ok) {
+            visionFix = true;
+        } else {
+            visionFix = false;
+        }
+    }
+
+    /** @brief Vision based localization status changed */
+    void updateVisionLocalizationStatus(bool supported, bool enabled, bool ok) {
+        if (enabled && ok) {
+            visionFix = true;
+        } else {
+            visionFix = false;
+        }
+        visionFixKnown = supported;
+    }
+    /** @brief Infrared / Ultrasound status changed */
+    void updateDistanceSensorStatus(bool supported, bool enabled, bool ok) {
+        if (enabled && ok) {
+            iruFix = true;
+        } else {
+            iruFix = false;
+        }
+        iruFixKnown = supported;
+    }
+    /** @brief Gyroscope status changed */
+    void updateGyroStatus(bool supported, bool enabled, bool ok) {
+        gyroKnown = supported;
+        gyroON = enabled;
+        gyroOK = ok;
+    }
+    /** @brief Accelerometer status changed */
+    void updateAccelStatus(bool supported, bool enabled, bool ok) {
+        accelKnown = supported;
+        accelON = enabled;
+        accelOK = ok;
+    }
+    /** @brief Magnetometer status changed */
+    void updateMagSensorStatus(bool supported, bool enabled, bool ok) {
+        magKnown = supported;
+        magON = enabled;
+        magOK = ok;
+    }
+    /** @brief Barometer status changed */
+    void updateBaroStatus(bool supported, bool enabled, bool ok) {
+        pressureKnown = supported;
+        pressureON = enabled;
+        pressureOK = ok;
+    }
+    /** @brief Differential pressure / airspeed status changed */
+    void updateAirspeedStatus(bool supported, bool enabled, bool ok) {
+        diffPressureKnown = supported;
+        diffPressureON = enabled;
+        diffPressureOK = ok;
+    }
+    /** @brief Actuator status changed */
+    void updateActuatorStatus(bool supported, bool enabled, bool ok) {
+        actuatorsKnown = supported;
+        actuatorsON = enabled;
+        actuatorsOK = ok;
+    }
+    /** @brief Laser scanner status changed */
+    void updateLaserStatus(bool supported, bool enabled, bool ok) {
+        laserKnown = supported;
+        laserON = enabled;
+        laserOK = ok;
+    }
+    /** @brief Vicon / Leica Geotracker status changed */
+    void updateGroundTruthSensorStatus(bool supported, bool enabled, bool ok) {
+        viconKnown = supported;
+        viconON = enabled;
+        viconOK = ok;
+    }
+
     void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
     /** @brief Heading control enabled/disabled */
     void updatePositionYawControllerEnabled(bool enabled);