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qgroundcontrol
Commit fe4c2dca authored by Hugo Vincent's avatar Hugo Vincent
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Merge branch 'master' of pixhawk.ethz.ch:groundcontrol 

Conflicts:
	mavground.pri
	src/AudioOutput.h
	src/Core.cc
parents 43b95458 03f3b211
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Showing with 1120 additions and 584 deletions
.gitignore
View file @ fe4c2dca
......@@ -8,7 +8,6 @@ obj
bin/*.exe
bin/*.txt
bin/mac
mavground
*pro.user
qrc_*.cpp
*.Debug
......@@ -17,4 +16,5 @@ tmp
debug
release
opengroundcontrol.xcodeproj/**
opengroundcontrol
qgroundcontrol
audio/alert.wav 0 → 100644
View file @ fe4c2dca
File added
lib/QMapControl/QMapControl.pri
View file @ fe4c2dca
DEPENDPATH += src
INCLUDEPATH += src
MOC_DIR = tmp
OBJECTS_DIR = obj
# Input
HEADERS += curve.h \
......@@ -52,5 +50,3 @@ SOURCES += curve.cpp \
openaerialmapadapter.cpp \
fixedimageoverlay.cpp \
emptymapadapter.cpp
QT += network
mavground.pri
View file @ fe4c2dca
......@@ -25,10 +25,10 @@
#
#-------------------------------------------------
QT += network opengl svg xml
QT += network opengl svg xml phonon
TEMPLATE = app
TARGET = opengroundcontrol
TARGET = qgroundcontrol
BASEDIR = .
BUILDDIR = build
......@@ -38,6 +38,7 @@ LANGUAGE = C++
#CONFIG += static release console
CONFIG += static debug_and_release console
QMAKE_CFLAGS += -j8
QMAKE_CXXFLAGS += -j8
OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
......@@ -46,7 +47,7 @@ UI_HEADERS_DIR = src/ui/generated
# Add external libraries
INCLUDEPATH += $$BASEDIR/lib/flite/include \
$$BASEDIR/lib/flite/lang
$$BASEDIR/lib/flite/lang
#$$BASEDIR/lib/qextserialport/include
# $$BASEDIR/lib/openjaus/libjaus/include \
......@@ -58,16 +59,17 @@ message(Qt version $$[QT_VERSION])
# MAC OS X
macx {
message(Building for Mac OS X)
message(Building for Mac OS X 64bit)
CONFIG += x86_64
CONFIG -= x86 static
CONFIG -= x86 static phonon
QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
DESTDIR = $$BASEDIR/bin/mac
INCLUDEPATH += -framework SDL \
$$BASEDIR/MAVLink/src
$$BASEDIR/MAVLink/src
LIBS += -framework IOKit \
-framework SDL \
......@@ -75,7 +77,11 @@ macx {
-framework ApplicationServices \
-lm
DEFINES += _TTY_POSIX_
# Enable function-profiling with the OS X saturn tool
debug {
#QMAKE_CXXFLAGS += -finstrument-functions
#LIBS += -lSaturn
}
ICON = $$BASEDIR/images/icons/macx.icns
}
......@@ -84,8 +90,6 @@ macx {
linux-g++ {
message(Building for GNU/Linux)
QT += phonon
debug {
DESTDIR = $$BASEDIR
......@@ -96,8 +100,6 @@ linux-g++ {
}
INCLUDEPATH += /usr/include/SDL
DEFINES += _TTY_POSIX_
HARDWARE_PLATFORM = $$system(uname -a)
contains( HARDWARE_PLATFORM, x86_64 ) {
# 64-bit Linux
......@@ -131,8 +133,6 @@ win32 {
-lmingw32 -lSDLmain -lSDL -mwindows
INCLUDEPATH += $$BASEDIR/lib/sdl/include/SDL
DEFINES += _TTY_WIN_
debug {
DESTDIR = $$BASEDIR/bin
......@@ -144,3 +144,4 @@ win32 {
}
mavground.pro
View file @ fe4c2dca
# Include general settings for MAVGround
include(mavground.pri)
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
# Include FLITE audio synthesizer library
#include(src/lib/flite/flite.pri)
# Include QMapControl map library
include(lib/QMapControl/QMapControl.pri)
DEPENDPATH += . \
lib/QMapControl \
lib/QMapControl/src
INCLUDEPATH += . \
lib/QMapControl \
../mavlink/src \
MAVLink/src \
mavlink/src
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
src/ui/SerialSettings.ui \
src/ui/UASControl.ui \
src/ui/UASList.ui \
src/ui/UASInfo.ui \
src/ui/LineChart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/WaypointView.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
src/ui/MapWidget.ui \
src/ui/XMLCommProtocolWidget.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
src/ui/AudioOutputWidget.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
src/ui/uas \
src/ui/map \
src/uas \
src/comm \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink
HEADERS += src/MG.h \
src/Core.h \
src/uas/UASInterface.h \
src/uas/UAS.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
src/comm/SerialSimulationLink.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/AS4Protocol.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/HUD.h \
src/ui/linechart/LinechartWidget.h \
src/ui/linechart/LinechartContainer.h \
src/ui/linechart/LinechartPlot.h \
src/ui/linechart/Scrollbar.h \
src/ui/linechart/ScrollZoomer.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/WaypointView.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/PFD.h \
src/ui/GaugePanel.h \
src/ui/DebugConsole.h \
src/ui/MapWidget.h \
src/ui/XMLCommProtocolWidget.h \
src/ui/mavlink/DomItem.h \
src/ui/mavlink/DomModel.h \
src/comm/MAVLinkXMLParser.h \
src/ui/HDDisplay.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/AudioOutput.h \
src/LogCompressor.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
src/uas/UAS.cc \
src/comm/LinkManager.cc \
src/comm/SerialLink.cc \
src/comm/SerialSimulationLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/AS4Protocol.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/HUD.cc \
src/ui/linechart/LinechartWidget.cc \
src/ui/linechart/LinechartContainer.cc \
src/ui/linechart/LinechartPlot.cc \
src/ui/linechart/Scrollbar.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/WaypointView.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/PFD.cc \
src/ui/GaugePanel.cc \
src/ui/DebugConsole.cc \
src/ui/MapWidget.cc \
src/ui/XMLCommProtocolWidget.cc \
src/ui/mavlink/DomItem.cc \
src/ui/mavlink/DomModel.cc \
src/comm/MAVLinkXMLParser.cc \
src/ui/HDDisplay.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/AudioOutput.cc \
src/LogCompressor.cc
RESOURCES = mavground.qrc
# Include general settings for MAVGround
include(mavground.pri)
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
# Include FLITE audio synthesizer library
#include(src/lib/flite/flite.pri)
# Include QMapControl map library
include(src/lib/qmapcontrol/qmapcontrol.pri)
#include(lib/QMapControl/QMapControl.pri)
DEPENDPATH += . \
lib/QMapControl \
lib/QMapControl/src
INCLUDEPATH += . \
lib/QMapControl \
../mavlink/src \
MAVLink/src \
mavlink/src
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
src/ui/SerialSettings.ui \
src/ui/UASControl.ui \
src/ui/UASList.ui \
src/ui/UASInfo.ui \
src/ui/LineChart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/WaypointView.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
src/ui/MapWidget.ui \
src/ui/XMLCommProtocolWidget.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
src/ui/AudioOutputWidget.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
src/ui/uas \
src/ui/map \
src/uas \
src/comm \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink
HEADERS += src/MG.h \
src/Core.h \
src/uas/UASInterface.h \
src/uas/UAS.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
src/comm/SerialSimulationLink.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/AS4Protocol.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/HUD.h \
src/ui/linechart/LinechartWidget.h \
src/ui/linechart/LinechartContainer.h \
src/ui/linechart/LinechartPlot.h \
src/ui/linechart/Scrollbar.h \
src/ui/linechart/ScrollZoomer.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/WaypointView.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/PFD.h \
src/ui/GaugePanel.h \
src/ui/DebugConsole.h \
src/ui/MapWidget.h \
src/ui/XMLCommProtocolWidget.h \
src/ui/mavlink/DomItem.h \
src/ui/mavlink/DomModel.h \
src/comm/MAVLinkXMLParser.h \
src/ui/HDDisplay.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/GAudioOutput.h \
src/LogCompressor.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
src/uas/UAS.cc \
src/comm/LinkManager.cc \
src/comm/SerialLink.cc \
src/comm/SerialSimulationLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/AS4Protocol.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/HUD.cc \
src/ui/linechart/LinechartWidget.cc \
src/ui/linechart/LinechartContainer.cc \
src/ui/linechart/LinechartPlot.cc \
src/ui/linechart/Scrollbar.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/WaypointView.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/PFD.cc \
src/ui/GaugePanel.cc \
src/ui/DebugConsole.cc \
src/ui/MapWidget.cc \
src/ui/XMLCommProtocolWidget.cc \
src/ui/mavlink/DomItem.cc \
src/ui/mavlink/DomModel.cc \
src/comm/MAVLinkXMLParser.cc \
src/ui/HDDisplay.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/GAudioOutput.cc \
src/LogCompressor.cc
RESOURCES = mavground.qrc
mavground.qrc
View file @ fe4c2dca
<RCC>
<qresource prefix="/">
<qresource prefix="/" >
<file>images/control/launch.svg</file>
<file>images/status/dialog-error.svg</file>
<file>images/status/dialog-warning.svg</file>
......@@ -76,8 +76,10 @@
<file>images/status/audio-volume-low.svg</file>
<file>images/status/audio-volume-high.svg</file>
<file>images/style-mission.css</file>
<file>images/splash.png</file>
<file>audio/alert.wav</file>
</qresource>
<qresource prefix="/general">
<file alias="vera.ttf">images/Vera.ttf</file>
<qresource prefix="/general" >
<file alias="vera.ttf" >images/Vera.ttf</file>
</qresource>
</RCC>
src/AudioOutput.h deleted 100644 → 0
View file @ 43b95458
#ifndef AUDIOOUTPUT_H
#define AUDIOOUTPUT_H
#include <QObject>
#include <QStringList>
/* Foward declarations of speech/voice structure */
#ifdef Q_OS_MAC
struct SpeechChannelRecord;
typedef SpeechChannelRecord *SpeechChannel;
#else
struct cst_voice;
#endif
class AudioOutput : public QObject
{
Q_OBJECT
public:
AudioOutput(QString voice="", QObject* parent=NULL);
/** @brief List available voices */
QStringList listVoices(void);
public slots:
/** @brief Say this text if current output priority matches */
bool say(QString text, int severity);
/** @brief Play alert sound */
bool alert(QString text);
/** @brief Start emergency sound */
bool startEmergency();
/** @brief Stop emergency sound */
bool stopEmergency();
/** @brief Select female voice */
void selectFemaleVoice();
/** @brief Select male voice */
void selectMaleVoice();
/** @brief Select neutral voice */
void selectNeutralVoice();
protected:
#ifdef Q_OS_MAC
SpeechChannel *voice;
#else
cst_voice *voice;
#endif
int voiceIndex;
};
#endif // AUDIOOUTPUT_H
src/Core.cc
View file @ fe4c2dca
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Main class
* @brief Implementation of main class
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
......@@ -43,7 +43,7 @@ This file is part of the PIXHAWK project
#include <Core.h>
#include <MG.h>
#include <MainWindow.h>
#include "AudioOutput.h"
#include "GAudioOutput.h"
/**
......@@ -56,7 +56,7 @@ This file is part of the PIXHAWK project
* @param argv The string array of parameters
**/
MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("OpenMAV Ground Control Station");
this->setApplicationVersion("v. 0.0.5");
......@@ -74,7 +74,7 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Show splash screen
QPixmap splashImage(MG::DIR::getIconDirectory() + "/groundstation-splash.png");
QPixmap splashImage(":images/splash.png");
QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
splashScreen->show();
......@@ -87,8 +87,10 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
startUASManager();
// Start audio output
AudioOutput* audio = new AudioOutput();
audio->say("Ground Control Station started", 1);
//GAudioOutput::instance()->say("Ground Control Station started", 1);
//tarsus = new ViconTarsusProtocol();
//tarsus->start();
// Start the user interface
splashScreen->showMessage(tr("Starting User Interface"));
......@@ -104,7 +106,7 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
* @brief Destructor for the groundstation. It destroys all loaded instances.
*
**/
MGCore::~MGCore()
Core::~Core()
{
// Delete singletons
delete LinkManager::instance();
......@@ -117,7 +119,7 @@ MGCore::~MGCore()
* The link manager keeps track of all communication links and provides the global
* packet queue. It is the main communication hub
**/
void MGCore::startLinkManager()
void Core::startLinkManager()
{
LinkManager::instance();
}
......@@ -126,7 +128,7 @@ void MGCore::startLinkManager()
* @brief Start the Unmanned Air System Manager
*
**/
void MGCore::startUASManager()
void Core::startUASManager()
{
UASManager::instance();
}
......@@ -134,10 +136,10 @@ void MGCore::startUASManager()
/**
* @brief Start and show the user interface.
**/
void MGCore::startUI()
void Core::startUI()
{
// Start UI
mainWindow = new MGMainWindow();
mainWindow = new MainWindow();
// Make UI visible
mainWindow->show();
}
......
src/Core.h
View file @ fe4c2dca
......@@ -30,14 +30,15 @@ This file is part of the PIXHAWK project
*/
#ifndef _MGCORE_H_
#define _MGCORE_H_
#ifndef _CORE_H_
#define _CORE_H_
#include <QApplication>
#include "MainWindow.h"
#include "UASManager.h"
#include "LinkManager.h"
/*#include "ViconTarsusProtocol.h" */
/**
* @brief The main application and management class.
......@@ -46,13 +47,13 @@ This file is part of the PIXHAWK project
* the central management unit of the groundstation application.
*
**/
class MGCore : public QApplication
class Core : public QApplication
{
Q_OBJECT
public:
MGCore(int &argc, char* argv[]);
~MGCore();
Core(int &argc, char* argv[]);
~Core();
protected:
void startLinkManager();
......@@ -67,7 +68,8 @@ protected:
void startUI();
private:
MGMainWindow* mainWindow;
MainWindow* mainWindow;
//ViconTarsusProtocol* tarsus;
};
#endif // _MGCORE_H_
#endif /* _CORE_H_ */
src/GAudioOutput.cc 0 → 100644
View file @ fe4c2dca
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
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 <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of audio output
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QApplication>
#include <QTemporaryFile>
#include "GAudioOutput.h"
#include "MG.h"
#include <QDebug>
#ifdef Q_OS_MAC
#include <ApplicationServices/ApplicationServices.h>
#endif
#ifdef Q_OS_WINDOWS
#include <windows.h>
using System;
using System.Speech.Synthesis;
#endif
#ifdef Q_OS_LINUX
extern "C" {
#include <flite.h>
#include <cmu_us_awb/voxdefs.h>
//#include <cmu_us_slt/voxdefs.h>
//cst_voice *REGISTER_VOX(const char *voxdir);
//void UNREGISTER_VOX(cst_voice *vox);
cst_voice *register_cmu_us_awb(const char *voxdir);
void unregister_cmu_us_awb(cst_voice *vox);
cst_voice *register_cmu_us_slt(const char *voxdir);
void unregister_cmu_us_slt(cst_voice *vox);
cst_voice *register_cmu_us_rms(const char *voxdir);
void unregister_cmu_us_rms(cst_voice *vox);
};
#endif
/**
* This class follows the singleton design pattern
* @see http://en.wikipedia.org/wiki/Singleton_pattern
* A call to this function thus returns the only instance of this object
* the call can occur at any place in the code, no reference to the
* GAudioOutput object has to be passed.
*/
GAudioOutput* GAudioOutput::instance()
{
static GAudioOutput* _instance = 0;
if(_instance == 0) {
_instance = new GAudioOutput();
// Set the application as parent to ensure that this object
// will be destroyed when the main application exits
_instance->setParent(qApp);
}
return _instance;
}
GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
#ifdef Q_OS_LINUX
voice(NULL),
#endif
voiceIndex(0),
emergency(false)
{
#ifdef Q_OS_LINUX
flite_init();
#endif
m_media = new Phonon::MediaObject(this);
Phonon::AudioOutput *audioOutput = new Phonon::AudioOutput(Phonon::MusicCategory, this);
createPath(m_media, audioOutput);
emergencyTimer = new QTimer();
connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
switch (voiceIndex)
{
case 0:
selectFemaleVoice();
break;
case 1:
selectMaleVoice();
break;
default:
selectNeutralVoice();
break;
}
}
bool GAudioOutput::say(QString text, int severity)
{
bool res = false;
if (!emergency)
{
#ifdef Q_OS_WINDOWS
SpeechSynthesizer synth = new SpeechSynthesizer();
synth.SelectVoice("Microsoft Anna");
synth.SpeakText("Hello, world!");
#endif
#ifdef Q_OS_LINUX
QTemporaryFile file;
file.setFileTemplate("XXXXXX.wav");
if (file.open())
{
cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), this->voice);
// file.fileName() returns the unique file name
cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
m_media->setCurrentSource(Phonon::MediaSource(file.fileName().toStdString().c_str()));
qDebug() << "TYPE:" << m_media->currentSource().type();
m_media->play();
qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
res = true;
}
#endif
#ifdef Q_OS_MAC
// Slashes necessary to have the right start to the sentence
// copying data prevents SpeakString from reading additional chars
text = "\\" + text;
QStdWString str = text.toStdWString();
unsigned char str2[1024] = {};
memcpy(str2, text.toAscii().data(), str.length());
SpeakString(str2);
qDebug() << "Synthesized: " << text.toAscii();
#endif
#ifdef Q_OS_WIN32
qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
#endif
}
return res;
}
/**
* @param text This message will be played after the alert beep
*/
bool GAudioOutput::alert(QString text)
{
if (!emergency)
{
// Play alert sound
m_media->setCurrentSource(Phonon::MediaSource(QString("alert.wav").toStdString().c_str()));
qDebug() << "FILENAME:" << m_media->currentSource().fileName();
qDebug() << "TYPE:" << m_media->currentSource().type();
qDebug() << QString("alert.wav").toStdString().c_str();
m_media->play();
m_media->setCurrentSource(Phonon::MediaSource(QString("alert.wav").toStdString().c_str()));
m_media->play();
// Say alert message
return true;//say(text, 2);
}
else
{
return false;
}
}
/**
* The emergency sound will be played continously during the emergency.
* call stopEmergency() to disable it again. No speech synthesis or other
* audio output is available during the emergency.
*
* @return true if the emergency could be started, false else
*/
bool GAudioOutput::startEmergency()
{
if (!emergency)
{
emergency = true;
emergencyTimer->start(1600);
}
return true;
}
/**
* Stops the continous emergency sound. Use startEmergency() to start
* the emergency sound.
*
* @return true if the emergency could be stopped, false else
*/
bool GAudioOutput::stopEmergency()
{
if (emergency)
{
emergency = false;
emergencyTimer->stop();
}
return true;
}
void GAudioOutput::beep()
{
m_media->setCurrentSource(Phonon::MediaSource(QString("alert.wav").toStdString().c_str()));
m_media->play();
}
void GAudioOutput::selectFemaleVoice()
{
#ifdef Q_OS_LINUX
//this->voice = register_cmu_us_slt(NULL);
#endif
}
void GAudioOutput::selectMaleVoice()
{
#ifdef Q_OS_LINUX
//this->voice = register_cmu_us_rms(NULL);
#endif
}
void GAudioOutput::selectNeutralVoice()
{
#ifdef Q_OS_LINUX
//this->voice = register_cmu_us_awb(NULL);
#endif
}
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
QStringList GAudioOutput::listVoices(void)
{
QStringList l;
#ifdef Q_OS_LINUX
cst_voice *voice;
const cst_val *v;
/*
printf("Voices available: ");
for (v=flite_voice_list; v; v=val_cdr(v))
{
voice = val_voice(val_car(v));
QString s;
s.sprintf("%s",voice->name);
printf("%s",voice->name);
l.append(s);
}
printf("\n");
*/
#endif
return l;
}
#ifdef __cplusplus
}
#endif /* __cplusplus */
src/GAudioOutput.h 0 → 100644
View file @ fe4c2dca
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
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 <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of audio output
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef GAUDIOOUTPUT_H
#define GAUDIOOUTPUT_H
#include <QObject>
#include <QTimer>
#include <QStringList>
#ifdef Q_OS_MAC
#include <Phonon>
#endif
#ifdef Q_OS_LINUX
#include <flite.h>
#include <phonon>
#endif
#ifdef Q_OS_WIN
#include <Phonon>
#endif
/* For Snow leopard and later
#ifdef Q_OS_MAC
#include <NSSpeechSynthesizer.h>
#endif
*/
/**
* @brief Audio Output (speech synthesizer and "beep" output)
* This class follows the singleton design pattern
* @see http://en.wikipedia.org/wiki/Singleton_pattern
*/
class GAudioOutput : public QObject
{
Q_OBJECT
public:
/** @brief Get the singleton instance */
static GAudioOutput* instance();
/** @brief List available voices */
QStringList listVoices(void);
public slots:
/** @brief Say this text if current output priority matches */
bool say(QString text, int severity=1);
/** @brief Play alert sound */
bool alert(QString text);
/** @brief Start emergency sound */
bool startEmergency();
/** @brief Stop emergency sound */
bool stopEmergency();
/** @brief Select female voice */
void selectFemaleVoice();
/** @brief Select male voice */
void selectMaleVoice();
/** @brief Select neutral voice */
void selectNeutralVoice();
/** @brief Play emergency sound */
void beep();
protected:
#ifdef Q_OS_MAC
//NSSpeechSynthesizer
#endif
#ifdef Q_OS_LINUX
cst_voice* voice; ///< The flite voice object
#endif
int voiceIndex; ///< The index of the flite voice to use (awb, slt, rms)
Phonon::MediaObject* m_media; ///< The output object for audio
Phonon::AudioOutput* m_audioOutput;
bool emergency; ///< Emergency status flag
QTimer* emergencyTimer;
private:
GAudioOutput(QObject* parent=NULL);
};
#endif // AUDIOOUTPUT_H
src/comm/AS4Protocol.cc
View file @ fe4c2dca
......@@ -2,7 +2,7 @@
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
......
src/comm/MAVLinkSimulationLink.cc
View file @ fe4c2dca
......@@ -57,20 +57,9 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
readyBytes(0),
timeOffset(0)
{
this->id = getNextLinkId();
LinkManager::instance()->add(this);
this->rate = rate;
_isConnected = false;
if (readFile != "")
{
this->name = "Simulation: " + readFile;
}
else
{
this->name = "MAVLink simulation link";
}
// Comments on the variables can be found in the header file
simulationFile = new QFile(readFile, this);
......@@ -81,10 +70,20 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
receiveFile = new QFile(writeFile, this);
lastSent = MG::TIME::getGroundTimeNow();
if (simulationFile->exists())
{
this->name = "Simulation: " + QFileInfo(simulationFile->fileName()).fileName();
}
else
{
this->name = "MAVLink simulation link";
}
// Initialize the pseudo-random number generator
srand(QTime::currentTime().msec());
maxTimeNoise = 0;
this->id = getNextLinkId();
LinkManager::instance()->add(this);
}
MAVLinkSimulationLink::~MAVLinkSimulationLink()
......@@ -390,6 +389,32 @@ void MAVLinkSimulationLink::mainloop()
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
/*
// HEARTBEAT VEHICLE 2
// Pack message and get size of encoded byte string
messageSize = message_heartbeat_pack(42, componentId, &msg, MAV_FIXED_WING);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// STATUS VEHICLE 2
sys_status_t status2;
status2.mode = MAV_MODE_LOCKED;
status2.vbat = voltage;
status2.status = MAV_STATE_STANDBY;
// Pack message and get size of encoded byte string
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;
*/
//qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
// AUX STATUS
......
src/comm/MAVLinkXMLParser.cc
View file @ fe4c2dca
......@@ -180,9 +180,10 @@ bool MAVLinkXMLParser::generate()
QDateTime now = QDateTime::currentDateTime().toUTC();
QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
QString date = now.toString(dateFormat);
QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n#include \"protocol.h\"\n\n\n").arg(date); // The main header includes all messages
QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
// Mark all code as C code
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n";
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
mainHeader += "\n#include \"protocol.h\"\n";
QString includeLine = "#include \"%1\"\n";
QString mainHeaderName = "mavlink.h";
QString messagesDirName = "generated";
......@@ -200,6 +201,8 @@ bool MAVLinkXMLParser::generate()
mainHeader += "#ifdef __cplusplus\n}\n#endif\n";
mainHeader += "#endif";
// Newline to make compiler happy
mainHeader += "\n";
// Write main header
QFile rawHeader(outputDirName + "/" + mainHeaderName);
......
src/comm/UDPLink.cc
View file @ fe4c2dca
......@@ -48,9 +48,7 @@ UDPLink::UDPLink(QHostAddress host, quint16 port)
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
name = tr("UDP link ") + QString::number(getId()) + tr(" (unconfigured)");
this->name = tr("UDP link ") + QString::number(getId());
LinkManager::instance()->add(this);
}
......
src/lib/qmapcontrol/qmapcontrol.pri 0 → 100644
View file @ fe4c2dca
DEPENDPATH += src
INCLUDEPATH += src
# Input
HEADERS += curve.h \
geometry.h \
imagemanager.h \
layer.h \
layermanager.h \
linestring.h \
mapadapter.h \
mapcontrol.h \
mapnetwork.h \
point.h \
tilemapadapter.h \
wmsmapadapter.h \
circlepoint.h \
imagepoint.h \
gps_position.h \
osmmapadapter.h \
maplayer.h \
geometrylayer.h \
yahoomapadapter.h \
googlemapadapter.h \
googlesatmapadapter.h \
openaerialmapadapter.h \
fixedimageoverlay.h \
emptymapadapter.h
SOURCES += curve.cpp \
geometry.cpp \
imagemanager.cpp \
layer.cpp \
layermanager.cpp \
linestring.cpp \
mapadapter.cpp \
mapcontrol.cpp \
mapnetwork.cpp \
point.cpp \
tilemapadapter.cpp \
wmsmapadapter.cpp \
circlepoint.cpp \
imagepoint.cpp \
gps_position.cpp \
osmmapadapter.cpp \
maplayer.cpp \
geometrylayer.cpp \
yahoomapadapter.cpp \
googlemapadapter.cpp \
googlesatmapadapter.cpp \
openaerialmapadapter.cpp \
fixedimageoverlay.cpp \
emptymapadapter.cpp
src/lib/qwt/qwt.pri
View file @ fe4c2dca
......@@ -77,7 +77,7 @@ HEADERS += $$QWTSRCDIR/qwt.h \
$$QWTSRCDIR/qwt_thermo.h \
$$QWTSRCDIR/qwt_valuelist.h \
$$QWTSRCDIR/qwt_wheel.h
SOURCES += qwt_abstract_scale.cpp \
SOURCES += $$QWTSRCDIR/qwt_abstract_scale.cpp \
$$QWTSRCDIR/qwt_abstract_scale_draw.cpp \
$$QWTSRCDIR/qwt_abstract_slider.cpp \
$$QWTSRCDIR/qwt_analog_clock.cpp \
......
src/main.cc
View file @ fe4c2dca
......@@ -48,6 +48,6 @@ This file is part of the PIXHAWK project
int main(int argc, char *argv[])
{
MGCore core(argc, argv);
Core core(argc, argv);
return core.exec();
}
src/uas/UAS.cc
View file @ fe4c2dca
This diff is collapsed.
src/uas/UAS.h
View file @ fe4c2dca
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
Please see our website at <http://pixhawk.ethz.ch>
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
......@@ -33,7 +32,6 @@ This file is part of the PIXHAWK project
#ifndef _UAS_H_
#define _UAS_H_
#include <QDebug>
#include "UASInterface.h"
#include "MG.h"
#include <mavlink.h>
......@@ -67,7 +65,7 @@ public:
/* MANAGEMENT */
/** @brief The name of the robot */
QString getUASName();
QString getUASName(void);
/** @brief Get the unique system id */
int getUASID();
/** @brief The time interval the robot is switched on */
......@@ -83,13 +81,13 @@ public:
protected:
int type;
quint64 startTime; ///< The time the UAS was switched on
CommStatus commStatus; ///< Communication status
int uasId; ///< Unique system ID
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
quint64 startTime; ///< The time the UAS was switched on
CommStatus commStatus; ///< Communication status
int uasId; ///< Unique system ID
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
BatteryType batteryType; ///< The battery type
int cells; ///< Number of cells
BatteryType batteryType; ///< The battery type
int cells; ///< Number of cells
QList<double> actuatorValues;
QList<QString> actuatorNames;
......@@ -97,27 +95,30 @@ protected:
QList<double> motorValues;
QList<QString> motorNames;
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators, in Newtons
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
// Battery stats
double fullVoltage; ///< Voltage of the fully charged battery (100%)
double emptyVoltage; ///< Voltage of the empty battery (0%)
double startVoltage; ///< Voltage at system start
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
int timeRemaining; ///< Remaining time calculated based on previous and current
double manualRollAngle; ///< Roll angle set by human pilot (radians)
double manualPitchAngle; ///< Pitch angle set by human pilot (radians)
double manualYawAngle; ///< Yaw angle set by human pilot (radians)
double manualThrust; ///< Thrust set by human pilot (radians)
bool controlRollManual; ///< status flag, true if roll is controlled manually
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
int mode; ///< The current mode of the MAV
double fullVoltage; ///< Voltage of the fully charged battery (100%)
double emptyVoltage; ///< Voltage of the empty battery (0%)
double startVoltage; ///< Voltage at system start
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
int timeRemaining; ///< Remaining time calculated based on previous and current
int mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
quint64 onboardTimeOffset;
bool controlRollManual; ///< status flag, true if roll is controlled manually
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
double manualRollAngle; ///< Roll angle set by human pilot (radians)
double manualPitchAngle; ///< Pitch angle set by human pilot (radians)
double manualYawAngle; ///< Yaw angle set by human pilot (radians)
double manualThrust; ///< Thrust set by human pilot (radians)
/** @brief Set the current battery type */
void setBattery(BatteryType type, int cells);
/** @brief Estimate how much flight time is remaining */
......@@ -147,8 +148,6 @@ public slots:
/** @brief Shut the system cleanly down. Will shut down any onboard computers **/
void shutdown();
/** @brief Set the auto mode. **/
void setAutoMode(bool autoMode);
void requestWaypoints();
void clearWaypointList();
/** @brief Enable the motors */
......@@ -161,9 +160,7 @@ public slots:
/** @brief Receive a button pressed event from an input device, e.g. joystick */
void receiveButton(int buttonIndex);
/**
* @brief Add a link associated with this robot
*/
/** @brief Add a link associated with this robot */
void addLink(LinkInterface* link);
/** @brief Receive a message from one of the communication links. */
......
src/uas/UASInterface.h
View file @ fe4c2dca
......@@ -110,8 +110,7 @@ public:
{
///> Color map for plots, includes 20 colors
///> Map will start from beginning when the first 20 colors are exceeded
colors.append(QColor(242,255,128));
colors.append(QColor(230,126,23));
colors.append(QColor(203,254,121));
colors.append(QColor(231,72,28));
colors.append(QColor(161,252,116));
......@@ -129,6 +128,8 @@ public:
colors.append(QColor(81,183,244));
colors.append(QColor(104,64,240));
colors.append(QColor(75,133,243));
colors.append(QColor(242,255,128));
colors.append(QColor(230,126,23));
nextColor++;
}
return colors[nextColor++];
......@@ -153,12 +154,7 @@ public slots:
virtual void halt() = 0;
/** @brief Start/continue the current robot action */
virtual void go() = 0;
/** @brief Set robot into auto mode
*
* @param autoMode true for autonomous operation, false for manual control
*/
virtual void setAutoMode(bool autoMode) = 0;
/** @brief Set the current mode of operation */
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;
......
src/uas/UASManager.cc
View file @ fe4c2dca
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Central manager for all connected aerial vehicles
* @brief Implementation of central manager for all connected aerial vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
......@@ -41,8 +41,8 @@ UASManager* UASManager::instance() {
if(_instance == 0) {
_instance = new UASManager();
/* Set the application as parent to ensure that this object
* will be destroyed when the main application exits */
// Set the application as parent to ensure that this object
// will be destroyed when the main application exits
_instance->setParent(qApp);
}
return _instance;
......@@ -144,12 +144,6 @@ bool UASManager::shutdownActiveUAS()
return (activeUAS);
}
bool UASManager::setActiveUASAuto(bool autoMode)
{
if (getActiveUAS()) activeUAS->setAutoMode(autoMode);
return (activeUAS);
}
void UASManager::configureActiveUAS()
{
UASInterface* actUAS = getActiveUAS();
......@@ -165,14 +159,17 @@ UASInterface* UASManager::getUASForId(int id)
return systems.value(id, NULL);
}
void UASManager::setActiveUAS(UASInterface* UAS)
void UASManager::setActiveUAS(UASInterface* uas)
{
activeUASMutex.lock();
activeUAS = UAS;
activeUASMutex.unlock();
if (uas != NULL)
{
activeUASMutex.lock();
activeUAS = uas;
activeUASMutex.unlock();
qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << UAS->getUASName();
qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << uas->getUASName();
emit activeUASSet(UAS);
emit activeUASSet(uas);
}
}
src/uas/UASManager.h
View file @ fe4c2dca
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Central manager for all connected aerial vehicles
* @brief Definition of central manager for all connected aerial vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
......@@ -153,10 +153,9 @@ public slots:
*/
void configureActiveUAS();
/** @brief Shut down the onboard operating system down */
bool shutdownActiveUAS();
bool setActiveUASAuto(bool autoMode);
protected:
UASManager();
......@@ -164,9 +163,6 @@ protected:
UASInterface* activeUAS;
QMutex activeUASMutex;
private:
static UASManager* _instance;
signals:
void UASCreated(UASInterface* UAS);
void activeUASSet(UASInterface* UAS);
......
src/ui/DebugConsole.cc
View file @ fe4c2dca
......@@ -108,10 +108,14 @@ DebugConsole::~DebugConsole()
delete m_ui;
}
/**
* Add a link to the debug console output
*/
void DebugConsole::addLink(LinkInterface* link)
{
// Add link to link list
links.insert(link->getId(), link);
m_ui->linkComboBox->insertItem(link->getId(), link->getName());
// Set new item as current
m_ui->linkComboBox->setCurrentIndex(qMax(0, links.size() - 1));
......
src/ui/HDDisplay.cc
View file @ fe4c2dca
......@@ -134,7 +134,7 @@ void HDDisplay::paintGL()
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);
drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), 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)
......@@ -511,8 +511,8 @@ float HDDisplay::refLineWidthToPen(float line)
void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
if (this->uas == uas)
{
//if (this->uas == uas)
//{
// Update mean
const float oldMean = valuesMean.value(name, 0.0f);
const int meanCount = valuesCount.value(name, 0);
......@@ -521,7 +521,7 @@ void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint
valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
values.insert(name, value);
lastUpdate.insert(name, msec);
}
//}
}
/**
......
src/ui/HDDisplay.h
View file @ fe4c2dca
......@@ -80,23 +80,23 @@ protected:
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
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
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
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
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.
float vheight; ///< Virtual height of this window, 150 mm per default
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.
float vheight; ///< Virtual height of this window, 150 mm per default
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
// HUD colors
QColor backgroundColor; ///< Background color
......
src/ui/HUD.cc
View file @ fe4c2dca
......@@ -45,7 +45,7 @@ This file is part of the PIXHAWK project
template<typename T>
inline bool isnan(T value)
{
return value != value;
return value != value;
}
......@@ -65,48 +65,48 @@ inline bool isinf(T value)
* @param parent
*/
HUD::HUD(int width, int height, QWidget* parent)
: QGLWidget(parent),
uas(NULL),
values(QMap<QString, float>()),
valuesDot(QMap<QString, float>()),
valuesMean(QMap<QString, float>()),
valuesCount(QMap<QString, int>()),
lastUpdate(QMap<QString, quint64>()),
yawInt(0.0f),
mode(tr("UNKNOWN MODE")),
state(tr("UNKNOWN STATE")),
fuelStatus(tr("00.0V (00m:00s)")),
xCenterOffset(0.0f),
yCenterOffset(0.0f),
vwidth(200.0f),
vheight(150.0f),
vGaugeSpacing(50.0f),
vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
rawBuffer1(NULL),
rawBuffer2(NULL),
rawImage(NULL),
rawLastIndex(0),
rawExpectedBytes(0),
bytesPerLine(1),
imageStarted(false),
receivedDepth(8),
receivedChannels(1),
receivedWidth(640),
receivedHeight(480),
defaultColor(QColor(70, 200, 70)),
setPointColor(QColor(200, 20, 200)),
warningColor(Qt::yellow),
criticalColor(Qt::red),
infoColor(QColor(20, 200, 20)),
fuelColor(criticalColor),
warningBlinkRate(5),
refreshTimer(new QTimer(this)),
noCamera(true),
hardwareAcceleration(true),
strongStrokeWidth(1.5f),
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
waypointName("")
: QGLWidget(parent),
uas(NULL),
values(QMap<QString, float>()),
valuesDot(QMap<QString, float>()),
valuesMean(QMap<QString, float>()),
valuesCount(QMap<QString, int>()),
lastUpdate(QMap<QString, quint64>()),
yawInt(0.0f),
mode(tr("UNKNOWN MODE")),
state(tr("UNKNOWN STATE")),
fuelStatus(tr("00.0V (00m:00s)")),
xCenterOffset(0.0f),
yCenterOffset(0.0f),
vwidth(200.0f),
vheight(150.0f),
vGaugeSpacing(50.0f),
vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
rawBuffer1(NULL),
rawBuffer2(NULL),
rawImage(NULL),
rawLastIndex(0),
rawExpectedBytes(0),
bytesPerLine(1),
imageStarted(false),
receivedDepth(8),
receivedChannels(1),
receivedWidth(640),
receivedHeight(480),
defaultColor(QColor(70, 200, 70)),
setPointColor(QColor(200, 20, 200)),
warningColor(Qt::yellow),
criticalColor(Qt::red),
infoColor(QColor(20, 200, 20)),
fuelColor(criticalColor),
warningBlinkRate(5),
refreshTimer(new QTimer(this)),
noCamera(true),
hardwareAcceleration(true),
strongStrokeWidth(1.5f),
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
waypointName("")
{
// Set auto fill to false
setAutoFillBackground(false);
......@@ -171,8 +171,9 @@ void HUD::stop()
void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
// if (this->uas == uas)
// if (this->uas == uas)
//{
if (!isnan(value) && !isinf(value))
{
// Update mean
......@@ -184,11 +185,14 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
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;
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;
}
......@@ -211,7 +215,8 @@ void HUD::setActiveUAS(UASInterface* uas)
disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
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,QString)));
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(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)));
......@@ -247,6 +252,7 @@ void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double
void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
{
//qDebug() << __FILE__ << __LINE__ << "ROLL" << roll;
updateValue(uas, "roll", roll, timestamp);
updateValue(uas, "pitch", pitch, timestamp);
updateValue(uas, "yaw", yaw, timestamp);
......@@ -307,14 +313,21 @@ void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 times
*
* @param uas the system the state message originates from
* @param state short state text, displayed in HUD
* @param description longer state text, currently unused
*/
void HUD::updateState(UASInterface* uas,QString state, QString description)
void HUD::updateState(UASInterface* uas,QString state)
{
if (this->uas == uas)
{
this->state = state;
}
this->state = state;
}
/**
* Updates the current system mode, but only if the uas matches the currently monitored uas.
*
* @param uas the system the state message originates from
* @param mode short mode text, displayed in HUD
*/
void HUD::updateMode(UASInterface* uas,QString mode)
{
this->mode = mode;
}
void HUD::updateLoad(UASInterface* uas, double load)
......@@ -501,9 +514,9 @@ void HUD::paintRollPitchStrips()
void HUD::paintGL()
{
// Read out most important values to limit hash table lookups
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);
float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
//qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;
......@@ -557,7 +570,8 @@ void HUD::paintGL()
// Position the coordinate frame according to the setup
QPainter painter(this);
painter.setRenderHint(QPainter::HighQualityAntialiasing);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
......@@ -566,8 +580,10 @@ void HUD::paintGL()
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
......@@ -659,13 +675,17 @@ void HUD::paintGL()
yawInt *= 0.6f;
//qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
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);
qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// CENTER
// SETPOINT
......
src/ui/HUD.h
View file @ fe4c2dca
......@@ -79,7 +79,8 @@ public slots:
void updateLocalPosition(UASInterface*,double,double,double,quint64);
void updateGlobalPosition(UASInterface*,double,double,double,quint64);
void updateSpeed(UASInterface*,double,double,double,quint64);
void updateState(UASInterface*,QString,QString);
void updateState(UASInterface*,QString);
void updateMode(UASInterface*,QString);
void updateLoad(UASInterface*, double);
void selectWaypoint(UASInterface* uas, int id);
......
src/ui/JoystickWidget.cc
View file @ fe4c2dca
......@@ -27,7 +27,9 @@ void JoystickWidget::updateJoystick(double roll, double pitch, double yaw, doubl
{
setX(roll);
setY(pitch);
setZ(yaw);
setThrottle(thrust);
setHat(xHat, yHat);
}
void JoystickWidget::changeEvent(QEvent *e)
......@@ -46,16 +48,29 @@ void JoystickWidget::setThrottle(float thrust)
{
m_ui->thrust->setValue(thrust*100);
}
void JoystickWidget::setX(float x)
{
m_ui->xSlider->setValue(x*100);
m_ui->xValue->display(x*100);
}
void JoystickWidget::setY(float y)
{
m_ui->ySlider->setValue(y*100);
m_ui->yValue->display(y*100);
}
void JoystickWidget::setZ(float z)
{
m_ui->dial->setValue(z*100);
}
void JoystickWidget::setHat(float x, float y)
{
qDebug() << __FILE__ << __LINE__ << "HAT X:" << x << "HAT Y:" << y;
}
void JoystickWidget::pressKey(int key)
{
QString colorstyle;
......@@ -64,5 +79,5 @@ void JoystickWidget::pressKey(int key)
heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
m_ui->button0Label->setStyleSheet(colorstyle);
m_ui->button0Label->setAutoFillBackground(true);
qDebug() << "KEY" << key << " pressed on joystick";
qDebug() << __FILE__ << __LINE__ << "KEY" << key << " pressed on joystick";
}
src/ui/JoystickWidget.h
View file @ fe4c2dca
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Definition of joystick interface
* @brief Definition of joystick widget
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
......@@ -57,14 +57,23 @@ public:
* @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right
*/
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
/** @brief Throttle lever */
void setThrottle(float thrust);
/** @brief Back/forth movement */
void setX(float x);
/** @brief Left/right movement */
void setY(float y);
/** @brief Wrist rotation */
void setZ(float z);
/** @brief Hat switch position */
void setHat(float x, float y);
/** @brief Joystick keys, as labeled on the joystick */
void pressKey(int key);
protected:
/** @brief UI change event */
virtual void changeEvent(QEvent *e);
JoystickInput* joystick;
JoystickInput* joystick; ///< Reference to the joystick
private:
Ui::JoystickWidget *m_ui;
......
src/ui/MainWindow.cc
View file @ fe4c2dca
......@@ -45,6 +45,7 @@ This file is part of the PIXHAWK project
#include "WaypointList.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"
#include "LogCompressor.h"
......@@ -56,7 +57,7 @@ This file is part of the PIXHAWK project
*
* @see QMainWindow::show()
**/
MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent)
MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
{
// Quick hack
......@@ -167,20 +168,20 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent)
udpLink->connect();
simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
//connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
LinkManager::instance()->addProtocol(simulationLink, mavlink);
//CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
//ui.menuNetwork->addAction(commWidget->getAction());
simulationLink->connect();
}
MGMainWindow::~MGMainWindow()
MainWindow::~MainWindow()
{
delete statusBar;
statusBar = NULL;
}
QStatusBar* MGMainWindow::createStatusBar()
QStatusBar* MainWindow::createStatusBar()
{
QStatusBar* bar = new QStatusBar();
/* Add status fields and messages */
......@@ -189,7 +190,7 @@ QStatusBar* MGMainWindow::createStatusBar()
return bar;
}
void MGMainWindow::startVideoCapture()
void MainWindow::startVideoCapture()
{
QString format = "bmp";
QString initialPath = QDir::currentPath() + tr("/untitled.") + format;
......@@ -205,14 +206,14 @@ void MGMainWindow::startVideoCapture()
connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
}
void MGMainWindow::stopVideoCapture()
void MainWindow::stopVideoCapture()
{
videoTimer->stop();
// TODO Convert raw images to PNG
}
void MGMainWindow::saveScreen()
void MainWindow::saveScreen()
{
QPixmap window = QPixmap::grabWindow(this->winId());
QString format = "bmp";
......@@ -223,7 +224,7 @@ void MGMainWindow::saveScreen()
}
}
void MGMainWindow::reloadStylesheet()
void MainWindow::reloadStylesheet()
{
// Load style sheet
//QFile styleSheet(MG::DIR::getSupportFilesDirectory() + "/images/style-mission.css");
......@@ -237,17 +238,17 @@ void MGMainWindow::reloadStylesheet()
}
}
void MGMainWindow::showStatusMessage(const QString& status, int timeout)
void MainWindow::showStatusMessage(const QString& status, int timeout)
{
statusBar->showMessage(status, timeout);
}
void MGMainWindow::setLastAction(QString status)
void MainWindow::setLastAction(QString status)
{
showStatusMessage(status, 5);
}
void MGMainWindow::setLinkStatus(QString status)
void MainWindow::setLinkStatus(QString status)
{
showStatusMessage(status, 15);
}
......@@ -256,7 +257,7 @@ void MGMainWindow::setLinkStatus(QString status)
* @brief Create all actions associated to the main window
*
**/
void MGMainWindow::connectActions()
void MainWindow::connectActions()
{
// Connect actions from ui
connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
......@@ -283,12 +284,12 @@ void MGMainWindow::connectActions()
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
}
void MGMainWindow::configure()
void MainWindow::configure()
{
joystickWidget = new JoystickWidget(joystick, this);
}
void MGMainWindow::addLink()
void MainWindow::addLink()
{
SerialLink* link = new SerialLink();
// TODO This should be only done in the dialog itself
......@@ -304,13 +305,19 @@ void MGMainWindow::addLink()
// TODO Implement the link removal!
}
void MGMainWindow::UASCreated(UASInterface* uas)
void MainWindow::UASCreated(UASInterface* uas)
{
// Connect the UAS to the full user interface
ui.menuConnected_Systems->addAction(QIcon(":/actions/linechart.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
// Line chart
connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)), Qt::QueuedConnection);
// FIXME DO THIS ONLY FOR THE FIRST CONNECTED SYSTEM
static bool sysPresent = false;
if (!sysPresent)
{
connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)), Qt::QueuedConnection);
sysPresent = true;
}
// Health / System status indicator
info->addUAS(uas);
......@@ -326,12 +333,12 @@ void MGMainWindow::UASCreated(UASInterface* uas)
reloadStylesheet();
}
void MGMainWindow::clearView()
void MainWindow::clearView()
{
// Halt HUD
hud->stop();
/*headDown1->stop();
headDown2->stop();*/
headDown1->stop();
headDown2->stop();
// Remove all dock widgets
QList<QObject*> list = this->children();
......@@ -352,9 +359,10 @@ void MGMainWindow::clearView()
}
}
void MGMainWindow::loadPilotView()
void MainWindow::loadPilotView()
{
clearView();
GAudioOutput::instance()->say("Switched to Pilot View");
// HEAD UP DISPLAY
centerStack->setCurrentWidget(hud);
......@@ -376,10 +384,12 @@ void MGMainWindow::loadPilotView()
this->show();
}
void MGMainWindow::loadOperatorView()
void MainWindow::loadOperatorView()
{
clearView();
GAudioOutput::instance()->say("Switched to Operator View");
// LINE CHART
centerStack->setCurrentWidget(map);
......@@ -416,10 +426,12 @@ void MGMainWindow::loadOperatorView()
this->show();
}
void MGMainWindow::loadSettingsView()
void MainWindow::loadSettingsView()
{
clearView();
GAudioOutput::instance()->say("Switched to Settings View");
// LINE CHART
centerStack->setCurrentWidget(linechart);
......@@ -434,11 +446,13 @@ void MGMainWindow::loadSettingsView()
addDockWidget(Qt::RightDockWidgetArea, container6);
}
void MGMainWindow::loadEngineerView()
void MainWindow::loadEngineerView()
{
clearView();
// Engineer view, used in EMAV2009
GAudioOutput::instance()->say("Switched to Engineer View");
// LINE CHART
centerStack->setCurrentWidget(linechart);
......@@ -470,7 +484,7 @@ void MGMainWindow::loadEngineerView()
this->show();
}
void MGMainWindow::loadWidgets()
void MainWindow::loadWidgets()
{
loadOperatorView();
//loadEngineerView();
......@@ -478,32 +492,32 @@ void MGMainWindow::loadWidgets()
}
/*
void MGMainWindow::removeCommConfAct(QAction* action)
void MainWindow::removeCommConfAct(QAction* action)
{
ui.menuNetwork->removeAction(action);
}*/
//void MGMainWindow::startUAS()
//void MainWindow::startUAS()
//{
// UASManager::instance()->getActiveUAS()->launch();
//}
//
//void MGMainWindow::returnUAS()
//void MainWindow::returnUAS()
//{
// UASManager::instance()->getActiveUAS()->home();
//}
//
//void MGMainWindow::stopUAS()
//void MainWindow::stopUAS()
//{
// UASManager::instance()->getActiveUAS()->emergencySTOP();
//}
//
//void MGMainWindow::killUAS()
//void MainWindow::killUAS()
//{
// UASManager::instance()->getActiveUAS()->emergencyKILL();
//}
void MGMainWindow::runTests()
void MainWindow::runTests()
{
// TODO Remove after debugging: Add fake data
static double testvalue = 0.0f;
......
src/ui/MainWindow.h
View file @ fe4c2dca
......@@ -67,12 +67,12 @@ This file is part of the PIXHAWK project
* @brief Main Application Window
*
**/
class MGMainWindow : public QMainWindow {
class MainWindow : public QMainWindow {
Q_OBJECT
public:
MGMainWindow(QWidget *parent = 0);
~MGMainWindow();
MainWindow(QWidget *parent = 0);
~MainWindow();
UASControlWidget* control;
LinechartWidget* linechart;
......@@ -161,7 +161,7 @@ protected:
QTimer* videoTimer;
private:
Ui::MGMainWindow ui;
Ui::MainWindow ui;
};
#endif /* _MAINWINDOW_H_ */
src/ui/MainWindow.ui
View file @ fe4c2dca
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MGMainWindow</class>
<widget class="QMainWindow" name="MGMainWindow">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
......@@ -241,7 +241,7 @@
<connection>
<sender>actionExit</sender>
<signal>triggered()</signal>
<receiver>MGMainWindow</receiver>
<receiver>MainWindow</receiver>
<slot>close()</slot>
<hints>
<hint type="sourcelabel">
......
src/ui/UASView.ui
View file @ fe4c2dca
......@@ -29,14 +29,55 @@
<string>QWidget#colorIcon {}
QWidget {
background-color: #252528;
background-color: none;
color: #DDDDDF;
border-color: #EEEEEE;
background-clip: margin;
}
QLabel#nameLabel {
font: bold 16px;
color: #3C7B9E;
}
QLabel#modeLabel {
font: 12px;
}
QLabel#stateLabel {
font: 12px;
}
QLabel#gpsLabel {
font: 8px;
}
QLabel#positionLabel {
font: 8px;
}
QLabel#timeElapsedLabel {
font: 8px;
}
QLabel#groundDistanceLabel {
font: 8px;
}
QLabel#speedLabel {
font: 8px;
}
QLabel#timeRemainingLabel {
font: 8px;
}
QLabel#waypointLabel {
font: 24px;
}
QGroupBox {
border: 1px solid #EEEEEE;
border: 1px solid #4A4A4F;
border-radius: 5px;
padding: 0px 0px 0px 0px;
margin: 0px;
......@@ -67,6 +108,19 @@ QToolButton {
background-color: none;
}
QToolButton#typeButton {
font-weight: bold;
font-size: 12px;
border: 2px solid #999999;
border-radius: 5px;
min-width:44px;
max-width: 44px;
min-height: 44px;
max-height: 44px;
padding: 0px;
background-color: none;
}
QPushButton {
font-weight: bold;
font-size: 12px;
......@@ -84,41 +138,38 @@ QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #444444, stop: 1 #555555);
}
QPushButton#landButton {
color: #000000;
QPushButton#abortButton {
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffee01, stop:1 #ae8f00) url(&quot;ICONDIR/control/emergency-button.png&quot;);
stop:0 #ffee01, stop:1 #ae8f00);
}
QPushButton:pressed#landButton {
color: #000000;
QPushButton:pressed#abortButton {
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bbaa00, stop:1 #a05b00) url(&quot;ICONDIR/control/emergency-button.png&quot;);
stop:0 #bbaa00, stop:1 #a05b00);
}
QPushButton#killButton {
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffb917, stop:1 #b37300) url(&quot;ICONDIR/control/emergency-button.png&quot;);
stop:0 #ffb917, stop:1 #b37300);
}
QPushButton:pressed#killButton {
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bb8500, stop:1 #903000) url(&quot;ICONDIR/control/emergency-button.png&quot;);
stop:0 #bb8500, stop:1 #903000);
}
QProgressBar {
border: 1px solid white;
border: 1px solid #4A4A4F;
border-radius: 4px;
text-align: center;
padding: 2px;
color: white;
background-color: #111111;
color: #DDDDDF;
background-color: #111118;
}
QProgressBar:horizontal {
height: 12px;
height: 10px;
}
QProgressBar QLabel {
......@@ -180,14 +231,14 @@ QProgressBar::chunk#thrustBar {
<widget class="QToolButton" name="typeButton">
<property name="minimumSize">
<size>
<width>46</width>
<height>46</height>
<width>48</width>
<height>48</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>46</width>
<height>46</height>
<width>48</width>
<height>48</height>
</size>
</property>
<property name="baseSize">
......@@ -234,8 +285,9 @@ QProgressBar::chunk#thrustBar {
</property>
<property name="font">
<font>
<pointsize>14</pointsize>
<pointsize>-1</pointsize>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
......@@ -254,8 +306,9 @@ QProgressBar::chunk#thrustBar {
</property>
<property name="font">
<font>
<pointsize>14</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
......@@ -268,7 +321,10 @@ QProgressBar::chunk#thrustBar {
<widget class="QLabel" name="timeRemainingLabel">
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
......@@ -280,7 +336,10 @@ QProgressBar::chunk#thrustBar {
<widget class="QLabel" name="timeElapsedLabel">
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
......@@ -304,7 +363,10 @@ QProgressBar::chunk#thrustBar {
<widget class="QLabel" name="groundDistanceLabel">
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
......@@ -313,14 +375,17 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item row="4" column="4" colspan="2">
<widget class="QLabel" name="altitudeLabel">
<widget class="QLabel" name="speedLabel">
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>00.00 m</string>
<string>00.0 m/s</string>
</property>
</widget>
</item>
......@@ -380,9 +445,10 @@ QProgressBar::chunk#thrustBar {
<widget class="QLabel" name="stateLabel">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
......@@ -394,14 +460,18 @@ QProgressBar::chunk#thrustBar {
<widget class="QLabel" name="waypointLabel">
<property name="font">
<font>
<pointsize>20</pointsize>
<weight>75</weight>
<bold>true</bold>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>WPX</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
<item row="2" column="6">
......@@ -420,7 +490,10 @@ QProgressBar::chunk#thrustBar {
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
......@@ -444,7 +517,10 @@ QProgressBar::chunk#thrustBar {
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
......@@ -530,7 +606,7 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item>
<widget class="QPushButton" name="returnButton">
<widget class="QPushButton" name="landButton">
<property name="minimumSize">
<size>
<width>18</width>
......@@ -553,12 +629,12 @@ QProgressBar::chunk#thrustBar {
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/actions/go-home.svg</normaloff>:/images/actions/go-home.svg</iconset>
<normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="landButton">
<widget class="QPushButton" name="abortButton">
<property name="minimumSize">
<size>
<width>18</width>
......
src/ui/uas/UASView.cc
View file @ fe4c2dca
......@@ -73,8 +73,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(m_ui->liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(m_ui->haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
connect(m_ui->continueButton, SIGNAL(clicked()), uas, SLOT(go()));
connect(m_ui->returnButton, SIGNAL(clicked()), uas, SLOT(home()));
connect(m_ui->landButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
connect(m_ui->landButton, SIGNAL(clicked()), uas, SLOT(home()));
connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
......@@ -95,6 +95,15 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
//m_ui->speedBar->setMinimum(0);
//m_ui->speedBar->setMaximum(15);
// UAS color
QColor uasColor = uas->getColor();
uasColor = uasColor.darker(475);
QString colorstyle;
colorstyle = colorstyle.sprintf("QGroupBox { border: 2px solid #4A4A4F; border-radius: 5px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
uasColor.red(), uasColor.green(), uasColor.blue());
m_ui->groupBox->setStyleSheet(colorstyle);
//m_ui->groupBox->setAutoFillBackground(true);
// Heartbeat fade
refreshTimer = new QTimer(this);
......@@ -107,6 +116,11 @@ UASView::~UASView()
delete m_ui;
}
void UASView::setUASasActive(bool)
{
UASManager::instance()->setActiveUAS(this->uas);
}
void UASView::updateMode(int sysId, QString status, QString description)
{
if (sysId == this->uas->getUASID()) m_ui->modeLabel->setText(status);
......@@ -182,13 +196,6 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType)
break;
}
}
// MAV_GENERIC = 0,
// MAV_FIXED_WING,
// MAV_QUADROTOR,
// MAV_COAXIAL,
// MAV_HELICOPTER,
// MAV_GROUND,
// OCU
}
void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec)
......
src/ui/uas/UASView.h
View file @ fe4c2dca
......@@ -67,6 +67,8 @@ public slots:
void selectWaypoint(int uasId, int id);
/** @brief Set the current system type */
void setSystemType(UASInterface* uas, unsigned int systemType);
/** @brief Set the current UAS as the globally active system */
void setUASasActive(bool);
protected:
void changeEvent(QEvent *e);
......
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