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qgroundcontrol
Commit ff627ad3 authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of git://github.com/amolinap/qgroundcontrol into experimental 

Conflicts:
	qgroundcontrol.pro
	src/ui/MainWindow.cc
	src/ui/SlugsDataSensorView.ui
parents 3732645d c84b1d0e
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qgroundcontrol.pro
View file @ ff627ad3
...@@ -147,7 +147,6 @@ FORMS += src/ui/MainWindow.ui \ ...@@ -147,7 +147,6 @@ FORMS += src/ui/MainWindow.ui \
src/ui/SlugsDataSensorView.ui \ src/ui/SlugsDataSensorView.ui \
src/ui/SlugsHilSim.ui \ src/ui/SlugsHilSim.ui \
src/ui/SlugsPIDControl.ui \ src/ui/SlugsPIDControl.ui \
src/ui/SlugsVideoCamControl.ui \
src/ui/SlugsPadCameraControl.ui \ src/ui/SlugsPadCameraControl.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui \ src/ui/uas/QGCUnconnectedInfoWidget.ui \
src/ui/designer/QGCToolWidget.ui \ src/ui/designer/QGCToolWidget.ui \
...@@ -159,6 +158,7 @@ FORMS += src/ui/MainWindow.ui \ ...@@ -159,6 +158,7 @@ FORMS += src/ui/MainWindow.ui \
src/ui/mission/QGCCustomWaypointAction.ui \ src/ui/mission/QGCCustomWaypointAction.ui \
src/ui/QGCUDPLinkConfiguration.ui \ src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \ src/ui/QGCSettingsWidget.ui \
src/ui/UASControlParameters.ui
src/ui/mission/QGCMissionDoWidget.ui \ src/ui/mission/QGCMissionDoWidget.ui \
src/ui/mission/QGCMissionConditionWidget.ui src/ui/mission/QGCMissionConditionWidget.ui
...@@ -257,7 +257,6 @@ HEADERS += src/MG.h \ ...@@ -257,7 +257,6 @@ HEADERS += src/MG.h \
src/ui/SlugsDataSensorView.h \ src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \ src/ui/SlugsHilSim.h \
src/ui/SlugsPIDControl.h \ src/ui/SlugsPIDControl.h \
src/ui/SlugsVideoCamControl.h \
src/ui/SlugsPadCameraControl.h \ src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h \ src/ui/QGCMainWindowAPConfigurator.h \
src/comm/MAVLinkSwarmSimulationLink.h \ src/comm/MAVLinkSwarmSimulationLink.h \
...@@ -274,6 +273,7 @@ HEADERS += src/MG.h \ ...@@ -274,6 +273,7 @@ HEADERS += src/MG.h \
src/ui/QGCWaypointListMulti.h \ src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.h \ src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \ src/ui/QGCSettingsWidget.h \
src/ui/uas/UASControlParameters.h
src/ui/mission/QGCMissionDoWidget.h \ src/ui/mission/QGCMissionDoWidget.h \
src/ui/mission/QGCMissionConditionWidget.h \ src/ui/mission/QGCMissionConditionWidget.h \
src/uas/QGCUASParamManager.h src/uas/QGCUASParamManager.h
...@@ -388,7 +388,6 @@ SOURCES += src/main.cc \ ...@@ -388,7 +388,6 @@ SOURCES += src/main.cc \
src/ui/SlugsDataSensorView.cc \ src/ui/SlugsDataSensorView.cc \
src/ui/SlugsHilSim.cc \ src/ui/SlugsHilSim.cc \
src/ui/SlugsPIDControl.cpp \ src/ui/SlugsPIDControl.cpp \
src/ui/SlugsVideoCamControl.cpp \
src/ui/SlugsPadCameraControl.cpp \ src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc \ src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc \ src/comm/MAVLinkSwarmSimulationLink.cc \
...@@ -405,6 +404,7 @@ SOURCES += src/main.cc \ ...@@ -405,6 +404,7 @@ SOURCES += src/main.cc \
src/ui/QGCWaypointListMulti.cc \ src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \ src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \ src/ui/QGCSettingsWidget.cc \
src/ui/uas/UASControlParameters.cpp
src/ui/mission/QGCMissionDoWidget.cc \ src/ui/mission/QGCMissionDoWidget.cc \
src/ui/mission/QGCMissionConditionWidget.cc \ src/ui/mission/QGCMissionConditionWidget.cc \
src/uas/QGCUASParamManager.cc src/uas/QGCUASParamManager.cc
......
src/comm/MAVLinkProtocol.cc
View file @ ff627ad3
...@@ -315,6 +315,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -315,6 +315,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
currLossCounter = 0; currLossCounter = 0;
currReceiveCounter = 0; currReceiveCounter = 0;
emit receiveLossChanged(message.sysid, receiveLoss); emit receiveLossChanged(message.sysid, receiveLoss);
qDebug() << "LOSSCHANGED" << message.sysid<<" "<<receiveLoss;
} }
// The packet is emitted as a whole, as it is only 255 - 261 bytes short // The packet is emitted as a whole, as it is only 255 - 261 bytes short
......
src/uas/SlugsMAV.cc
View file @ ff627ad3
...@@ -131,11 +131,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -131,11 +131,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
break; break;
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180 case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands);
break; break;
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181 case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough);
break; break;
case MAVLINK_MSG_ID_PID: //182 case MAVLINK_MSG_ID_PID: //182
......
src/ui/MainWindow.cc
View file @ ff627ad3
...@@ -395,6 +395,8 @@ void MainWindow::buildCommonWidgets() ...@@ -395,6 +395,8 @@ void MainWindow::buildCommonWidgets()
dataplotWidget = new QGCDataPlot2D(this); dataplotWidget = new QGCDataPlot2D(this);
addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT); addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
} }
} }
...@@ -628,21 +630,29 @@ void MainWindow::buildSlugsWidgets() ...@@ -628,21 +630,29 @@ void MainWindow::buildSlugsWidgets()
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea); addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
} }
if (!controlParameterWidget){
controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
controlParameterWidget->setWidget( new UASControlParameters(this) );
addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
}
if (!parametersDockWidget) if (!parametersDockWidget)
{ {
parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) ); parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
} }
// if (!slugsCamControlWidget) if (!slugsCamControlWidget)
// { {
// slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this); slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this);
// slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this)); slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this));
// slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET"); slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
// addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea); addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
// } }
} }
...@@ -1026,10 +1036,6 @@ void MainWindow::connectCommonWidgets() ...@@ -1026,10 +1036,6 @@ void MainWindow::connectCommonWidgets()
// //
connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints())); connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints()));
} }
//TODO temporaly debug //TODO temporaly debug
...@@ -1037,6 +1043,8 @@ void MainWindow::connectCommonWidgets() ...@@ -1037,6 +1043,8 @@ void MainWindow::connectCommonWidgets()
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*))); slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
} }
} }
void MainWindow::createCustomWidget() void MainWindow::createCustomWidget()
...@@ -1084,6 +1092,16 @@ void MainWindow::connectSlugsWidgets() ...@@ -1084,6 +1092,16 @@ void MainWindow::connectSlugsWidgets()
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
slugsPIDControlWidget->widget(), SLOT(activeUasSet(UASInterface*))); slugsPIDControlWidget->widget(), SLOT(activeUasSet(UASInterface*)));
} }
if (controlParameterWidget && controlParameterWidget->widget()){
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));
}
if(controlDockWidget && controlParameterWidget)
{
connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
}
} }
void MainWindow::arrangeCommonCenterStack() void MainWindow::arrangeCommonCenterStack()
...@@ -1942,6 +1960,8 @@ void MainWindow::presentView() ...@@ -1942,6 +1960,8 @@ void MainWindow::presentView()
// UAS CONTROL // UAS CONTROL
showTheWidget(MENU_UAS_CONTROL, currentView); showTheWidget(MENU_UAS_CONTROL, currentView);
showTheWidget(MENU_UAS_CONTROL_PARAM, currentView);
// UAS LIST // UAS LIST
showTheWidget(MENU_UAS_LIST, currentView); showTheWidget(MENU_UAS_LIST, currentView);
......
src/ui/MainWindow.h
View file @ ff627ad3
...@@ -74,8 +74,8 @@ This file is part of the QGROUNDCONTROL project ...@@ -74,8 +74,8 @@ This file is part of the QGROUNDCONTROL project
#include "SlugsHilSim.h" #include "SlugsHilSim.h"
#include "SlugsVideoCamControl.h" #include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
/** /**
* @brief Main Application Window * @brief Main Application Window
...@@ -212,6 +212,7 @@ protected: ...@@ -212,6 +212,7 @@ protected:
// FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
// this will be fixed in a future release. // this will be fixed in a future release.
typedef enum _TOOLS_WIDGET_NAMES { typedef enum _TOOLS_WIDGET_NAMES {
MENU_UAS_CONTROL_PARAM,
MENU_UAS_CONTROL, MENU_UAS_CONTROL,
MENU_UAS_INFO, MENU_UAS_INFO,
MENU_CAMERA, MENU_CAMERA,
...@@ -381,6 +382,7 @@ protected: ...@@ -381,6 +382,7 @@ protected:
#endif #endif
// Dock widgets // Dock widgets
QPointer<QDockWidget> controlDockWidget; QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
QPointer<QDockWidget> infoDockWidget; QPointer<QDockWidget> infoDockWidget;
QPointer<QDockWidget> cameraDockWidget; QPointer<QDockWidget> cameraDockWidget;
QPointer<QDockWidget> listDockWidget; QPointer<QDockWidget> listDockWidget;
......
src/ui/MapWidget.cc
View file @ ff627ad3
...@@ -93,6 +93,8 @@ void MapWidget::init() ...@@ -93,6 +93,8 @@ void MapWidget::init()
geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter); geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
mc->addLayer(geomLayer); mc->addLayer(geomLayer);
homePosition = new qmapcontrol::GeometryLayer("Station", mapadapter);
mc->addLayer(homePosition);
// //
...@@ -183,11 +185,17 @@ void MapWidget::init() ...@@ -183,11 +185,17 @@ void MapWidget::init()
goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to")); goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to")); goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));
setHome = new QPushButton(QIcon(":/images/actions/go-home.svg"), "", this);
setHome->setStyleSheet(buttonStyle);
setHome->setToolTip(tr("Set home"));
setHome->setStatusTip(tr("Set home"));
zoomin->setMaximumWidth(30); zoomin->setMaximumWidth(30);
zoomout->setMaximumWidth(30); zoomout->setMaximumWidth(30);
createPath->setMaximumWidth(30); createPath->setMaximumWidth(30);
// clearTracking->setMaximumWidth(30); // clearTracking->setMaximumWidth(30);
followgps->setMaximumWidth(30); followgps->setMaximumWidth(30);
setHome->setMaximumWidth(30);
goToButton->setMaximumWidth(30); goToButton->setMaximumWidth(30);
// Set checkable buttons // Set checkable buttons
...@@ -195,6 +203,7 @@ void MapWidget::init() ...@@ -195,6 +203,7 @@ void MapWidget::init()
// create a style and the slots to change the background so it is easier to distinguish // create a style and the slots to change the background so it is easier to distinguish
followgps->setCheckable(true); followgps->setCheckable(true);
createPath->setCheckable(true); createPath->setCheckable(true);
setHome->setCheckable(true);
// add buttons to control the map (zoom, GPS tracking and WP capture) // add buttons to control the map (zoom, GPS tracking and WP capture)
QGridLayout* innerlayout = new QGridLayout(mc); QGridLayout* innerlayout = new QGridLayout(mc);
...@@ -204,6 +213,7 @@ void MapWidget::init() ...@@ -204,6 +213,7 @@ void MapWidget::init()
innerlayout->addWidget(zoomout, 1, 0); innerlayout->addWidget(zoomout, 1, 0);
innerlayout->addWidget(followgps, 2, 0); innerlayout->addWidget(followgps, 2, 0);
innerlayout->addWidget(createPath, 3, 0); innerlayout->addWidget(createPath, 3, 0);
innerlayout->addWidget(setHome, 4, 0);
//innerlayout->addWidget(clearTracking, 4, 0); //innerlayout->addWidget(clearTracking, 4, 0);
// Add spacers to compress buttons on the top left // Add spacers to compress buttons on the top left
innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0); innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
...@@ -223,8 +233,8 @@ void MapWidget::init() ...@@ -223,8 +233,8 @@ void MapWidget::init()
//Camera Control //Camera Control
// CAMERA INDICATOR LAYER // CAMERA INDICATOR LAYER
// create a layer with the mapadapter and type GeometryLayer (for camera indicator) // create a layer with the mapadapter and type GeometryLayer (for camera indicator)
camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter); //camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
mc->addLayer(camLayer); //mc->addLayer(camLayer);
//camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen); //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
...@@ -262,6 +272,12 @@ void MapWidget::init() ...@@ -262,6 +272,12 @@ void MapWidget::init()
connect(createPath, SIGNAL(clicked(bool)), connect(createPath, SIGNAL(clicked(bool)),
this, SLOT(createPathButtonClicked(bool))); this, SLOT(createPathButtonClicked(bool)));
connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePositionClick(bool)));
connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*,QPointF)), this,
SLOT(createHomePosition(const QMouseEvent*,QPointF)));
//connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePosition(bool)));
connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)), connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
this, SLOT(captureGeometryClick(Geometry*, QPoint))); this, SLOT(captureGeometryClick(Geometry*, QPoint)));
...@@ -1199,3 +1215,46 @@ QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double beari ...@@ -1199,3 +1215,46 @@ QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double beari
return temp; return temp;
} }
void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
{
if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
{
homeCoordinate= coordinate;
Waypoint2DIcon* tempCirclePoint;
double latitud = homeCoordinate.x();
double longitud = homeCoordinate.y();
tempCirclePoint = new Waypoint2DIcon(
latitud,
longitud,
20, "g", qmapcontrol::Point::Middle);
QPen* pencil = new QPen(Qt::blue);
tempCirclePoint->setPen(pencil);
mc->layer("Station")->clearGeometries();
mc->layer("Station")->addGeometry(tempCirclePoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitud, longitud,"g");
if (isVisible())
{
mc->updateRequest(tempPoint->boundingBox().toRect());
}
}
}
void MapWidget::createHomePositionClick(bool click)
{
Q_UNUSED(click);
if (!setHome->isChecked())
{
UASManager::instance()->setHomePosition(
static_cast<double>(homeCoordinate.x()),
static_cast<double>(homeCoordinate.y()), 0);
qDebug()<<"Set home position "<<homeCoordinate.x()<<" "<<homeCoordinate.y();
}
}
src/ui/MapWidget.h
View file @ ff627ad3
...@@ -118,6 +118,7 @@ protected: ...@@ -118,6 +118,7 @@ protected:
QPushButton* followgps; QPushButton* followgps;
QPushButton* createPath; QPushButton* createPath;
QPushButton* clearTracking; QPushButton* clearTracking;
QPushButton* setHome;
QLabel* gpsposition; QLabel* gpsposition;
QMenu* mapMenu; QMenu* mapMenu;
QPushButton* mapButton; QPushButton* mapButton;
...@@ -128,9 +129,9 @@ protected: ...@@ -128,9 +129,9 @@ protected:
qmapcontrol::Layer* overlay; ///< Street overlay (foreground) qmapcontrol::Layer* overlay; ///< Street overlay (foreground)
qmapcontrol::Layer* tracks; ///< Layer for UAV tracks qmapcontrol::Layer* tracks; ///< Layer for UAV tracks
qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
qmapcontrol::GeometryLayer* homePosition; ///< Layer for station control
//only for experiment //only for experiment
qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator //qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
int zoomLevel; int zoomLevel;
int detailZoom; ///< Steps zoomed in further than qMapControl allows int detailZoom; ///< Steps zoomed in further than qMapControl allows
...@@ -163,6 +164,9 @@ protected: ...@@ -163,6 +164,9 @@ protected:
void createWaypointGraphAtMap(int id, const QPointF coordinate); void createWaypointGraphAtMap(int id, const QPointF coordinate);
void mapproviderSelected(QAction* action); void mapproviderSelected(QAction* action);
void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
void createHomePositionClick(bool click);
signals: signals:
//void movePoint(QPointF newCoord); //void movePoint(QPointF newCoord);
//void captureMapCoordinateClick(const QPointF coordinate); //ROCA //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
...@@ -188,6 +192,7 @@ private: ...@@ -188,6 +192,7 @@ private:
bool drawCamBorder; bool drawCamBorder;
int radioCamera; int radioCamera;
QPointF homeCoordinate;
}; };
#endif // MAPWIDGET_H #endif // MAPWIDGET_H
src/ui/QGCRemoteControlView.cc
View file @ ff627ad3
...@@ -191,7 +191,11 @@ void QGCRemoteControlView::redraw() ...@@ -191,7 +191,11 @@ void QGCRemoteControlView::redraw()
progressBars.at(i)->setValue(vv); progressBars.at(i)->setValue(vv);
} }
// Update RSSI // Update RSSI
rssiBar->setValue(rssi*100); if(rssi>0)
{
rssiBar->setValue(rssi*100);
}
updated = false; updated = false;
} }
} }
......
src/ui/SlugsDataSensorView.ui
View file @ ff627ad3
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>392</width> <width>495</width>
<height>768</height> <height>768</height>
</rect> </rect>
</property> </property>
......
src/ui/SlugsPadCameraControl.cpp
View file @ ff627ad3
This diff is collapsed.
src/ui/SlugsPadCameraControl.h
View file @ ff627ad3
#ifndef SLUGSPADCAMERACONTROL_H #ifndef SLUGSPADCAMERACONTROL_H
#define SLUGSPADCAMERACONTROL_H #define SLUGSPADCAMERACONTROL_H
#include <QWidget> #include <QtGui/QWidget>
#include <QGraphicsView> #include <QGraphicsView>
#include <QMouseEvent>
namespace Ui { #include <QKeyEvent>
class SlugsPadCameraControl; #include <QDebug>
} #include <qmath.h>
#include <QPainter>
class SlugsPadCameraControl : public QWidget //QGraphicsView// #include "UASManager.h"
{
Q_OBJECT namespace Ui {
class SlugsPadCameraControl;
public: }
explicit SlugsPadCameraControl(QWidget *parent = 0);
class SlugsPadCameraControl : public QWidget //QGraphicsView//
~SlugsPadCameraControl(); {
Q_OBJECT
public slots:
void getDeltaPositionPad(int x, int y); public:
explicit SlugsPadCameraControl(QWidget *parent = 0);
~SlugsPadCameraControl();
double getDistPixel(int x1, int y1, int x2, int y2);
QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2); enum MotionCamera {
QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia); UP,
DOWN,
LEFT,
RIGHT,
RIGHT_UP,
signals: RIGHT_DOWN,
void mouseMoveCoord(int x, int y); LEFT_UP,
void mousePressCoord(int x, int y); LEFT_DOWN,
void mouseReleaseCoord(int x, int y); NONE
void dirCursorText(QString dir); };
void distance_Bearing(double dist, double bearing);
void changeCursorPosition(double bearing, double distance, QString textDir); public slots:
void getDeltaPositionPad(int x, int y);
protected: QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
void mousePressEvent(QMouseEvent* event); void activeUasSet(UASInterface *uas);
void mouseReleaseEvent(QMouseEvent* event);
void mouseMoveEvent(QMouseEvent* event); signals:
void paintEvent(QPaintEvent *pe); void changeMotionCamera(MotionCamera);
protected:
private: void mousePressEvent(QMouseEvent* event);
Ui::SlugsPadCameraControl *ui; void mouseReleaseEvent(QMouseEvent* event);
bool dragging; void mouseMoveEvent(QMouseEvent* event);
int x1; void keyPressEvent(QKeyEvent *event);
int y1; //void paintEvent(QPaintEvent *pe);
int xFin;
int yFin;
double bearingPad; private:
double distancePad; Ui::SlugsPadCameraControl *ui;
QString directionPad; bool dragging;
int x1;
}; int y1;
int xFin;
#endif // SLUGSPADCAMERACONTROL_H int yFin;
QString directionPad;
MotionCamera motion;
UASInterface* activeUAS;
QPoint movePad;
};
#endif // SLUGSPADCAMERACONTROL_H
src/ui/SlugsPadCameraControl.ui
View file @ ff627ad3
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0"> <ui version="4.0">
<class>SlugsPadCameraControl</class> <class>SlugsPadCameraControl</class>
<widget class="QWidget" name="SlugsPadCameraControl"> <widget class="QWidget" name="SlugsPadCameraControl">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>183</width> <width>200</width>
<height>127</height> <height>200</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="minimumSize">
<string>Form</string> <size>
</property> <width>200</width>
<property name="styleSheet"> <height>200</height>
<string notr="true">background-color: rgb(255, 170, 0);</string> </size>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <property name="windowTitle">
<property name="margin"> <string>Form</string>
<number>1</number> </property>
</property> <property name="styleSheet">
<property name="spacing"> <string notr="true">background-color: rgb(255, 170, 0);</string>
<number>1</number> </property>
</property> <layout class="QGridLayout" name="gridLayout">
<item row="0" column="0"> <property name="margin">
<widget class="QFrame" name="frame"> <number>1</number>
<property name="minimumSize"> </property>
<size> <property name="spacing">
<width>181</width> <number>1</number>
<height>125</height> </property>
</size> <item row="0" column="0">
</property> <widget class="QFrame" name="frame">
<property name="mouseTracking"> <property name="minimumSize">
<bool>true</bool> <size>
</property> <width>200</width>
<property name="styleSheet"> <height>200</height>
<string notr="true">background-color: rgba(255, 0, 0,50%);</string> </size>
</property> </property>
<property name="frameShape"> <property name="mouseTracking">
<enum>QFrame::StyledPanel</enum> <bool>true</bool>
</property> </property>
<property name="frameShadow"> <property name="styleSheet">
<enum>QFrame::Raised</enum> <string notr="true">background-color: rgba(255, 0, 0,50%);</string>
</property> </property>
</widget> <property name="frameShape">
</item> <enum>QFrame::StyledPanel</enum>
</layout> </property>
</widget> <property name="frameShadow">
<resources/> <enum>QFrame::Raised</enum>
<connections/> </property>
</ui> <layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>156</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="lbPixel">
<property name="text">
<string>----</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lbDirection">
<property name="text">
<string>----</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/SlugsVideoCamControl.cpp
View file @ ff627ad3
#include "SlugsVideoCamControl.h" #include "SlugsVideoCamControl.h"
#include "ui_SlugsVideoCamControl.h" #include "ui_SlugsVideoCamControl.h"
#include <QGraphicsScene> #include <QGraphicsScene>
#include <QGraphicsTextItem> #include <QGraphicsTextItem>
#include <QTextStream> #include <QTextStream>
#include <QScrollBar> #include <QScrollBar>
#include <QMouseEvent> #include <QMouseEvent>
#include <QWheelEvent> #include <QWheelEvent>
#include <QDebug> #include <QDebug>
#include <qmath.h> #include <qmath.h>
#include <QPainter> #include <QPainter>
#include <QGridLayout> #include <QGridLayout>
#include <QVBoxLayout> #include <QVBoxLayout>
#include <QHBoxLayout> #include <QHBoxLayout>
#include <QPushButton> #include <QPushButton>
#include "SlugsPadCameraControl.h" #include "SlugsPadCameraControl.h"
SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) : SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
QWidget(parent), QWidget(parent),
ui(new Ui::SlugsVideoCamControl) ui(new Ui::SlugsVideoCamControl)
{ {
ui->setupUi(this); ui->setupUi(this);
// x1= 0; // x1= 0;
// y1 = 0; // y1 = 0;
connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool))); connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool)));
padCamera = new SlugsPadCameraControl(this); padCamera = new SlugsPadCameraControl(this);
ui->gridLayout->addWidget(padCamera); ui->gridLayout->addWidget(padCamera);
connect(padCamera,SIGNAL(mouseMoveCoord(int,int)),this,SLOT(mousePadMoveEvent(int,int))); //connect(padCamera,SIGNAL(mouseMoveCoord(int,int)),this,SLOT(mousePadMoveEvent(int,int)));
connect(padCamera,SIGNAL(mousePressCoord(int,int)),this,SLOT(mousePadPressEvent(int,int))); //connect(padCamera,SIGNAL(mousePressCoord(int,int)),this,SLOT(mousePadPressEvent(int,int)));
connect(padCamera,SIGNAL(mouseReleaseCoord(int,int)),this,SLOT(mousePadReleaseEvent(int,int))); //connect(padCamera,SIGNAL(mouseReleaseCoord(int,int)),this,SLOT(mousePadReleaseEvent(int,int)));
connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString))); //connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString)));
} }
SlugsVideoCamControl::~SlugsVideoCamControl() SlugsVideoCamControl::~SlugsVideoCamControl()
{ {
delete ui; delete ui;
} }
//void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event) //void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event)
//{ //{
// Q_UNUSED(event); // Q_UNUSED(event);
//} //}
//void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt) //void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt)
//{ //{
// Q_UNUSED(evnt); // Q_UNUSED(evnt);
//} //}
//void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt) //void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt)
//{ //{
// Q_UNUSED(evnt); // Q_UNUSED(evnt);
//} //}
//void SlugsVideoCamControl::mousePadMoveEvent(int x, int y) //void SlugsVideoCamControl::mousePadMoveEvent(int x, int y)
//{ //{
//} //}
//void SlugsVideoCamControl::mousePadPressEvent(int x, int y) //void SlugsVideoCamControl::mousePadPressEvent(int x, int y)
//{ //{
//} //}
//void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y) //void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y)
//{ //{
//} //}
void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status) void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status)
{ {
emit viewCamBorderAtMap(status); emit viewCamBorderAtMap(status);
} }
void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance, QString dirText) void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance, QString dirText)
{ {
ui->label_dir->setText(dirText); ui->label_dir->setText(dirText);
ui->label_x->setText("Distancia= " + QString::number(distance)); ui->label_x->setText("Distancia= " + QString::number(distance));
ui->label_y->setText("Bearing= " + QString::number(bearing)); ui->label_y->setText("Bearing= " + QString::number(bearing));
emit changeCamPosition(20, bearing, dirText); //emit changeCamPosition(20, bearing, dirText);
} }
src/ui/SlugsVideoCamControl.h deleted 100644 → 0
View file @ 3732645d
#ifndef SLUGSVIDEOCAMCONTROL_H
#define SLUGSVIDEOCAMCONTROL_H
#include <QWidget>
#include <QMouseEvent>
#include <QGraphicsView>
#include <QGraphicsSceneMouseEvent>
#include <QGraphicsScene>
#include "SlugsPadCameraControl.h"
#include <QPushButton>
#define DELTA 1000
namespace Ui {
class SlugsVideoCamControl;
}
class SlugsVideoCamControl : public QWidget
{
Q_OBJECT
public:
explicit SlugsVideoCamControl(QWidget *parent = 0);
~SlugsVideoCamControl();
public slots:
/**
* @brief status = true: emit signal to draw a border cam over the map
*/
void changeViewCamBorderAtMapStatus(bool status);
/**
* @brief show the values of mousepad on ui (labels) and emit a changeCamPosition(signal)
* with values:
* bearing and distance from mouse over the pad
* dirText: direction of mouse movement in text format (up, right,right up,right down,
* left, left up, left down, down)
*/
void getDeltaPositionPad(double bearing, double distance, QString dirText);
// /**
// * @brief
// */
// void mousePadPressEvent(int x, int y);
// void mousePadReleaseEvent(int x, int y);
// void mousePadMoveEvent(int x, int y);
signals:
/**
* @brief emit values from mousepad:
* bearing and distance from mouse over the pad
* dirText: direction of mouse movement in text format (up, right,right up,right down,
* left, left up, left down, down)
*/
void changeCamPosition(double distance, double bearing, QString textDir);
/**
* @brief emit signal to draw a border cam over the map if status is true
*/
void viewCamBorderAtMap(bool status);
protected:
// void mousePressEvent(QMouseEvent* event);
// void mouseReleaseEvent(QMouseEvent* event);
// void mouseMoveEvent(QMouseEvent* event);
private:
Ui::SlugsVideoCamControl *ui;
SlugsPadCameraControl* padCamera;
};
#endif // SLUGSVIDEOCAMCONTROL_H
src/ui/SlugsVideoCamControl.ui deleted 100644 → 0
View file @ 3732645d
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SlugsVideoCamControl</class>
<widget class="QWidget" name="SlugsVideoCamControl">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>165</width>
<height>191</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_x">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="text">
<string>Coord_X</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_y">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="text">
<string>Coord_Y</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
<property name="text">
<string>Camera at Map</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_dir">
<property name="text">
<string>Camera Pos</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/UASControlParameters.ui 0 → 100644
View file @ ff627ad3
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>UASControlParameters</class>
<widget class="QWidget" name="UASControlParameters">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>204</width>
<height>246</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>150</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>267</width>
<height>16777215</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="lbMode">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>----</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QTabWidget" name="tabWidget">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="currentIndex">
<number>1</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Commands</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Height (m)</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="sbHeight">
<property name="maximum">
<double>1500.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Airspeed (m/s)</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="sbAirSpeed">
<property name="maximum">
<double>500.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Turn Rate (rad/s)</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="sbTurnRate">
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="4" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QPushButton" name="btSetCommands">
<property name="text">
<string>Set</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btGetCommands">
<property name="text">
<string>Get</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="5" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>27</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_2">
<attribute name="title">
<string>Passthrough</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QCheckBox" name="cxdle_c">
<property name="text">
<string>Elevator</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxdr_c">
<property name="text">
<string>Rudder</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxdt_c">
<property name="text">
<string>Throttle</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxdla_c">
<property name="text">
<string>Ailerons</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="btSetCtrl">
<property name="text">
<string>Set</string>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>26</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/uas/UASControlParameters.cpp 0 → 100644
View file @ ff627ad3
#include "src\ui\uas\UASControlParameters.h"
#include "ui_UASControlParameters.h"
#define CONTROL_MODE_LOCKED "MODE LOCKED"
#define CONTROL_MODE_MANUAL "MODE MANUAL"
#define CONTROL_MODE_GUIDED "MODE GUIDED"
#define CONTROL_MODE_AUTO "MODE AUTO"
#define CONTROL_MODE_TEST1 "MODE TEST1"
#define CONTROL_MODE_TEST2 "MODE TEST2"
#define CONTROL_MODE_TEST3 "MODE TEST3"
#define CONTROL_MODE_READY "MODE TEST3"
#define CONTROL_MODE_RC_TRAINING "RC SIMULATION"
#define CONTROL_MODE_LOCKED_INDEX 1
#define CONTROL_MODE_MANUAL_INDEX 2
#define CONTROL_MODE_GUIDED_INDEX 3
#define CONTROL_MODE_AUTO_INDEX 4
#define CONTROL_MODE_TEST1_INDEX 5
#define CONTROL_MODE_TEST2_INDEX 6
#define CONTROL_MODE_TEST3_INDEX 7
#define CONTROL_MODE_READY_INDEX 8
#define CONTROL_MODE_RC_TRAINING_INDEX 9
UASControlParameters::UASControlParameters(QWidget *parent) :
QWidget(parent),
ui(new Ui::UASControlParameters)
{
ui->setupUi(this);
ui->btSetCtrl->setStatusTip(tr("Set Passthrough"));
connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands()));
connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough()));
}
UASControlParameters::~UASControlParameters()
{
delete ui;
}
void UASControlParameters::changedMode(int mode)
{
QString modeTemp;
switch (mode)
{
case (uint8_t)MAV_MODE_LOCKED:
modeTemp = "LOCKED MODE";
break;
case (uint8_t)MAV_MODE_MANUAL:
modeTemp = "MANUAL MODE";
break;
case (uint8_t)MAV_MODE_AUTO:
modeTemp = "AUTO MODE";
break;
case (uint8_t)MAV_MODE_GUIDED:
modeTemp = "GUIDED MODE";
break;
case (uint8_t)MAV_MODE_READY:
modeTemp = "READY MODE";
break;
case (uint8_t)MAV_MODE_TEST1:
modeTemp = "TEST1 MODE";
break;
case (uint8_t)MAV_MODE_TEST2:
modeTemp = "TEST2 MODE";
break;
case (uint8_t)MAV_MODE_TEST3:
modeTemp = "TEST3 MODE";
break;
case (uint8_t)MAV_MODE_RC_TRAINING:
modeTemp = "RC TRAINING MODE";
break;
default:
modeTemp = "UNINIT MODE";
break;
}
if(modeTemp != this->mode)
{
ui->lbMode->setStyleSheet("background-color: rgb(255, 0, 0)");
}
else
{
ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
}
}
void UASControlParameters::activeUasSet(UASInterface *uas)
{
if(uas)
{
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
activeUAS= uas;
}
}
void UASControlParameters::updateGlobalPosition(UASInterface * a, double b, double c, double aa, quint64 ab)
{
//ui->sbHeight->setValue(aa);
this->altitude=aa;
}
void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy, double vz, quint64 time)
{
this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0));
//ui->sbAirSpeed->setValue(speed);
}
void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double pitch, double yaw, quint64 time)
{
Q_UNUSED(uas);
Q_UNUSED(time);
//ui->sbTurnRate->setValue(roll);
this->roll = roll;
}
void UASControlParameters::setCommands()
{
if(this->activeUAS)
{
UAS* myUas= static_cast<UAS*>(this->activeUAS);
mavlink_message_t msg;
tempCmds.uCommand = ui->sbAirSpeed->value();
tempCmds.hCommand = ui->sbHeight->value();
tempCmds.rCommand = ui->sbTurnRate->value();
mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
myUas->sendMessage(msg);
}
}
void UASControlParameters::getCommands()
{
ui->sbAirSpeed->setValue(this->speed);
ui->sbHeight->setValue(this->altitude);
ui->sbTurnRate->setValue(this->roll);
}
void UASControlParameters::setPassthrough()
{
if(this->activeUAS)
{
UAS* myUas= static_cast<UAS*>(this->activeUAS);
mavlink_message_t msg;
int8_t tmpBit=0;
if(ui->cxdle_c->isChecked())//left elevator command
{
tmpBit+=8;
}
if(ui->cxdr_c->isChecked())//rudder command
{
tmpBit+=16;
}
if(ui->cxdla_c->isChecked())//left aileron command
{
tmpBit+=64;
}
if(ui->cxdt_c->isChecked())//throttle command
{
tmpBit+=128;
}
generic_16bit r;
r.b[1] = 0;
r.b[0] = tmpBit;//255;
tempCtrl.target= this->activeUAS->getUASID();
tempCtrl.bitfieldPt= (uint16_t)r.s;
mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
myUas->sendMessage(msg);
//qDebug()<<tempCtrl.bitfieldPt;
}
}
void UASControlParameters::updateMode(int uas,QString mode,QString description)
{
Q_UNUSED(uas);
Q_UNUSED(description);
this->mode = mode;
ui->lbMode->setText(this->mode);
ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
}
void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
{
Q_UNUSED(uas);
this->throttle= throttle;
}
src/ui/uas/UASControlParameters.h 0 → 100644
View file @ ff627ad3
#ifndef UASCONTROLPARAMETERS_H
#define UASCONTROLPARAMETERS_H
#include <QWidget>
#include "UASManager.h"
#include "SlugsMAV.h"
#include <QTimer>
#include <QTabWidget>
namespace Ui {
class UASControlParameters;
}
class UASControlParameters : public QWidget
{
Q_OBJECT
public:
explicit UASControlParameters(QWidget *parent = 0);
~UASControlParameters();
public slots:
void changedMode(int mode);
void activeUasSet(UASInterface* uas);
void updateGlobalPosition(UASInterface*,double,double,double,quint64);
void speedChanged(UASInterface*,double,double,double,quint64);
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
void setCommands();
void getCommands();
void setPassthrough();
void updateMode(int uas,QString mode,QString description);
void thrustChanged(UASInterface* uas,double throttle);
private:
Ui::UASControlParameters *ui;
QTimer* refreshTimerGet;
UASInterface* activeUAS;
double speed;
double roll;
double altitude;
double throttle;
QString mode;
QString REDcolorStyle;
QPointer<RadioCalibrationData> radio;
LinkInterface* hilLink;
mavlink_mid_lvl_cmds_t tempCmds;
mavlink_ctrl_srfc_pt_t tempCtrl;
};
#endif // UASCONTROLPARAMETERS_H
src/ui/uas/UASControlWidget.cc
View file @ ff627ad3
...@@ -253,6 +253,8 @@ void UASControlWidget::setMode(int mode) ...@@ -253,6 +253,8 @@ void UASControlWidget::setMode(int mode)
qDebug() << "SET MODE REQUESTED" << uasMode; qDebug() << "SET MODE REQUESTED" << uasMode;
emit changedMode(mode);
} }
void UASControlWidget::transmitMode() void UASControlWidget::transmitMode()
......
src/ui/uas/UASControlWidget.h
View file @ ff627ad3
/*===================================================================== /*=====================================================================
QGroundControl Open Source Ground Control Station QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> (c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful, QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/ ======================================================================*/
/** /**
* @file * @file
* @brief Definition of class UASControlWidget * @brief Definition of class UASControlWidget
* *
* @author Lorenz Meier <mavteam@student.ethz.ch> * @author Lorenz Meier <mavteam@student.ethz.ch>
* *
*/ */
#ifndef _UASCONTROLWIDGET_H_ #ifndef _UASCONTROLWIDGET_H_
#define _UASCONTROLWIDGET_H_ #define _UASCONTROLWIDGET_H_
#include <QWidget> #include <QWidget>
#include <QLineEdit> #include <QLineEdit>
#include <QString> #include <QString>
#include <QPushButton> #include <QPushButton>
#include <ui_UASControl.h> #include <ui_UASControl.h>
#include <UASInterface.h> #include <UASInterface.h>
/** /**
* @brief Widget controlling one MAV * @brief Widget controlling one MAV
*/ */
class UASControlWidget : public QWidget class UASControlWidget : public QWidget
{ {
Q_OBJECT Q_OBJECT
public: public:
UASControlWidget(QWidget *parent = 0); UASControlWidget(QWidget *parent = 0);
~UASControlWidget(); ~UASControlWidget();
public slots: public slots:
/** @brief Set the system this widget controls */ /** @brief Set the system this widget controls */
void setUAS(UASInterface* uas); void setUAS(UASInterface* uas);
/** @brief Trigger next context action */ /** @brief Trigger next context action */
void cycleContextButton(); void cycleContextButton();
/** @brief Set the operation mode of the MAV */ /** @brief Set the operation mode of the MAV */
void setMode(int mode); void setMode(int mode);
/** @brief Transmit the operation mode */ /** @brief Transmit the operation mode */
void transmitMode(); void transmitMode();
/** @brief Update the mode */ /** @brief Update the mode */
void updateMode(int uas,QString mode,QString description); void updateMode(int uas,QString mode,QString description);
/** @brief Update state */ /** @brief Update state */
void updateState(int state); void updateState(int state);
/** @brief Update internal state machine */ /** @brief Update internal state machine */
void updateStatemachine(); void updateStatemachine();
protected slots: signals:
/** @brief Set the background color for the widget */ void changedMode(int);
void setBackgroundColor(QColor color);
protected: protected slots:
int uas; ///< Reference to the current uas /** @brief Set the background color for the widget */
unsigned int uasMode; ///< Current uas mode void setBackgroundColor(QColor color);
bool engineOn; ///< Engine state
protected:
private: int uas; ///< Reference to the current uas
Ui::uasControl ui; unsigned int uasMode; ///< Current uas mode
bool engineOn; ///< Engine state
};
private:
#endif // _UASCONTROLWIDGET_H_ Ui::uasControl ui;
};
#endif // _UASCONTROLWIDGET_H_
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