diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index d2c2206c6e0deed66c3ef56870ae1faa244c5be3..f5bb8ea5069cd4d1a8c4c451e005f03e383ac737 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -19,13 +19,15 @@ SOURCES += main.cpp\
trackerworker.cpp \
controlworker.cpp \
quaditem.cpp \
- slotprocess.cpp
+ slotprocess.cpp \
+ qFlightInstruments.cpp
HEADERS += mainwindow.h \
trackerworker.h \
controlworker.h \
quaditem.h \
- slotprocess.h
+ slotprocess.h \
+ qFlightInstruments.h
FORMS += mainwindow.ui
diff --git a/groundStation/gui/MicroCART/main.o b/groundStation/gui/MicroCART/main.o
new file mode 100644
index 0000000000000000000000000000000000000000..767107db444ece37a4d56aad6d9d10efca2043cd
Binary files /dev/null and b/groundStation/gui/MicroCART/main.o differ
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 5abedc40682eb8b1d085dffa33ca954c47f66aad..d5cec6ce48fe0faa1308683dc46888b9497f502f 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -14,6 +14,7 @@
#include "graph_blocks.h"
#include "quaditem.h"
#include "slotprocess.h"
+#include "qFlightInstruments.h"
#include <iostream>
MainWindow::MainWindow(QWidget *parent) :
@@ -25,17 +26,22 @@ MainWindow::MainWindow(QWidget *parent) :
sp_y(0.0f),
sp_z(0.0f),
trackerTimer(new QTimer(this)),
+ workerStartTimer(new QTimer(this)),
backendProcess(new QProcess(this)),
- connectedWorkers(0),
- workerStartTimer(new QTimer(this))
+ connectedWorkers(0)
{
ui->setupUi(this);
- QGraphicsScene *topScene = new QGraphicsScene(this);
- ui->topView->setScene(topScene);
- QuadItem * quad = new QuadItem();
+ QGraphicsScene *posScene = new QGraphicsScene(this);
+ ui->posView->setScene(posScene);
+ QuadItem * posIndicator = new QuadItem();
+ posScene->addItem(posIndicator);
+
+ QGraphicsScene *attScene = new QGraphicsScene(this);
+ ui->attView->setScene(attScene);
+ QADI * attIndicator = new QADI();
+ attScene->addWidget(attIndicator);
- topScene->addItem(quad);
workerStartTimer->setSingleShot(true);
@@ -54,7 +60,10 @@ MainWindow::MainWindow(QWidget *parent) :
this, SLOT (updateTracker(float, float, float, float, float, float)));
connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- quad, SLOT(updateQuad(float,float,float,float,float,float)));
+ posIndicator, SLOT(updatePos(float,float,float,float,float,float)));
+
+ connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ attIndicator, SLOT(updateAttitude(float, float, float, float, float, float)));
backendProcess->setProcessChannelMode(QProcess::MergedChannels);
diff --git a/groundStation/gui/MicroCART/mainwindow.o b/groundStation/gui/MicroCART/mainwindow.o
new file mode 100644
index 0000000000000000000000000000000000000000..985ac913b4e916fffcc7636ae78997bb9533cbb3
Binary files /dev/null and b/groundStation/gui/MicroCART/mainwindow.o differ
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 1fc6dfc6af17e984d7f1a9969c46484d60c16557..a835da062a8fe7f7363120294c375fe0342d933e 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1004</width>
- <height>934</height>
+ <width>1186</width>
+ <height>1034</height>
</rect>
</property>
<property name="windowTitle">
@@ -130,8 +130,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>962</width>
- <height>577</height>
+ <width>1144</width>
+ <height>677</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
@@ -1069,7 +1069,7 @@
<item>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
- <widget class="QGraphicsView" name="topView">
+ <widget class="QGraphicsView" name="posView">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
@@ -1079,7 +1079,7 @@
</widget>
</item>
<item>
- <widget class="QGraphicsView" name="sideView"/>
+ <widget class="QGraphicsView" name="attView"/>
</item>
</layout>
</item>
@@ -1103,7 +1103,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1004</width>
+ <width>1186</width>
<height>27</height>
</rect>
</property>
diff --git a/groundStation/gui/MicroCART/qFlightInstruments.cpp b/groundStation/gui/MicroCART/qFlightInstruments.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..639ccfa9cad84679962eba13531d454b55efae81
--- /dev/null
+++ b/groundStation/gui/MicroCART/qFlightInstruments.cpp
@@ -0,0 +1,629 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <QtCore>
+#include <QtGui>
+#include <QDebug>
+#include <QtMath>
+#include <QTableWidget>
+#include <QHeaderView>
+
+#include "qFlightInstruments.h"
+
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+QADI::QADI(QWidget *parent)
+ : QWidget(parent)
+{
+ connect(this, SIGNAL(canvasReplot(void)), this, SLOT(canvasReplot_slot(void)));
+
+ m_sizeMax = 350;
+ setMaximumSize(m_sizeMax, m_sizeMax);
+ setAutoFillBackground(true);
+ setFocusPolicy(Qt::NoFocus);
+
+ m_roll = 0.0;
+ m_pitch = 0.0;
+}
+
+QADI::~QADI()
+{
+
+}
+
+void QADI::updateAttitude(float longitudinal, float lateral, float height, float pitch, float roll, float yaw)
+{
+ setData(qRadiansToDegrees(-roll), qRadiansToDegrees(pitch));
+}
+
+void QADI::canvasReplot_slot(void)
+{
+ update();
+}
+
+
+void QADI::resizeEvent(QResizeEvent *event)
+{
+ m_size = qMin(width(),height()) - 2*m_offset;
+}
+
+void QADI::paintEvent(QPaintEvent *)
+{
+ QPainter painter(this);
+
+ QBrush bgSky(QColor(48,172,220));
+ QBrush bgGround(QColor(247,168,21));
+
+ QPen whitePen(Qt::white);
+ QPen blackPen(Qt::black);
+ QPen pitchPen(Qt::white);
+ QPen pitchZero(Qt::green);
+
+ whitePen.setWidth(2);
+ blackPen.setWidth(2);
+ pitchZero.setWidth(3);
+
+ painter.setRenderHint(QPainter::Antialiasing);
+
+ painter.translate(width() / 2, height() / 2);
+ painter.rotate(m_roll);
+
+ // FIXME: AHRS output left-hand values
+ double pitch_tem = -m_pitch;
+
+ // draw background
+ {
+ int y_min, y_max;
+
+ y_min = m_size/2*-40.0/45.0;
+ y_max = m_size/2* 40.0/45.0;
+
+ int y = m_size/2*pitch_tem/45.;
+ if( y < y_min ) y = y_min;
+ if( y > y_max ) y = y_max;
+
+ int x = sqrt(m_size*m_size/4 - y*y);
+ qreal gr = atan((double)(y)/x);
+ gr = gr * 180./3.1415926;
+
+ painter.setPen(blackPen);
+ painter.setBrush(bgSky);
+ painter.drawChord(-m_size/2, -m_size/2, m_size, m_size,
+ gr*16, (180-2*gr)*16);
+
+ painter.setBrush(bgGround);
+ painter.drawChord(-m_size/2, -m_size/2, m_size, m_size,
+ gr*16, -(180+2*gr)*16);
+ }
+
+ // set mask
+ QRegion maskRegion(-m_size/2, -m_size/2, m_size, m_size, QRegion::Ellipse);
+ painter.setClipRegion(maskRegion);
+
+
+ // draw pitch lines & marker
+ {
+ int x, y, x1, y1;
+ int textWidth;
+ double p, r;
+ int ll = m_size/8, l;
+
+ int fontSize = 8;
+ QString s;
+
+ pitchPen.setWidth(2);
+ painter.setFont(QFont("", fontSize));
+
+
+ // draw lines
+ for(int i=-9; i<=9; i++) {
+ p = i*10;
+
+ s = QString("%1").arg(-p);
+
+ if( i % 3 == 0 )
+ l = ll;
+ else
+ l = ll/2;
+
+ if( i == 0 ) {
+ painter.setPen(pitchZero);
+ l = l * 1.8;
+ } else {
+ painter.setPen(pitchPen);
+ }
+
+ y = m_size/2*p/45.0 - m_size/2*pitch_tem/45.;
+ x = l;
+
+ r = sqrt(x*x + y*y);
+ if( r > m_size/2 ) continue;
+
+ painter.drawLine(QPointF(-l, 1.0*y), QPointF(l, 1.0*y));
+
+ textWidth = 100;
+
+ if( i % 3 == 0 && i != 0 ) {
+ painter.setPen(QPen(Qt::white));
+
+ x1 = -x-2-textWidth;
+ y1 = y - fontSize/2 - 1;
+ painter.drawText(QRectF(x1, y1, textWidth, fontSize+2),
+ Qt::AlignRight|Qt::AlignVCenter, s);
+ }
+ }
+
+ // draw marker
+ int markerSize = m_size/20;
+ float fx1, fy1, fx2, fy2, fx3, fy3;
+
+ painter.setBrush(QBrush(Qt::red));
+ painter.setPen(Qt::NoPen);
+
+ fx1 = markerSize;
+ fy1 = 0;
+ fx2 = fx1 + markerSize;
+ fy2 = -markerSize/2;
+ fx3 = fx1 + markerSize;
+ fy3 = markerSize/2;
+
+ QPointF points[3] = {
+ QPointF(fx1, fy1),
+ QPointF(fx2, fy2),
+ QPointF(fx3, fy3)
+ };
+ painter.drawPolygon(points, 3);
+
+ QPointF points2[3] = {
+ QPointF(-fx1, fy1),
+ QPointF(-fx2, fy2),
+ QPointF(-fx3, fy3)
+ };
+ painter.drawPolygon(points2, 3);
+ }
+
+ // draw roll degree lines
+ {
+ int nRollLines = 36;
+ float rotAng = 360.0 / nRollLines;
+ int rollLineLeng = m_size/25;
+ double fx1, fy1, fx2, fy2;
+ int fontSize = 8;
+ QString s;
+
+ blackPen.setWidth(1);
+ painter.setPen(blackPen);
+ painter.setFont(QFont("", fontSize));
+
+ for(int i=0; i<nRollLines; i++) {
+ if( i < nRollLines/2 )
+ s = QString("%1").arg(-i*rotAng);
+ else
+ s = QString("%1").arg(360-i*rotAng);
+
+ fx1 = 0;
+ fy1 = -m_size/2 + m_offset;
+ fx2 = 0;
+
+ if( i % 3 == 0 ) {
+ fy2 = fy1 + rollLineLeng;
+ painter.drawLine(QPointF(fx1, fy1), QPointF(fx2, fy2));
+
+ fy2 = fy1 + rollLineLeng+2;
+ painter.drawText(QRectF(-50, fy2, 100, fontSize+2),
+ Qt::AlignCenter, s);
+ } else {
+ fy2 = fy1 + rollLineLeng/2;
+ painter.drawLine(QPointF(fx1, fy1), QPointF(fx2, fy2));
+ }
+
+ painter.rotate(rotAng);
+ }
+ }
+
+ // draw roll marker
+ {
+ int rollMarkerSize = m_size/25;
+ double fx1, fy1, fx2, fy2, fx3, fy3;
+
+ painter.rotate(-m_roll);
+ painter.setBrush(QBrush(Qt::black));
+
+ fx1 = 0;
+ fy1 = -m_size/2 + m_offset;
+ fx2 = fx1 - rollMarkerSize/2;
+ fy2 = fy1 + rollMarkerSize;
+ fx3 = fx1 + rollMarkerSize/2;
+ fy3 = fy1 + rollMarkerSize;
+
+ QPointF points[3] = {
+ QPointF(fx1, fy1),
+ QPointF(fx2, fy2),
+ QPointF(fx3, fy3)
+ };
+ painter.drawPolygon(points, 3);
+ }
+}
+
+void QADI::keyPressEvent(QKeyEvent *event)
+{
+ switch (event->key()) {
+ case Qt::Key_Left:
+ m_roll -= 1.0;
+ break;
+ case Qt::Key_Right:
+ m_roll += 1.0;
+ break;
+ case Qt::Key_Down:
+ if(m_pitch>-90.)
+ m_pitch -=1.0;
+ break;
+ case Qt::Key_Up:
+ if(m_pitch<90.)
+ m_pitch +=1.0;
+ break;
+ default:
+ QWidget::keyPressEvent(event);
+ break;
+ }
+
+ update();
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+
+QCompass::QCompass(QWidget *parent)
+ : QWidget(parent)
+{
+ connect(this, SIGNAL(canvasReplot(void)), this, SLOT(canvasReplot_slot(void)));
+
+ m_sizeMin = 200;
+ m_sizeMax = 600;
+ m_offset = 2;
+ m_size = m_sizeMin - 2*m_offset;
+
+ setMinimumSize(m_sizeMin, m_sizeMin);
+ setMaximumSize(m_sizeMax, m_sizeMax);
+ resize(m_sizeMin, m_sizeMin);
+
+ setFocusPolicy(Qt::NoFocus);
+
+ m_yaw = 0.0;
+ m_alt = 0.0;
+ m_h = 0.0;
+}
+
+QCompass::~QCompass()
+{
+
+}
+
+
+void QCompass::canvasReplot_slot(void)
+{
+ update();
+}
+
+void QCompass::resizeEvent(QResizeEvent *event)
+{
+ m_size = qMin(width(),height()) - 2*m_offset;
+}
+
+void QCompass::paintEvent(QPaintEvent *)
+{
+ QPainter painter(this);
+
+ QBrush bgGround(QColor(48,172,220));
+
+ QPen whitePen(Qt::white);
+ QPen blackPen(Qt::black);
+ QPen redPen(Qt::red);
+ QPen bluePen(Qt::blue);
+ QPen greenPen(Qt::green);
+
+ whitePen.setWidth(1);
+ blackPen.setWidth(2);
+ redPen.setWidth(2);
+ bluePen.setWidth(2);
+ greenPen.setWidth(2);
+
+ painter.setRenderHint(QPainter::Antialiasing);
+
+ painter.translate(width() / 2, height() / 2);
+
+
+ // draw background
+ {
+ painter.setPen(blackPen);
+ painter.setBrush(bgGround);
+
+ painter.drawEllipse(-m_size/2, -m_size/2, m_size, m_size);
+ }
+
+
+ // draw yaw lines
+ {
+ int nyawLines = 36;
+ float rotAng = 360.0 / nyawLines;
+ int yawLineLeng = m_size/25;
+ double fx1, fy1, fx2, fy2;
+ int fontSize = 8;
+ QString s;
+
+ blackPen.setWidth(1);
+ painter.setPen(blackPen);
+
+ for(int i=0; i<nyawLines; i++) {
+
+ if( i == 0 ) {
+ s = "N";
+ painter.setPen(bluePen);
+
+ painter.setFont(QFont("", fontSize*1.3));
+ } else if ( i == 9 ) {
+ s = "W";
+ painter.setPen(blackPen);
+
+ painter.setFont(QFont("", fontSize*1.3));
+ } else if ( i == 18 ) {
+ s = "S";
+ painter.setPen(redPen);
+
+ painter.setFont(QFont("", fontSize*1.3));
+ } else if ( i == 27 ) {
+ s = "E";
+ painter.setPen(blackPen);
+
+ painter.setFont(QFont("", fontSize*1.3));
+ } else {
+ s = QString("%1").arg(i*rotAng);
+ painter.setPen(blackPen);
+
+ painter.setFont(QFont("", fontSize));
+ }
+
+ fx1 = 0;
+ fy1 = -m_size/2 + m_offset;
+ fx2 = 0;
+
+ if( i % 3 == 0 ) {
+ fy2 = fy1 + yawLineLeng;
+ painter.drawLine(QPointF(fx1, fy1), QPointF(fx2, fy2));
+
+ fy2 = fy1 + yawLineLeng+4;
+ painter.drawText(QRectF(-50, fy2, 100, fontSize+2),
+ Qt::AlignCenter, s);
+ } else {
+ fy2 = fy1 + yawLineLeng/2;
+ painter.drawLine(QPointF(fx1, fy1), QPointF(fx2, fy2));
+ }
+
+ painter.rotate(-rotAng);
+ }
+ }
+
+ // draw S/N arrow
+ {
+ int arrowWidth = m_size/5;
+ double fx1, fy1, fx2, fy2, fx3, fy3;
+
+ fx1 = 0;
+ fy1 = -m_size/2 + m_offset + m_size/25 + 15;
+ fx2 = -arrowWidth/2;
+ fy2 = 0;
+ fx3 = arrowWidth/2;
+ fy3 = 0;
+
+ painter.setPen(Qt::NoPen);
+
+ painter.setBrush(QBrush(Qt::blue));
+ QPointF pointsN[3] = {
+ QPointF(fx1, fy1),
+ QPointF(fx2, fy2),
+ QPointF(fx3, fy3)
+ };
+ painter.drawPolygon(pointsN, 3);
+
+
+ fx1 = 0;
+ fy1 = m_size/2 - m_offset - m_size/25 - 15;
+ fx2 = -arrowWidth/2;
+ fy2 = 0;
+ fx3 = arrowWidth/2;
+ fy3 = 0;
+
+ painter.setBrush(QBrush(Qt::red));
+ QPointF pointsS[3] = {
+ QPointF(fx1, fy1),
+ QPointF(fx2, fy2),
+ QPointF(fx3, fy3)
+ };
+ painter.drawPolygon(pointsS, 3);
+ }
+
+
+ // draw yaw marker
+ {
+ int yawMarkerSize = m_size/12;
+ double fx1, fy1, fx2, fy2, fx3, fy3;
+
+ painter.rotate(-m_yaw);
+ painter.setBrush(QBrush(QColor(0xFF, 0x00, 0x00, 0xE0)));
+
+ fx1 = 0;
+ fy1 = -m_size/2 + m_offset;
+ fx2 = fx1 - yawMarkerSize/2;
+ fy2 = fy1 + yawMarkerSize;
+ fx3 = fx1 + yawMarkerSize/2;
+ fy3 = fy1 + yawMarkerSize;
+
+ QPointF points[3] = {
+ QPointF(fx1, fy1),
+ QPointF(fx2, fy2),
+ QPointF(fx3, fy3)
+ };
+ painter.drawPolygon(points, 3);
+
+ painter.rotate(m_yaw);
+ }
+
+ // draw altitude
+ {
+ int altFontSize = 13;
+ int fx, fy, w, h;
+ QString s;
+ char buf[200];
+
+ w = 130;
+ h = 2*(altFontSize + 8);
+ fx = -w/2;
+ fy = -h/2;
+
+ blackPen.setWidth(2);
+ painter.setPen(blackPen);
+ painter.setBrush(QBrush(Qt::white));
+ painter.setFont(QFont("", altFontSize));
+
+ painter.drawRoundedRect(fx, fy, w, h, 6, 6);
+
+ painter.setPen(bluePen);
+ sprintf(buf, "ALT: %6.1f m", m_alt);
+ s = buf;
+ painter.drawText(QRectF(fx, fy+2, w, h/2), Qt::AlignCenter, s);
+
+ sprintf(buf, "H: %6.1f m", m_h);
+ s = buf;
+ painter.drawText(QRectF(fx, fy+h/2, w, h/2), Qt::AlignCenter, s);
+ }
+}
+
+void QCompass::keyPressEvent(QKeyEvent *event)
+{
+ switch (event->key()) {
+ case Qt::Key_Left:
+ m_yaw -= 1.0;
+ break;
+ case Qt::Key_Right:
+ m_yaw += 1.0;
+ break;
+ case Qt::Key_Down:
+ m_alt -= 1.0;
+ break;
+ case Qt::Key_Up:
+ m_alt += 1.0;
+ break;
+ case Qt::Key_W:
+ m_h += 1.0;
+ break;
+ case Qt::Key_S:
+ m_h -= 1.0;
+ break;
+
+ default:
+ QWidget::keyPressEvent(event);
+ break;
+ }
+
+ update();
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+
+QKeyValueListView::QKeyValueListView(QWidget *parent) : QTableWidget(parent)
+{
+ connect(this, SIGNAL(listUpdate(void)), this, SLOT(listUpdate_slot(void)));
+
+ m_mutex = new QMutex();
+
+ // set row & column numbers
+ setRowCount(0);
+ setColumnCount(2);
+
+ // set no headers
+ verticalHeader()->hide();
+ horizontalHeader()->hide();
+
+ // set last section is stretch-able
+ QHeaderView *HorzHdr = horizontalHeader();
+ HorzHdr->setStretchLastSection(true);
+ HorzHdr->resizeSection(0, 80); // set first column width
+
+ // disable table edit & focus
+ setEditTriggers(QTableWidget::NoEditTriggers);
+ setFocusPolicy(Qt::NoFocus);
+}
+
+QKeyValueListView::~QKeyValueListView()
+{
+ delete m_mutex;
+}
+
+void QKeyValueListView::listUpdate_slot(void)
+{
+ int i, n;
+ ListMap::iterator it;
+
+ QColor clCL1, clCL2;
+ QColor clB1, clB2;
+
+ int fontSize = 8;
+ int rowHeight = 20;
+
+ clCL1 = QColor(0x00, 0x00, 0xFF);
+ clCL2 = QColor(0x00, 0x00, 0x00);
+ clB1 = QColor(0xFF, 0xFF, 0xFF);
+ clB2 = QColor(0xE0, 0xE0, 0xE0);
+
+ m_mutex->lock();
+
+ n = m_data.size();
+ setRowCount(n);
+ setColumnCount(2);
+
+ for(i=0, it=m_data.begin(); it!=m_data.end(); i++, it++) {
+ // set name cell
+ if( this->item(i, 0) != NULL ) {
+ this->item(i, 0)->setText(it.key());
+ } else {
+ QTableWidgetItem* item = new QTableWidgetItem();
+ item->setText(it.key());
+
+ item->setTextColor(clCL1);
+ if( i % 2 == 0 ) item->setBackgroundColor(clB1);
+ else item->setBackgroundColor(clB2);
+
+ item->setFont(QFont("", fontSize));
+
+ this->setItem(i, 0, item);
+ }
+
+ // set value cell
+ if( this->item(i, 1) != NULL ) {
+ this->item(i, 1)->setText(it.value());
+ } else {
+ QTableWidgetItem* item = new QTableWidgetItem();
+ item->setText(it.value());
+
+ item->setTextColor(clCL2);
+ if( i % 2 == 0 ) item->setBackgroundColor(clB1);
+ else item->setBackgroundColor(clB2);
+
+ item->setFont(QFont("", fontSize));
+
+ this->setItem(i, 1, item);
+ }
+
+ setRowHeight(i, rowHeight);
+ }
+
+ m_mutex->unlock();
+}
diff --git a/groundStation/gui/MicroCART/qFlightInstruments.h b/groundStation/gui/MicroCART/qFlightInstruments.h
new file mode 100644
index 0000000000000000000000000000000000000000..353efbf08a09349e782504d12e0041d59b39bb9d
--- /dev/null
+++ b/groundStation/gui/MicroCART/qFlightInstruments.h
@@ -0,0 +1,260 @@
+#ifndef __QFLIGHTINSTRUMENTS_H__
+#define __QFLIGHTINSTRUMENTS_H__
+
+#include <QtCore>
+#include <QtGui>
+#include <QWidget>
+#include <QMap>
+#include <QTableWidget>
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+///
+/// \brief The Attitude indicator class
+///
+class QADI : public QWidget
+{
+ Q_OBJECT
+
+public:
+ QADI(QWidget *parent = 0);
+ ~QADI();
+
+ ///
+ /// \brief Set roll & pitch values (in degree)
+ /// \param r - roll
+ /// \param p - pitch
+ ///
+ void setData(double r, double p) {
+ m_roll = r;
+ m_pitch = p;
+ if( m_roll < -180 ) m_roll = -180;
+ if( m_roll > 180 ) m_roll = 180;
+ if( m_pitch < -90 ) m_pitch = -90;
+ if( m_pitch > 90 ) m_pitch = 90;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Set roll angle (in degree)
+ /// \param val - roll
+ ///
+ void setRoll(double val) {
+ m_roll = val;
+ if( m_roll < -180 ) m_roll = -180;
+ if( m_roll > 180 ) m_roll = 180;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Set pitch value (in degree)
+ /// \param val
+ ///
+ void setPitch(double val) {
+ m_pitch = val;
+ if( m_pitch < -90 ) m_pitch = -90;
+ if( m_pitch > 90 ) m_pitch = 90;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Get roll angle (in degree)
+ /// \return roll angle
+ ///
+ double getRoll() {return m_roll;}
+
+ ///
+ /// \brief Get pitch angle (in degree)
+ /// \return pitch angle
+ ///
+ double getPitch(){return m_pitch;}
+
+
+signals:
+ void canvasReplot(void);
+
+protected slots:
+ void updateAttitude(float longitudinal, float lateral, float height, float pitch, float roll, float yaw);
+ void canvasReplot_slot(void);
+
+protected:
+ void paintEvent(QPaintEvent *event);
+ void resizeEvent(QResizeEvent *event);
+ void keyPressEvent(QKeyEvent *event);
+
+protected:
+ int m_sizeMin, m_sizeMax; ///< widget's min/max size (in pixel)
+ int m_size, m_offset; ///< current size & offset
+
+ double m_roll; ///< roll angle (in degree)
+ double m_pitch; ///< pitch angle (in degree)
+};
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+///
+/// \brief The Compass & altitude display class
+///
+class QCompass : public QWidget
+{
+ Q_OBJECT
+
+public:
+ QCompass(QWidget *parent = 0);
+ ~QCompass();
+
+ ///
+ /// \brief Set all data (yaw, alt, height)
+ ///
+ /// \param y - yaw ( in degree)
+ /// \param a - altitude ( in m)
+ /// \param h - height from ground (in m)
+ ///
+ void setData(double y, double a, double h) {
+ m_yaw = y;
+ m_alt = a;
+ m_h = h;
+
+ if( m_yaw < 0 ) m_yaw = 360 + m_yaw;
+ if( m_yaw > 360 ) m_yaw = m_yaw - 360;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Set yaw angle (in degree)
+ /// \param val - yaw angle (in degree)
+ ///
+ void setYaw(double val) {
+ m_yaw = val;
+ if( m_yaw < 0 ) m_yaw = 360 + m_yaw;
+ if( m_yaw > 360 ) m_yaw = m_yaw - 360;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Set altitude value
+ /// \param val - altitude (in m)
+ ///
+ void setAlt(double val) {
+ m_alt = val;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Set height from ground
+ /// \param val - height (in m)
+ ///
+ void setH(double val) {
+ m_h = val;
+
+ emit canvasReplot();
+ }
+
+ ///
+ /// \brief Get yaw angle
+ /// \return yaw angle (in degree)
+ ///
+ double getYaw() {return m_yaw;}
+
+ ///
+ /// \brief Get altitude value
+ /// \return altitude (in m)
+ ///
+ double getAlt() {return m_alt;}
+
+ ///
+ /// \brief Get height from ground
+ /// \return height from ground (in m)
+ ///
+ double getH() {return m_h;}
+
+signals:
+ void canvasReplot(void);
+
+protected slots:
+ void canvasReplot_slot(void);
+
+protected:
+ void paintEvent(QPaintEvent *event);
+ void resizeEvent(QResizeEvent *event);
+ void keyPressEvent(QKeyEvent *event);
+
+protected:
+ int m_sizeMin, m_sizeMax; ///< widget min/max size (in pixel)
+ int m_size, m_offset; ///< widget size and offset size
+
+ double m_yaw; ///< yaw angle (in degree)
+ double m_alt; ///< altitude (in m)
+ double m_h; ///< height from ground (in m)
+};
+
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+typedef QMap<QString, QString> ListMap;
+
+///
+/// \brief The List view class, it will display key-value pair in lines
+///
+class QKeyValueListView : public QTableWidget
+{
+public:
+ Q_OBJECT
+
+public:
+ QKeyValueListView(QWidget *parent = 0);
+ virtual ~QKeyValueListView();
+
+ ///
+ /// \brief Set list data
+ /// \param d - list data
+ ///
+ void setData(ListMap &d) {
+ m_data = d;
+ emit listUpdate();
+ }
+
+ ///
+ /// \brief Get list data
+ /// \param d - list data obj
+ ///
+ ListMap& getData(void) {
+ return m_data;
+ }
+
+ void beginSetData(void) {
+ m_mutex->lock();
+ }
+
+ void endSetData(void) {
+ m_mutex->unlock();
+ }
+
+ ///
+ /// \brief Reloat data to table widget
+ ///
+ void listReload(void) {
+ emit listUpdate();
+ }
+
+signals:
+ void listUpdate(void);
+
+protected slots:
+ void listUpdate_slot(void);
+
+protected:
+ ListMap m_data;
+ QMutex *m_mutex;
+};
+
+#endif // end of __QFLIGHTINSTRUMENTS_H__
diff --git a/groundStation/gui/MicroCART/qFlightInstruments.o b/groundStation/gui/MicroCART/qFlightInstruments.o
new file mode 100644
index 0000000000000000000000000000000000000000..72a0edc52d0931ab8d33781a4c0b2ba0e84619b9
Binary files /dev/null and b/groundStation/gui/MicroCART/qFlightInstruments.o differ
diff --git a/groundStation/gui/MicroCART/quaditem.cpp b/groundStation/gui/MicroCART/quaditem.cpp
index 70e74140ad6ebe45a111c3c5602bc4d908a6e046..0f5bb5cd73d3015a3a2c52707b70f6d1fa265ab3 100644
--- a/groundStation/gui/MicroCART/quaditem.cpp
+++ b/groundStation/gui/MicroCART/quaditem.cpp
@@ -16,10 +16,11 @@ QRectF QuadItem::boundingRect() const
void QuadItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
QRectF rec = boundingRect();
+ painter->setRenderHint(QPainter::Antialiasing);
painter->drawImage(rec,QImage(":/images/quad/quad.png"));
}
-void QuadItem::updateQuad(float longitudinal, float lateral, float height, float pitch, float roll, float yaw)
+void QuadItem::updatePos(float longitudinal, float lateral, float height, float pitch, float roll, float yaw)
{
QPointF center = boundingRect().center();
this->setTransform(QTransform().translate(center.x(), center.y()).rotate(qRadiansToDegrees(yaw)).translate(-center.x(), -center.y()));
diff --git a/groundStation/gui/MicroCART/quaditem.h b/groundStation/gui/MicroCART/quaditem.h
index 3f271806b2503a0a98d1284b5cbbc9520436e03e..0e0d13ba60bf33946178bb49f5f51f5314392e23 100644
--- a/groundStation/gui/MicroCART/quaditem.h
+++ b/groundStation/gui/MicroCART/quaditem.h
@@ -18,7 +18,7 @@ public:
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
public slots:
- void updateQuad(float longitudinal, float lateral, float height, float pitch, float roll, float yaw);
+ void updatePos(float longitudinal, float lateral, float height, float pitch, float roll, float yaw);
};