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LibrePilot/ground/src/plugins/scope/scopegadgetwidget.cpp

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/**
******************************************************************************
*
* @file scopegadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ScopePlugin Scope Gadget Plugin
* @{
* @brief The scope Gadget, graphically plots the states of UAVObjects
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjects/uavobjectmanager.h"
#include "extensionsystem/pluginmanager.h"
#include "scopegadgetwidget.h"
#include "qwt/src/qwt_plot_curve.h"
#include "qwt/src/qwt_legend.h"
#include "qwt/src/qwt_legend_item.h"
#include "qwt/src/qwt_plot_grid.h"
#include <iostream>
#include <math.h>
#include <QDebug>
#include <QColor>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
TestDataGen* ScopeGadgetWidget::testDataGen;
ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
{
// if(testDataGen == 0)
// testDataGen = new TestDataGen();
//Setup the timer that replots data
replotTimer = new QTimer(this);
connect(replotTimer, SIGNAL(timeout()), this, SLOT(replotNewData()));
}
void ScopeGadgetWidget::preparePlot(PlotType plotType)
{
m_plotType = plotType;
clearCurvePlots();
setMinimumSize(64, 64);
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
// Show a title
setTitle("Scope");
setCanvasBackground(Qt::darkBlue);
//Add grid lines
QwtPlotGrid *grid = new QwtPlotGrid;
grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
grid->setMinPen(QPen(Qt::lightGray, 0 , Qt::DotLine));
grid->attach(this);
// Show a legend at the bottom
if (legend() == 0) {
QwtLegend *legend = new QwtLegend();
legend->setItemMode(QwtLegend::CheckableItem);
legend->setFrameStyle(QFrame::Box | QFrame::Sunken);
insertLegend(legend, QwtPlot::BottomLegend);
}
connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)),this, SLOT(showCurve(QwtPlotItem *, bool)));
if(!replotTimer->isActive())
replotTimer->start(m_refreshInterval);
else
{
replotTimer->setInterval(m_refreshInterval);
}
}
void ScopeGadgetWidget::showCurve(QwtPlotItem *item, bool on)
{
item->setVisible(!on);
QWidget *w = legend()->find(item);
if ( w && w->inherits("QwtLegendItem") )
((QwtLegendItem *)w)->setChecked(on);
replot();
}
void ScopeGadgetWidget::setupSequencialPlot()
{
preparePlot(SequencialPlot);
setAxisTitle(QwtPlot::xBottom, "Index");
setAxisScaleDraw(QwtPlot::xBottom, new QwtScaleDraw());
setAxisScale(QwtPlot::xBottom, 0, m_xWindowSize);
setAxisLabelRotation(QwtPlot::xBottom, 0.0);
setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
}
void ScopeGadgetWidget::setupChronoPlot()
{
preparePlot(ChronoPlot);
setAxisTitle(QwtPlot::xBottom, "Time [h:m:s]");
setAxisScaleDraw(QwtPlot::xBottom, new TimeScaleDraw());
uint NOW = QDateTime::currentDateTime().toTime_t();
setAxisScale(QwtPlot::xBottom, NOW - m_xWindowSize / 1000, NOW);
setAxisLabelRotation(QwtPlot::xBottom, -15.0);
setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
/*
In situations, when there is a label at the most right position of the
scale, additional space is needed to display the overlapping part
of the label would be taken by reducing the width of scale and canvas.
To avoid this "jumping canvas" effect, we add a permanent margin.
We don't need to do the same for the left border, because there
is enough space for the overlapping label below the left scale.
*/
QwtScaleWidget *scaleWidget = axisWidget(QwtPlot::xBottom);
const int fmh = QFontMetrics(scaleWidget->font()).height();
scaleWidget->setMinBorderDist(0, fmh / 2);
}
void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavField, int scaleOrderFactor, QPen pen)
{
PlotData* plotData;
if (m_plotType == SequencialPlot)
plotData = new SequencialPlotData(uavObject, uavField);
else if (m_plotType == ChronoPlot)
plotData = new ChronoPlotData(uavObject, uavField);
//else if (m_plotType == UAVObjectPlot)
// plotData = new UAVObjectPlotData(uavObject, uavField);
plotData->m_xWindowSize = m_xWindowSize;
plotData->scalePower = scaleOrderFactor;
//If the y-bounds are supplied, set them
if (plotData->yMinimum != plotData->yMaximum)
setAxisScale(QwtPlot::yLeft, plotData->yMinimum, plotData->yMaximum);
//Create the curve
QString curveName = (plotData->uavObject) + "." + (plotData->uavField);
QwtPlotCurve* plotCurve = new QwtPlotCurve(curveName);
plotCurve->setPen(pen);
plotCurve->setData(*plotData->xData, *plotData->yData);
plotCurve->attach(this);
plotData->curve = plotCurve;
//Keep the curve details for later
m_curvesData.insert(curveName, plotData);
//Get the object to monitor
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject((plotData->uavObject)));
//Link to the signal of new data only if this UAVObject has not been to connected yet
if (!m_connectedUAVObjects.contains(obj->getName())) {
m_connectedUAVObjects.append(obj->getName());
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
}
replot();
}
void ScopeGadgetWidget::removeCurvePlot(QString uavObject, QString uavField)
{
QString curveName = uavObject + "." + uavField;
PlotData* plotData = m_curvesData.take(curveName);
m_curvesData.remove(curveName);
plotData->curve->detach();
delete plotData->curve;
delete plotData;
replot();
}
void ScopeGadgetWidget::uavObjectReceived(UAVObject* obj)
{
foreach(PlotData* plotData, m_curvesData.values()) {
plotData->append(obj);
}
}
void ScopeGadgetWidget::replotNewData()
{
foreach(PlotData* plotData, m_curvesData.values()) {
plotData->removeStaleData();
plotData->curve->setData(*plotData->xData, *plotData->yData);
}
QDateTime NOW = QDateTime::currentDateTime();
double toTime = NOW.toTime_t();
toTime += NOW.time().msec() / 1000.0;
if (m_plotType == ChronoPlot) {
setAxisScale(QwtPlot::xBottom, toTime - m_xWindowSize, toTime);
}
//qDebug() << "replotNewData from " << NOW.addSecs(- m_xWindowSize) << " to " << NOW;
replot();
}
void ScopeGadgetWidget::setupExamplePlot()
{
preparePlot(SequencialPlot);
// Show the axes
setAxisTitle(xBottom, "x");
setAxisTitle(yLeft, "y");
// Calculate the data, 500 points each
const int points = 500;
double x[ points ];
double sn[ points ];
double cs[ points ];
double sg[ points ];
for (int i = 0; i < points; i++) {
x[i] = (3.0 * 3.14 / double(points)) * double(i);
sn[i] = 2.0 * sin(x[i]);
cs[i] = 3.0 * cos(x[i]);
sg[i] = (sn[i] > 0) ? 1 : ((sn[i] < 0) ? -1 : 0);
}
// add curves
QwtPlotCurve *curve1 = new QwtPlotCurve("Curve 1");
curve1->setPen(QPen(Qt::blue));
QwtPlotCurve *curve2 = new QwtPlotCurve("Curve 2");
curve2->setPen(QPen(Qt::red));
QwtPlotCurve *curve3 = new QwtPlotCurve("Curve 3");
curve3->setPen(QPen(Qt::green));
// copy the data into the curves
curve1->setData(x, sn, points);
curve2->setData(x, cs, points);
curve3->setData(x, sg, points);
curve1->attach(this);
curve2->attach(this);
curve3->attach(this);
// finally, refresh the plot
replot();
}
ScopeGadgetWidget::~ScopeGadgetWidget()
{
if (replotTimer)
replotTimer->stop();
delete replotTimer;
replotTimer = 0;
//Get the object to de-monitor
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
foreach(QString uavObjName, m_connectedUAVObjects) {
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(uavObjName));
disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
}
clearCurvePlots();
}
void ScopeGadgetWidget::clearCurvePlots()
{
foreach(PlotData* plotData, m_curvesData.values()) {
plotData->curve->detach();
delete plotData->curve;
delete plotData;
}
m_curvesData.clear();
}
TestDataGen::TestDataGen()
{
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
altActual = AltitudeActual::GetInstance(objManager);
gps = PositionActual::GetInstance(objManager);
//Setup timer
periodMs = 4;
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(genTestData()));
timer->start(periodMs);
debugCounter = 0;
}
void TestDataGen::genTestData()
{
// Update AltitudeActual object
AltitudeActual::DataFields altActualData;
altActualData.Altitude = 500 * sin(1 * testTime) + 200 * cos(4 * testTime) + 800;
altActualData.Temperature = 30 * sin(0.5 * testTime);
altActualData.Pressure = 100;
altActual->setData(altActualData);
// Update gps objects
PositionActual::DataFields gpsData;
gpsData.Altitude = 0;
gpsData.Heading = 0;
gpsData.Groundspeed = 0;
gpsData.Latitude = 0;
gpsData.Longitude = 0;
gpsData.Satellites = 10;
gps->setData(gpsData);
testTime += (periodMs / 1000.0);
debugCounter++;
if (debugCounter % (100/periodMs) == 0 )
qDebug() << "Test Time = " << testTime;
}
TestDataGen::~TestDataGen()
{
if (timer)
timer->stop();
delete timer;
}