2010-08-10 07:42:39 +02:00
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/**
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******************************************************************************
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*
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* @file scopegadgetwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ScopePlugin Scope Gadget Plugin
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* @{
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* @brief The scope Gadget, graphically plots the states of UAVObjects
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "uavobjects/uavobjectmanager.h"
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#include "extensionsystem/pluginmanager.h"
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#include "scopegadgetwidget.h"
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#include "qwt/src/qwt_plot_curve.h"
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#include "qwt/src/qwt_legend.h"
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#include "qwt/src/qwt_legend_item.h"
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#include "qwt/src/qwt_plot_grid.h"
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#include <iostream>
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#include <math.h>
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#include <QDebug>
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#include <QColor>
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#include <QStringList>
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#include <QtGui/QWidget>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QPushButton>
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TestDataGen* ScopeGadgetWidget::testDataGen;
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ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
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{
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// if(testDataGen == 0)
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// testDataGen = new TestDataGen();
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setCanvasBackground(Qt::darkBlue);
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QwtPlotGrid *grid = new QwtPlotGrid;
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grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
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grid->setMinPen(QPen(Qt::lightGray, 0 , Qt::DotLine));
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grid->attach(this);
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}
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void ScopeGadgetWidget::preparePlot(PlotType plotType)
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{
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m_plotType = plotType;
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clearCurvePlots();
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setMinimumSize(64, 64);
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setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
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// Show a title
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setTitle("Scope");
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// Show a legend at the bottom
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if (legend() == 0) {
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QwtLegend *legend = new QwtLegend();
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legend->setItemMode(QwtLegend::CheckableItem);
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legend->setFrameStyle(QFrame::Box | QFrame::Sunken);
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insertLegend(legend, QwtPlot::BottomLegend);
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}
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connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)),this, SLOT(showCurve(QwtPlotItem *, bool)));
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}
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void ScopeGadgetWidget::showCurve(QwtPlotItem *item, bool on)
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{
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item->setVisible(!on);
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QWidget *w = legend()->find(item);
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if ( w && w->inherits("QwtLegendItem") )
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((QwtLegendItem *)w)->setChecked(on);
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replot();
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}
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void ScopeGadgetWidget::setupSequencialPlot()
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{
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preparePlot(SequencialPlot);
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setAxisTitle(QwtPlot::xBottom, "Index");
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setAxisScaleDraw(QwtPlot::xBottom, new QwtScaleDraw());
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setAxisScale(QwtPlot::xBottom, 0, m_xWindowSize);
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setAxisLabelRotation(QwtPlot::xBottom, 0.0);
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setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
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}
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void ScopeGadgetWidget::setupChronoPlot()
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{
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preparePlot(ChronoPlot);
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setAxisTitle(QwtPlot::xBottom, "Time [h:m:s]");
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setAxisScaleDraw(QwtPlot::xBottom, new TimeScaleDraw());
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uint NOW = QDateTime::currentDateTime().toTime_t();
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setAxisScale(QwtPlot::xBottom, NOW - m_xWindowSize, NOW);
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setAxisLabelRotation(QwtPlot::xBottom, -50.0);
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setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
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/*
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In situations, when there is a label at the most right position of the
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scale, additional space is needed to display the overlapping part
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of the label would be taken by reducing the width of scale and canvas.
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To avoid this "jumping canvas" effect, we add a permanent margin.
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We don't need to do the same for the left border, because there
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is enough space for the overlapping label below the left scale.
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*/
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QwtScaleWidget *scaleWidget = axisWidget(QwtPlot::xBottom);
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const int fmh = QFontMetrics(scaleWidget->font()).height();
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scaleWidget->setMinBorderDist(0, fmh / 2);
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}
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void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavField, int scaleOrderFactor, QPen pen)
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{
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PlotData* plotData;
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if (m_plotType == SequencialPlot)
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plotData = new SequencialPlotData(uavObject, uavField);
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else if (m_plotType == ChronoPlot)
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plotData = new ChronoPlotData(uavObject, uavField, m_refreshInterval);
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//else if (m_plotType == UAVObjectPlot)
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// plotData = new UAVObjectPlotData(uavObject, uavField);
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plotData->m_xWindowSize = m_xWindowSize;
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plotData->scalePower = scaleOrderFactor;
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//If the y-bounds are supplied, set them
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if (plotData->yMinimum != plotData->yMaximum)
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setAxisScale(QwtPlot::yLeft, plotData->yMinimum, plotData->yMaximum);
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//Create the curve
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QString curveName = (plotData->uavObject) + "." + (plotData->uavField);
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QwtPlotCurve* plotCurve = new QwtPlotCurve(curveName);
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plotCurve->setPen(pen);
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plotCurve->setData(*plotData->xData, *plotData->yData);
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plotCurve->attach(this);
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plotData->curve = plotCurve;
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//Keep the curve details for later
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m_curvesData.insert(curveName, plotData);
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//Get the object to monitor
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject((plotData->uavObject)));
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//Link to the signal of new data only if this UAVObject has not been to connected yet
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if (!m_connectedUAVObjects.contains(obj->getName())) {
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m_connectedUAVObjects.append(obj->getName());
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connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
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}
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connect(plotData, SIGNAL(dataChanged()), this, SLOT(replotNewData()));
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replot();
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}
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void ScopeGadgetWidget::removeCurvePlot(QString uavObject, QString uavField)
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{
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QString curveName = uavObject + "." + uavField;
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PlotData* plotData = m_curvesData.take(curveName);
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m_curvesData.remove(curveName);
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plotData->curve->detach();
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delete plotData->curve;
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delete plotData;
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replot();
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}
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void ScopeGadgetWidget::uavObjectReceived(UAVObject* obj)
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{
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foreach(PlotData* plotData, m_curvesData.values()) {
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plotData->append(obj);
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plotData->curve->setData(*plotData->xData, *plotData->yData);
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}
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}
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void ScopeGadgetWidget::replotNewData()
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{
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if (m_plotType == ChronoPlot) {
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uint NOW = QDateTime::currentDateTime().toTime_t();
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setAxisScale(QwtPlot::xBottom, NOW - m_xWindowSize, NOW);
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}
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replot();
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}
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void ScopeGadgetWidget::setupExamplePlot()
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{
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preparePlot(SequencialPlot);
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// Show the axes
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setAxisTitle(xBottom, "x");
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setAxisTitle(yLeft, "y");
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// Calculate the data, 500 points each
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const int points = 500;
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double x[ points ];
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double sn[ points ];
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double cs[ points ];
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double sg[ points ];
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for (int i = 0; i < points; i++) {
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x[i] = (3.0 * 3.14 / double(points)) * double(i);
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sn[i] = 2.0 * sin(x[i]);
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cs[i] = 3.0 * cos(x[i]);
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sg[i] = (sn[i] > 0) ? 1 : ((sn[i] < 0) ? -1 : 0);
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}
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// add curves
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QwtPlotCurve *curve1 = new QwtPlotCurve("Curve 1");
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curve1->setPen(QPen(Qt::blue));
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QwtPlotCurve *curve2 = new QwtPlotCurve("Curve 2");
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curve2->setPen(QPen(Qt::red));
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QwtPlotCurve *curve3 = new QwtPlotCurve("Curve 3");
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curve3->setPen(QPen(Qt::green));
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// copy the data into the curves
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curve1->setData(x, sn, points);
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curve2->setData(x, cs, points);
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curve3->setData(x, sg, points);
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curve1->attach(this);
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curve2->attach(this);
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curve3->attach(this);
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// finally, refresh the plot
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replot();
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}
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ScopeGadgetWidget::~ScopeGadgetWidget()
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{
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//Get the object to de-monitor
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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foreach(QString uavObjName, m_connectedUAVObjects) {
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(uavObjName));
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disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
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}
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clearCurvePlots();
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}
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void ScopeGadgetWidget::clearCurvePlots()
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{
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foreach(PlotData* plotData, m_curvesData.values()) {
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plotData->curve->detach();
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delete plotData->curve;
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delete plotData;
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}
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m_curvesData.clear();
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}
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TestDataGen::TestDataGen()
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{
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// Get required UAVObjects
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ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
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altActual = AltitudeActual::GetInstance(objManager);
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gps = PositionActual::GetInstance(objManager);
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//Setup timer
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timer = new QTimer(this);
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connect(timer, SIGNAL(timeout()), this, SLOT(genTestData()));
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timer->start(2);
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}
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void TestDataGen::genTestData()
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{
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// Update AltitudeActual object
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AltitudeActual::DataFields altActualData;
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altActualData.Altitude = 500 * sin(0.1 * testTime) + 200 * cos(0.4 * testTime) + 800;
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altActualData.Temperature = 30 * sin(0.05 * testTime);
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altActualData.Pressure = 100;
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altActual->setData(altActualData);
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// Update gps objects
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PositionActual::DataFields gpsData;
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gpsData.Altitude = 0;
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gpsData.Heading = 0;
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gpsData.Groundspeed = 0;
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gpsData.Latitude = 0;
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gpsData.Longitude = 0;
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gpsData.Satellites = 10;
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gps->setData(gpsData);
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testTime += 0.02;
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}
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TestDataGen::~TestDataGen()
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{
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if (timer)
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timer->stop();
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delete timer;
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}
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