MixerCurveWidget: first pass refactoring for performance; bugfix for negative values

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp

@@ -32,8 +32,6 @@
 #include <QtGui>
 #include <QDebug>
 
-
-
 /*
  * Initialize the widget
  */
@@ -74,11 +72,48 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
+    initNodes(MixerCurveWidget::NODE_NUMELEM);
 }
 
 MixerCurveWidget::~MixerCurveWidget()
 {
+    for (int i=0; i<nodePool.count(); i++)
+        delete nodePool.at(i);
 
+    for (int i=0; i<edgePool.count(); i++)
+        delete edgePool.at(i);
+}
+
+Node* MixerCurveWidget::getNode(int index)
+{
+    Node* node;
+
+    if (index >= 0 && index < nodePool.count())
+    {
+        node = nodePool.at(index);
+    }
+    else {
+        node = new Node(this);
+        nodePool.append(node);
+    }
+    return node;
+}
+
+Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
+{
+    Edge* edge;
+
+    if (index >= 0 && index < edgePool.count())
+    {
+        edge = edgePool.at(index);
+        edge->setSourceNode(sourceNode);
+        edge->setDestNode(destNode);
+    }
+    else {
+        edge = new Edge(sourceNode,destNode);
+        edgePool.append(edge);
+    }
+    return edge;
 }
 
 /**
@@ -89,51 +124,50 @@ MixerCurveWidget::~MixerCurveWidget()
   */
 void MixerCurveWidget::initCurve(QList<double> points)
 {
-
     if (points.length() < 2)
         return; // We need at least 2 points on a curve!
 
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    // finally, set node positions
+    setCurve(points);
+}
+
+void MixerCurveWidget::initNodes(int numPoints)
+{
     // First of all, reset the list
     // TODO: one edge might not get deleted properly, small mem leak maybe...
+
+    if (nodeList.count()) {
         foreach (Node *node, nodeList ) {
             QList<Edge*> edges = node->edges();
             foreach(Edge *edge, edges) {
                 if (scene()->items().contains(edge))
                         scene()->removeItem(edge);
-                else
-                    delete edge;
             }
-        scene()->removeItem(node);
-        delete node;
+            scene()->removeItem(node);
+        }
+
+        nodeList.clear();
     }
-    nodeList.clear();
 
     // Create the nodes
-    qreal w = plot->boundingRect().width()/(points.length()-1);
-    qreal h = plot->boundingRect().height();
-    for (int i=0; i<points.length(); i++) {
-        Node *node = new Node(this);
-        scene()->addItem(node);
+
+    for (int i=0; i<numPoints; i++) {
+
+        Node *node = getNode(i);
+
         nodeList.append(node);
-        double val = points.at(i);
-        if (val>curveMax)
-                val=curveMax;
-        if (val<curveMin)
-                val=curveMin;
-        val+=curveMin;
-        val/=(curveMax-curveMin);
-        node->setPos(w*i,h-val*h);
-        node->verticalMove(true);
+        scene()->addItem(node);
     }
 
     // ... and link them together:
-    for (int i=0; i<(points.length()-1); i++) {
-        scene()->addItem(new Edge(nodeList.at(i),nodeList.at(i+1)));
+    for (int i=0; i<(numPoints-1); i++) {
+        scene()->addItem(getEdge(i, nodeList.at(i),nodeList.at(i+1)));
     }
-
 }
 
-
 /**
   Returns the current curve settings
   */
@@ -142,7 +176,8 @@ QList<double> MixerCurveWidget::getCurve() {
 
     qreal h = plot->boundingRect().height();
     foreach(Node *node, nodeList) {
-        list.append(((curveMax-curveMin)*(h-node->pos().y())/h)+curveMin);
+        double val = ((curveMax-curveMin)*(h-node->pos().y())/h)+curveMin;
+        list.append(val);
     }
 
     return list;
@@ -150,11 +185,11 @@ QList<double> MixerCurveWidget::getCurve() {
 /**
   Sets a linear graph
   */
-void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
+void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
 {
     QList<double> points;
     for (double i=0; i<numPoints;i++) {
-        points.append(maxValue*(i/(numPoints-1)));
+        points.append(maxValue * (i/(numPoints-1)) );
     }
     initCurve(points);
 }
@@ -163,25 +198,35 @@ void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
   */
 void MixerCurveWidget::setCurve(QList<double> points)
 {
-    if (nodeList.length()<1)
-    {
-        initCurve(points);
-    }
-    else
-    {
-        qreal w = plot->boundingRect().width()/(points.length()-1);
-        qreal h = plot->boundingRect().height();
-        for (int i=0; i<points.length(); i++) {
-            double val = points.at(i);
-            if (val>curveMax)
-                    val=curveMax;
-            if (val<curveMin)
-                    val=curveMin;
-            val-=curveMin;
-            val/=(curveMax-curveMin);
-            nodeList.at(i)->setPos(w*i,h-val*h);
-        }
+    curveUpdating = true;
+
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    double min = curveMin + 10;
+    double max = curveMax + 10;
+
+    qreal w = plot->boundingRect().width()/(points.count()-1);
+    qreal h = plot->boundingRect().height();
+    for (int i=0; i<points.count(); i++) {
+
+        double val = points.at(i);
+        if (val < curveMin)
+            val = curveMin;
+        if (val > curveMax)
+            val = curveMax;
+
+        val += 10;
+        val -= min;
+        val /= (max - min);
+
+        nodeList.at(i)->setPos(w*i, h - (val*h));
+        nodeList.at(i)->verticalMove(true);
     }
+
+    curveUpdating = false;
+
+    emit curveUpdated(points, (double)0);
 }
 
 
@@ -205,8 +250,10 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 
 void MixerCurveWidget::itemMoved(double itemValue)
 {
-    QList<double> list = getCurve();
-    emit curveUpdated(list, itemValue);
+    if (!curveUpdating) {
+        QList<double> list = getCurve();
+        emit curveUpdated(list, itemValue);
+    }
 }
 
 void MixerCurveWidget::setMin(double value)

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h

@@ -31,6 +31,7 @@
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include <QtCore/QPointer>
 #include "mixercurvepoint.h"
 #include "mixercurveline.h"
 #include "uavobjectwidgetutils_global.h"
@@ -45,12 +46,14 @@ public:
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
    void initCurve (QList<double> points);
    QList<double> getCurve();
-   void initLinearCurve(quint32 numPoints, double maxValue);
+   void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
    void setCurve(QList<double>);
    void setMin(double value);
    void setMax(double value);
    void setRange(double min, double max);
 
+   static const int NODE_NUMELEM = 5;
+
 signals:
    void curveUpdated(QList<double>, double );
 
@@ -58,9 +61,19 @@ private slots:
 
 private:
    QGraphicsSvgItem *plot;
+
+   QList<Node*> nodePool;
+   QList<Edge*> edgePool;
    QList<Node*> nodeList;
+   QList<double> points;
+
    double curveMin;
    double curveMax;
+   bool   curveUpdating;
+
+   void  initNodes(int numPoints);
+   Node* getNode(int index);
+   Edge* getEdge(int index, Node* sourceNode, Node* destNode);
 
 protected:
     void showEvent(QShowEvent *event);