From 4f485f7d61eddbd632b1db7d8e5a53cbfeb15a02 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Fri, 18 Nov 2011 18:30:58 +0100 Subject: [PATCH] GCS/ScopePlugin: Allow SoftwareInterpolation of measurement value --- .../src/plugins/scope/plotdata.cpp | 21 +++++++++++++-- .../openpilotgcs/src/plugins/scope/plotdata.h | 3 +++ .../src/plugins/scope/scopegadget.cpp | 2 ++ .../scope/scopegadgetconfiguration.cpp | 3 +++ .../plugins/scope/scopegadgetconfiguration.h | 1 + .../plugins/scope/scopegadgetoptionspage.cpp | 23 +++++++++++----- .../plugins/scope/scopegadgetoptionspage.h | 4 +-- .../plugins/scope/scopegadgetoptionspage.ui | 26 +++++++++++++++++++ .../src/plugins/scope/scopegadgetwidget.cpp | 3 ++- .../src/plugins/scope/scopegadgetwidget.h | 2 +- 10 files changed, 76 insertions(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/scope/plotdata.cpp b/ground/openpilotgcs/src/plugins/scope/plotdata.cpp index f2d4bb5af..fdcb75a83 100644 --- a/ground/openpilotgcs/src/plugins/scope/plotdata.cpp +++ b/ground/openpilotgcs/src/plugins/scope/plotdata.cpp @@ -49,9 +49,12 @@ PlotData::PlotData(QString p_uavObject, QString p_uavField) xData = new QVector(); yData = new QVector(); + yDataHistory = new QVector(); curve = 0; scalePower = 0; + interpolationSamples = 1; + interpolationSum = 0.0f; yMinimum = 0; yMaximum = 0; @@ -78,6 +81,7 @@ PlotData::~PlotData() { delete xData; delete yData; + delete yDataHistory; } @@ -91,7 +95,13 @@ bool SequencialPlotData::append(UAVObject* obj) if (field) { //Shift data forward and put the new value at the front - yData->append( valueAsDouble(obj, field) * pow(10, scalePower)); + yDataHistory->append( valueAsDouble(obj, field) * pow(10, scalePower)); + interpolationSum += valueAsDouble(obj, field) * pow(10, scalePower); + if(yDataHistory->size() > interpolationSamples) { + interpolationSum -= yDataHistory->first(); + yDataHistory->pop_front(); + } + yData->append(interpolationSum/yDataHistory->size()); if (yData->size() > m_xWindowSize) { yData->pop_front(); } else @@ -117,8 +127,15 @@ bool ChronoPlotData::append(UAVObject* obj) //Put the new value at the front QDateTime NOW = QDateTime::currentDateTime(); + yDataHistory->append( valueAsDouble(obj, field) * pow(10, scalePower)); + interpolationSum += valueAsDouble(obj, field) * pow(10, scalePower); + if(yDataHistory->size() > interpolationSamples) { + interpolationSum -= yDataHistory->first(); + yDataHistory->pop_front(); + } + double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0; - double valueY = valueAsDouble(obj, field) * pow(10, scalePower); + double valueY = interpolationSum/yDataHistory->size(); xData->append(valueX); yData->append(valueY); diff --git a/ground/openpilotgcs/src/plugins/scope/plotdata.h b/ground/openpilotgcs/src/plugins/scope/plotdata.h index 2d61f12c6..0b87c9937 100644 --- a/ground/openpilotgcs/src/plugins/scope/plotdata.h +++ b/ground/openpilotgcs/src/plugins/scope/plotdata.h @@ -72,12 +72,15 @@ public: QString uavSubField; bool haveSubField; int scalePower; //This is the power to which each value must be raised + int interpolationSamples; + double interpolationSum; double yMinimum; double yMaximum; double m_xWindowSize; QwtPlotCurve* curve; QVector* xData; QVector* yData; + QVector* yDataHistory; virtual bool append(UAVObject* obj) = 0; virtual PlotType plotType() = 0; diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadget.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadget.cpp index ccf4a8b82..b4b1f24fa 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadget.cpp +++ b/ground/openpilotgcs/src/plugins/scope/scopegadget.cpp @@ -61,12 +61,14 @@ void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration* config) QString uavObject = plotCurveConfig->uavObject; QString uavField = plotCurveConfig->uavField; int scale = plotCurveConfig->yScalePower; + int interpolation = plotCurveConfig->yInterpolationSamples; QRgb color = plotCurveConfig->color; widget->addCurvePlot( uavObject, uavField, scale, + interpolation, QPen( QBrush(QColor(color),Qt::SolidPattern), // (qreal)2, (qreal)1, diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp index 63a48e495..6337be38f 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp @@ -65,6 +65,7 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, QSettings* q color = qSettings->value("color").value(); plotCurveConf->color = color; plotCurveConf->yScalePower = qSettings->value("yScalePower").toInt(); + plotCurveConf->yInterpolationSamples = qSettings->value("yInterpolationSamples").toInt(); plotCurveConf->yMinimum = qSettings->value("yMinimum").toDouble(); plotCurveConf->yMaximum = qSettings->value("yMaximum").toDouble(); @@ -118,6 +119,7 @@ IUAVGadgetConfiguration *ScopeGadgetConfiguration::clone() newPlotCurveConf->uavField = currentPlotCurveConf->uavField; newPlotCurveConf->color = currentPlotCurveConf->color; newPlotCurveConf->yScalePower = currentPlotCurveConf->yScalePower; + newPlotCurveConf->yInterpolationSamples = currentPlotCurveConf->yInterpolationSamples; newPlotCurveConf->yMinimum = currentPlotCurveConf->yMinimum; newPlotCurveConf->yMaximum = currentPlotCurveConf->yMaximum; @@ -157,6 +159,7 @@ void ScopeGadgetConfiguration::saveConfig(QSettings* qSettings) const { qSettings->setValue("uavField", plotCurveConf->uavField); qSettings->setValue("color", plotCurveConf->color); qSettings->setValue("yScalePower", plotCurveConf->yScalePower); + qSettings->setValue("yInterpolationSamples", plotCurveConf->yInterpolationSamples); qSettings->setValue("yMinimum", plotCurveConf->yMinimum); qSettings->setValue("yMaximum", plotCurveConf->yMaximum); diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h b/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h index 1aadcaf5b..570ebe1f9 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h @@ -41,6 +41,7 @@ struct PlotCurveConfiguration QString uavField; int yScalePower; //This is the power to which each value must be raised QRgb color; + int yInterpolationSamples; double yMinimum; double yMaximum; }; diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp index e44ccb08f..d0d364b68 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp @@ -101,9 +101,10 @@ QWidget* ScopeGadgetOptionsPage::createPage(QWidget *parent) QString uavObject = plotData->uavObject; QString uavField = plotData->uavField; int scale = plotData->yScalePower; + int interpolation = plotData->yInterpolationSamples; QVariant varColor = plotData->color; - addPlotCurveConfig(uavObject,uavField,scale,varColor); + addPlotCurveConfig(uavObject,uavField,scale,interpolation,varColor); } if(m_config->plotCurveConfigs().count() > 0) @@ -163,6 +164,10 @@ void ScopeGadgetOptionsPage::setYAxisWidgetFromPlotCurve() int rgb = varColor.toInt(&parseOK); setButtonColor(QColor((QRgb)rgb)); + + int interpolation = listItem->data(Qt::UserRole + 4).toInt(&parseOK); + if(!parseOK) interpolation = 1; + options_page->spnInterpolationSamples->setValue(interpolation); } void ScopeGadgetOptionsPage::setButtonColor(const QColor &color) @@ -235,6 +240,10 @@ void ScopeGadgetOptionsPage::apply() newPlotCurveConfigs->color = QColor(Qt::black).rgb(); else newPlotCurveConfigs->color = (QRgb)rgb; + + newPlotCurveConfigs->yInterpolationSamples = listItem->data(Qt::UserRole + 4).toInt(&parseOK); + if(!parseOK) + newPlotCurveConfigs->yInterpolationSamples = 1; plotCurveConfigs.append(newPlotCurveConfigs); } @@ -261,6 +270,7 @@ void ScopeGadgetOptionsPage::on_btnAddCurve_clicked() if(!parseOK) scale = 0; + int interpolation = options_page->spnInterpolationSamples->value(); QVariant varColor = (int)QColor(options_page->btnColor->text()).rgb(); @@ -270,27 +280,27 @@ void ScopeGadgetOptionsPage::on_btnAddCurve_clicked() options_page->lstCurves->currentItem()->text() == uavObject + "." + uavField) { QListWidgetItem *listWidgetItem = options_page->lstCurves->currentItem(); - setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,varColor); + setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,interpolation,varColor); }else { - addPlotCurveConfig(uavObject,uavField,scale,varColor); + addPlotCurveConfig(uavObject,uavField,scale,interpolation,varColor); options_page->lstCurves->setCurrentRow(options_page->lstCurves->count() - 1); } } -void ScopeGadgetOptionsPage::addPlotCurveConfig(QString uavObject, QString uavField, int scale, QVariant varColor) +void ScopeGadgetOptionsPage::addPlotCurveConfig(QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor) { //Add a new curve config to the list QString listItemDisplayText = uavObject + "." + uavField; options_page->lstCurves->addItem(listItemDisplayText); QListWidgetItem *listWidgetItem = options_page->lstCurves->item(options_page->lstCurves->count() - 1); - setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,varColor); + setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,interpolation,varColor); } -void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetItem,QString uavObject, QString uavField, int scale, QVariant varColor) +void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetItem,QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor) { bool parseOK = false; @@ -306,6 +316,7 @@ void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetI listWidgetItem->setData(Qt::UserRole + 1,QVariant(uavField)); listWidgetItem->setData(Qt::UserRole + 2,QVariant(scale)); listWidgetItem->setData(Qt::UserRole + 3,varColor); + listWidgetItem->setData(Qt::UserRole + 4,QVariant(interpolation)); } /*! diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h index cbbf9201b..39c0b3ea5 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h @@ -66,8 +66,8 @@ private: Ui::ScopeGadgetOptionsPage *options_page; ScopeGadgetConfiguration *m_config; - void addPlotCurveConfig(QString uavObject, QString uavField, int scale, QVariant varColor); - void setCurvePlotProperties(QListWidgetItem *listWidgetItem, QString uavObject, QString uavField, int scale, QVariant varColor); + void addPlotCurveConfig(QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor); + void setCurvePlotProperties(QListWidgetItem *listWidgetItem, QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor); void setYAxisWidgetFromPlotCurve(); void setButtonColor(const QColor &color); diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui index 2aaee1942..147f972f1 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui @@ -159,6 +159,32 @@ + + + + Smooth Interpolation: + + + + + + + samples + + + 1 + + + 1001 + + + 10 + + + 1 + + + diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp index dfbd9d614..2270178cd 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp @@ -356,7 +356,7 @@ void ScopeGadgetWidget::setupChronoPlot() // scaleWidget->setMinBorderDist(0, fmw); } -void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor, QPen pen) +void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor, int interpolationSamples, QPen pen) { PlotData* plotData; @@ -369,6 +369,7 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField plotData->m_xWindowSize = m_xWindowSize; plotData->scalePower = scaleOrderFactor; + plotData->interpolationSamples = interpolationSamples; //If the y-bounds are supplied, set them if (plotData->yMinimum != plotData->yMaximum) diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h index fd8aaf550..09e79d6b0 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h @@ -110,7 +110,7 @@ public: int refreshInterval(){return m_refreshInterval;} - void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, QPen pen = QPen(Qt::black)); + void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, int interpolationSamples = 1, QPen pen = QPen(Qt::black)); //void removeCurvePlot(QString uavObject, QString uavField); void clearCurvePlots(); int csvLoggingStart();