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Merge branch 'corvuscorax/Smoothed_Scope' into next

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
This commit is contained in:
Corvus Corax 2012-02-06 16:35:13 +01:00
commit b4a8eda8db
10 changed files with 150 additions and 46 deletions
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44
ground/openpilotgcs/src/plugins/scope/plotdata.cpp
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@ -49,9 +49,14 @@ PlotData::PlotData(QString p_uavObject, QString p_uavField)
xData = new QVector<double>();
yData = new QVector<double>();
yDataHistory = new QVector<double>();
curve = 0;
scalePower = 0;
interpolationSamples = 1;
interpolationSum = 0.0f;
correctionSum = 0.0f;
correctionCount = 0;
yMinimum = 0;
yMaximum = 0;
@ -78,6 +83,7 @@ PlotData::~PlotData()
{
delete xData;
delete yData;
delete yDataHistory;
}
@ -91,7 +97,24 @@ 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));
// calculate interpolated (smoothed) value
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
yDataHistory->append( currentValue );
interpolationSum += currentValue;
if(yDataHistory->size() > interpolationSamples) {
interpolationSum -= yDataHistory->first();
yDataHistory->pop_front();
}
// make sure to correct the sum every interpolationSamples steps to prevent it
// from running away due to flouting point rounding errors
correctionSum += currentValue;
if (++correctionCount >= interpolationSamples) {
interpolationSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
yData->append(interpolationSum/yDataHistory->size());
if (yData->size() > m_xWindowSize) {
yData->pop_front();
} else
@ -117,8 +140,25 @@ bool ChronoPlotData::append(UAVObject* obj)
//Put the new value at the front
QDateTime NOW = QDateTime::currentDateTime();
// calculate interpolated (smoothed) value
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
yDataHistory->append( currentValue );
interpolationSum += currentValue;
if(yDataHistory->size() > interpolationSamples) {
interpolationSum -= yDataHistory->first();
yDataHistory->pop_front();
}
// make sure to correct the sum every interpolationSamples steps to prevent it
// from running away due to flouting point rounding errors
correctionSum += currentValue;
if (++correctionCount >= interpolationSamples) {
interpolationSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
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);

5
ground/openpilotgcs/src/plugins/scope/plotdata.h
View File

@ -72,12 +72,17 @@ public:
QString uavSubField;
bool haveSubField;
int scalePower; //This is the power to which each value must be raised
int interpolationSamples;
double interpolationSum;
double correctionSum;
int correctionCount;
double yMinimum;
double yMaximum;
double m_xWindowSize;
QwtPlotCurve* curve;
QVector<double>* xData;
QVector<double>* yData;
QVector<double>* yDataHistory;
virtual bool append(UAVObject* obj) = 0;
virtual PlotType plotType() = 0;

2
ground/openpilotgcs/src/plugins/scope/scopegadget.cpp
View File

@ -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,

4
ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp
View File

@ -65,6 +65,8 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, QSettings* q
color = qSettings->value("color").value<QRgb>();
plotCurveConf->color = color;
plotCurveConf->yScalePower = qSettings->value("yScalePower").toInt();
plotCurveConf->yInterpolationSamples = qSettings->value("yInterpolationSamples").toInt();
if (!plotCurveConf->yInterpolationSamples) plotCurveConf->yInterpolationSamples = 1; // fallback for backward compatibility with earlier versions
plotCurveConf->yMinimum = qSettings->value("yMinimum").toDouble();
plotCurveConf->yMaximum = qSettings->value("yMaximum").toDouble();
@ -118,6 +120,7 @@ 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 +160,7 @@ 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);

1
ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h
View File

@ -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;
};

23
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp
View File

@ -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));
}
/*!

4
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h
View File

@ -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);

28
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui
View File

@ -159,6 +159,32 @@
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Display smoothed interpolation:</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QSpinBox" name="spnInterpolationSamples">
<property name="suffix">
<string> samples</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1001</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
@ -268,7 +294,7 @@ Update</string>
<item>
<widget class="QCheckBox" name="LoggingEnable">
<property name="text">
<string>Log data to csv file</string>
<string>Log data to csv file (not interpolated)</string>
</property>
</widget>
</item>

81
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -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)
@ -446,6 +447,7 @@ void ScopeGadgetWidget::uavObjectReceived(UAVObject* obj)
foreach(PlotData* plotData, m_curvesData.values()) {
if (plotData->append(obj)) m_csvLoggingDataUpdated=1;
}
csvLoggingAddData();
}
void ScopeGadgetWidget::replotNewData()
@ -609,6 +611,7 @@ int ScopeGadgetWidget::csvLoggingStart()
m_csvLoggingStartTime = NOW;
m_csvLoggingHeaderSaved=0;
m_csvLoggingDataSaved=0;
m_csvLoggingBuffer.clear();
QDir PathCheck(m_csvLoggingPath);
if (!PathCheck.exists())
{
@ -676,13 +679,50 @@ int ScopeGadgetWidget::csvLoggingInsertHeader()
return 0;
}
int ScopeGadgetWidget::csvLoggingAddData()
{
if (!m_csvLoggingStarted) return -1;
m_csvLoggingDataValid=0;
QDateTime NOW = QDateTime::currentDateTime();
QString tempString;
QTextStream ss( &tempString );
ss << NOW.toString("yyyy-MM-dd") << ", " << NOW.toString("hh:mm:ss.z") << ", " ;
#if QT_VERSION >= 0x040700
ss <<(NOW.toMSecsSinceEpoch() - m_csvLoggingStartTime.toMSecsSinceEpoch())/1000.00;
#else
ss <<(NOW.toTime_t() - m_csvLoggingStartTime.toTime_t());
#endif
ss << ", " << m_csvLoggingConnected << ", " << m_csvLoggingDataUpdated;
m_csvLoggingDataUpdated=0;
foreach(PlotData* plotData2, m_curvesData.values())
{
ss << ", ";
if (plotData2->xData->isEmpty ())
{
}
else
{
ss << QString().sprintf("%3.6g",plotData2->yDataHistory->last());
m_csvLoggingDataValid=1;
}
}
ss << endl;
if (m_csvLoggingDataValid)
{
QTextStream ts( &m_csvLoggingBuffer );
ts << tempString;
}
return 0;
}
int ScopeGadgetWidget::csvLoggingInsertData()
{
if (!m_csvLoggingStarted) return -1;
m_csvLoggingDataSaved=1;
m_csvLoggingDataValid=0;
QDateTime NOW = QDateTime::currentDateTime();
QString tempString;
if(m_csvLoggingFile.open(QIODevice::WriteOnly | QIODevice::Append)== FALSE)
{
@ -690,38 +730,11 @@ int ScopeGadgetWidget::csvLoggingInsertData()
}
else
{
QTextStream ss( &tempString );
ss << NOW.toString("yyyy-MM-dd") << ", " << NOW.toString("hh:mm:ss.z") << ", " ;
#if QT_VERSION >= 0x040700
ss <<(NOW.toMSecsSinceEpoch() - m_csvLoggingStartTime.toMSecsSinceEpoch())/1000.00;
#else
ss <<(NOW.toTime_t() - m_csvLoggingStartTime.toTime_t());
#endif
ss << ", " << m_csvLoggingConnected << ", " << m_csvLoggingDataUpdated;
m_csvLoggingDataUpdated=0;
foreach(PlotData* plotData2, m_curvesData.values())
{
ss << ", ";
if (plotData2->xData->isEmpty ())
{
}
else
{
ss << QString().sprintf("%3.6g",plotData2->yData->last());
m_csvLoggingDataValid=1;
}
}
ss << endl;
if (m_csvLoggingDataValid)
{
QTextStream ts( &m_csvLoggingFile );
ts << tempString;
}
QTextStream ts( &m_csvLoggingFile );
ts << m_csvLoggingBuffer;
m_csvLoggingFile.close();
}
m_csvLoggingBuffer.clear();
return 0;
}

4
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h
View File

@ -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();
@ -166,11 +166,13 @@ private:
QString m_csvLoggingName;
QString m_csvLoggingPath;
QString m_csvLoggingBuffer;
QFile m_csvLoggingFile;
QMutex mutex;
int csvLoggingInsertHeader();
int csvLoggingAddData();
int csvLoggingInsertData();
void deleteLegend();