gpswidget outputs now something to the gui

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1229 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gpsdisplay/gpsdisplay.pro

@@ -5,23 +5,23 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(gpsdisplay_dependencies.pri)
 include(../../libs/qwt/qwt.pri)
-HEADERS += gpsdisplayplugin.h \
+HEADERS += gpsdisplayplugin.h
-    buffer.h \
+HEADERS += buffer.h
-    nmeaparser.h
+HEADERS += nmeaparser.h
 HEADERS += gpsdisplaygadget.h
 HEADERS += gpsdisplaywidget.h
 HEADERS += gpsdisplaygadgetfactory.h
 HEADERS += gpsdisplaygadgetconfiguration.h
 HEADERS += gpsdisplaygadgetoptionspage.h
-SOURCES += gpsdisplayplugin.cpp \
+SOURCES += gpsdisplayplugin.cpp
-    buffer.cpp \
+SOURCES += buffer.cpp
-    nmeaparser.cpp
+SOURCES += nmeaparser.cpp
 SOURCES += gpsdisplaygadget.cpp
 SOURCES += gpsdisplaygadgetfactory.cpp
 SOURCES += gpsdisplaywidget.cpp
 SOURCES += gpsdisplaygadgetconfiguration.cpp
 SOURCES += gpsdisplaygadgetoptionspage.cpp
 OTHER_FILES += GpsDisplayGadget.pluginspec
-FORMS += gpsdisplaygadgetoptionspage.ui \
+FORMS += gpsdisplaygadgetoptionspage.ui
-    gpsdisplaywidget.ui
+FORMS += gpsdisplaywidget.ui
 RESOURCES += widgetresources.qrc

ground/src/plugins/gpsdisplay/gpsdisplaywidget.cpp

@@ -31,7 +31,7 @@
 #include "uavobjects/uavobjectmanager.h"
 
 #include <iostream>
-#include <QtGui/QFileDialog>
+#include <QtGui>
 #include <QDebug>
 #include <QThread>
 #include "nmeaparser.h"
@@ -44,12 +44,11 @@ public:
     QextSerialPort *port;
     NMEAParser *parser;
     void setPort(QextSerialPort* port);
+    void setParser(NMEAParser* parser);
     void processInputStream();
     void run();
 };
 
-
-
 /*
  * Initialize the widget
  */
@@ -77,9 +76,12 @@ GpsDisplayWidget::GpsDisplayWidget(QWidget *parent) : QWidget(parent)
     widget->gpsWorld->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
     world->setScale(factor);
 
-
     connect(widget->connectButton, SIGNAL(clicked(bool)),
             this,SLOT(connectButtonClicked()));
+    parser=new NMEAParser();
+    connect(parser,SIGNAL(sv(int)),this,SLOT(setSVs(int)));
+    connect(parser,SIGNAL(position(double,double,double)),this,SLOT(setPosition(double,double,double)));
+
 }
 
 GpsDisplayWidget::~GpsDisplayWidget()
@@ -87,6 +89,24 @@ GpsDisplayWidget::~GpsDisplayWidget()
    delete widget;
 }
 
+void GpsDisplayWidget::setSVs(int sv)
+{
+    QString temp = "FIX: ";
+    temp.append(QString::number(sv));
+    widget->label_2->setText(temp);
+}
+
+void GpsDisplayWidget::setPosition(double lat, double lon, double alt)
+{
+    QString temp = "Position: ";
+    temp.append(QString::number(lat));
+    temp.append(" ");
+    temp.append(QString::number(lon));
+    temp.append(" ");
+    temp.append(QString::number(alt));
+    widget->label->setText(temp);
+    widget->textBrowser->append(temp);
+}
 
 void GpsDisplayWidget::setPort(QextSerialPort* port)
 {
@@ -96,26 +116,35 @@ void GpsDisplayWidget::setPort(QextSerialPort* port)
 
 void GpsDisplayWidget::connectButtonClicked() {
     GpsDisplayThread* gpsThread = new GpsDisplayThread();
+    widget->textBrowser->append(QString("Connecting to GPS ...\n"));
     gpsThread->setPort(port);
+    gpsThread->setParser(parser);
     gpsThread->start();
 }
 
 
+
 void GpsDisplayThread::setPort(QextSerialPort* port)
 {
 
     this->port=port;
 }
 
+void GpsDisplayThread::setParser(NMEAParser* parser)
+{
+
+    this->parser=parser;
+}
+
 void GpsDisplayThread::run()
 {
+
     qDebug() <<  "Opening.";
 
     qDebug() <<  port->portName();
 
     bool isOpen =  port->open(QIODevice::ReadWrite);
     qDebug() <<  "Open: " << isOpen;
-    parser=new NMEAParser();
 
     char buf[1024];
     char c;

ground/src/plugins/gpsdisplay/gpsdisplaywidget.h

@@ -36,6 +36,7 @@
 
 #include <QFile>
 #include <QTimer>
+#include "nmeaparser.h"
 
 class Ui_GpsDisplayWidget;
 
@@ -49,13 +50,17 @@ public:
 
 //   void setMode(QString mode);  // Either UAVTalk or serial port
    void setPort(QextSerialPort* port);
+   void setParser(NMEAParser *parser);
 
 private slots:
    void connectButtonClicked();
+   void setSVs(int);
+   void setPosition(double, double, double);
 
 private:
    Ui_GpsDisplayWidget* widget;
    QextSerialPort *port;
+   NMEAParser *parser;
    bool connected;
 
 };

ground/src/plugins/gpsdisplay/gpsdisplaywidget.ui

@@ -33,12 +33,21 @@
      <rect>
       <x>10</x>
       <y>10</y>
-      <width>46</width>
+      <width>251</width>
-      <height>13</height>
+      <height>16</height>
      </rect>
     </property>
+    <property name="sizePolicy">
+     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+      <horstretch>0</horstretch>
+      <verstretch>0</verstretch>
+     </sizepolicy>
+    </property>
     <property name="text">
-     <string>Position:</string>
+     <string>Position:                                                                               </string>
+    </property>
+    <property name="indent">
+     <number>-1</number>
     </property>
    </widget>
    <widget class="QLabel" name="label_2">
@@ -46,12 +55,18 @@
      <rect>
       <x>10</x>
       <y>30</y>
-      <width>46</width>
+      <width>61</width>
-      <height>13</height>
+      <height>16</height>
      </rect>
     </property>
+    <property name="sizePolicy">
+     <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+      <horstretch>0</horstretch>
+      <verstretch>0</verstretch>
+     </sizepolicy>
+    </property>
     <property name="text">
-     <string>Fix:</string>
+     <string>Fix:                   </string>
     </property>
    </widget>
    <widget class="QLabel" name="label_3">
@@ -59,8 +74,8 @@
      <rect>
       <x>10</x>
       <y>50</y>
-      <width>46</width>
+      <width>111</width>
-      <height>13</height>
+      <height>16</height>
      </rect>
     </property>
     <property name="text">
@@ -72,8 +87,8 @@
      <rect>
       <x>150</x>
       <y>50</y>
-      <width>46</width>
+      <width>111</width>
-      <height>13</height>
+      <height>16</height>
      </rect>
     </property>
     <property name="text">
@@ -85,8 +100,8 @@
      <rect>
       <x>90</x>
       <y>30</y>
-      <width>46</width>
+      <width>161</width>
-      <height>13</height>
+      <height>16</height>
      </rect>
     </property>
     <property name="text">
@@ -98,8 +113,8 @@
      <rect>
       <x>10</x>
       <y>70</y>
-      <width>46</width>
+      <width>121</width>
-      <height>13</height>
+      <height>16</height>
      </rect>
     </property>
     <property name="text">

ground/src/plugins/gpsdisplay/nmeaparser.cpp

@@ -27,6 +27,13 @@
 
 
 #include "nmeaparser.h"
+#include <iostream>
+#include <math.h>
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
 
 // Message Codes
 #define NMEA_NODATA		0	// No data. Packet not available, bad, or not decoded
@@ -56,12 +63,17 @@
 /**
  * Initialize the parser
  */
-NMEAParser::NMEAParser()
+NMEAParser::NMEAParser(QObject *parent):QObject(parent)
 {
     bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
     gpsRxOverflow=0;
 }
 
+NMEAParser::~NMEAParser()
+{
+
+}
+
 /**
  * Called each time there are data in the input buffer
  */
@@ -251,10 +263,12 @@ void NMEAParser::nmeaProcessGPGGA(char* packet)
 
         QString* nmeaString = new QString( packet );
         QStringList tokenslist = nmeaString->split(",");
-        GpsData.Latitude = tokenslist.at(2).toFloat();
+        GpsData.Latitude = tokenslist.at(2).toDouble();
-        GpsData.Longitude = tokenslist.at(4).toFloat();
+        GpsData.Longitude = tokenslist.at(4).toDouble();
-        GpsData.Altitude = tokenslist.at(9).toFloat();
+        GpsData.Altitude = tokenslist.at(9).toDouble();
         GpsData.SV = tokenslist.at(7).toInt();
+        emit position(GpsData.Latitude,GpsData.Longitude,GpsData.Altitude);
+        emit sv(GpsData.SV);
 }
 
 /**
@@ -276,7 +290,7 @@ void NMEAParser::nmeaProcessGPRMC(char* packet)
 
         QString* nmeaString = new QString( packet );
         QStringList tokenslist = nmeaString->split(",");
-        GpsData.Groundspeed = tokenslist.at(7).toFloat();
+        GpsData.Groundspeed = tokenslist.at(7).toDouble();
         GpsData.Groundspeed = GpsData.Groundspeed*0.51444;
 }
 

ground/src/plugins/gpsdisplay/nmeaparser.h

@@ -28,6 +28,7 @@
 #ifndef NMEAPARSER_H
 #define NMEAPARSER_H
 
+#include <QObject>
 #include <QtCore>
 #include <stdint.h>
 #include "buffer.h"
@@ -37,10 +38,10 @@
 
 typedef struct struct_GpsData
 {
-        float Latitude;
+        double Latitude;
-        float Longitude;
+        double Longitude;
-        float Altitude;
+        double Altitude;
-        float Groundspeed;
+        double Groundspeed;
         int SV;
         uint8_t channel;
         uint8_t value_h;
@@ -48,10 +49,12 @@ typedef struct struct_GpsData
         uint8_t sum;
 }GpsData_t;
 
-class NMEAParser
+class NMEAParser: public QObject
 {
+    Q_OBJECT
 public:
-   NMEAParser();
+   NMEAParser(QObject *parent = 0);
+   ~NMEAParser();
    void processInputStream(char c);
    char* nmeaGetPacketBuffer(void);
    char nmeaChecksum(char* gps_buffer);
@@ -67,6 +70,10 @@ public:
    uint32_t numUpdates;
    uint32_t numErrors;
    int32_t gpsRxOverflow;
+signals:
+   void sv(int);
+   void position(double,double,double);
+private slots:
 };
 
 #endif // NMEAPARSER_H