GCS GPSDisplay: Add SNR bars, fix sattelite indexes from nmea parser.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1728 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gpsdisplay/gpsconstellationwidget.h

@@ -38,7 +38,7 @@ class GpsConstellationWidget : public QGraphicsView
     Q_OBJECT
 
 public:
-    GpsConstellationWidget(QWidget *parent = 0);
+   explicit GpsConstellationWidget(QWidget *parent = 0);
    ~GpsConstellationWidget();
 
 public slots:

ground/src/plugins/gpsdisplay/gpsdisplay.pro

@@ -5,10 +5,11 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(gpsdisplay_dependencies.pri)
 include(../../libs/qwt/qwt.pri)
-HEADERS += gpsdisplayplugin.h \
-    gpsconstellationwidget.h \
-    gpsparser.h \
-    telemetryparser.h
+HEADERS += gpsdisplayplugin.h
+HEADERS += gpsconstellationwidget.h
+HEADERS += gpsparser.h
+HEADERS += telemetryparser.h
+HEADERS += gpssnrwidget.h
 HEADERS += buffer.h
 HEADERS += nmeaparser.h
 HEADERS += gpsdisplaygadget.h
@@ -16,10 +17,11 @@ HEADERS += gpsdisplaywidget.h
 HEADERS += gpsdisplaygadgetfactory.h
 HEADERS += gpsdisplaygadgetconfiguration.h
 HEADERS += gpsdisplaygadgetoptionspage.h
-SOURCES += gpsdisplayplugin.cpp \
-    gpsconstellationwidget.cpp \
-    gpsparser.cpp \
-    telemetryparser.cpp
+SOURCES += gpsdisplayplugin.cpp
+SOURCES += gpsconstellationwidget.cpp
+SOURCES += gpsparser.cpp
+SOURCES += telemetryparser.cpp
+SOURCES += gpssnrwidget.cpp
 SOURCES += buffer.cpp
 SOURCES += nmeaparser.cpp
 SOURCES += gpsdisplaygadget.cpp

ground/src/plugins/gpsdisplay/gpsdisplaygadget.cpp

@@ -113,6 +113,7 @@ void GpsDisplayGadget::loadConfiguration(IUAVGadgetConfiguration* config)
     connect(parser, SIGNAL(datetime(double,double)), m_widget,SLOT(setDateTime(double,double)));
     connect(parser, SIGNAL(packet(QString)), m_widget, SLOT(dumpPacket(QString)));
     connect(parser, SIGNAL(satellite(int,int,int,int,int)), m_widget->gpsSky, SLOT(updateSat(int,int,int,int,int)));
+    connect(parser, SIGNAL(satellite(int,int,int,int,int)), m_widget->gpsSnrWidget, SLOT(updateSat(int,int,int,int,int)));
     connect(parser, SIGNAL(fixtype(QString)), m_widget, SLOT(setFixType(QString)));
     connect(parser, SIGNAL(dop(double,double,double)), m_widget, SLOT(setDOP(double,double,double)));
 }

ground/src/plugins/gpsdisplay/gpsdisplaywidget.ui

@@ -2,6 +2,14 @@
 <ui version="4.0">
  <class>GpsDisplayWidget</class>
  <widget class="QWidget" name="GpsDisplayWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>560</width>
+    <height>376</height>
+   </rect>
+  </property>
   <property name="sizePolicy">
    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
     <horstretch>0</horstretch>
@@ -572,13 +580,19 @@
         </layout>
        </item>
        <item row="1" column="1">
-        <widget class="QGraphicsView" name="graphicsView">
+        <widget class="GpsSnrWidget" name="gpsSnrWidget">
          <property name="maximumSize">
           <size>
            <width>250</width>
            <height>95</height>
           </size>
          </property>
+         <property name="verticalScrollBarPolicy">
+          <enum>Qt::ScrollBarAlwaysOff</enum>
+         </property>
+         <property name="horizontalScrollBarPolicy">
+          <enum>Qt::ScrollBarAlwaysOff</enum>
+         </property>
         </widget>
        </item>
        <item row="0" column="1">
@@ -667,6 +681,11 @@
    <extends>QGraphicsView</extends>
    <header>gpsconstellationwidget.h</header>
   </customwidget>
+  <customwidget>
+   <class>GpsSnrWidget</class>
+   <extends>QGraphicsView</extends>
+   <header>gpssnrwidget.h</header>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>

ground/src/plugins/gpsdisplay/gpssnrwidget.cpp

@@ -0,0 +1,114 @@
+#include "gpssnrwidget.h"
+
+GpsSnrWidget::GpsSnrWidget(QWidget *parent) :
+        QGraphicsView(parent) {
+
+    scene = new QGraphicsScene(this);
+    setScene(scene);
+
+    // Now create 'maxSatellites' satellite icons which we will move around on the map:
+    for (int i=0; i < MAX_SATTELITES;i++) {
+        satellites[i][0] = 0;
+        satellites[i][1] = 0;
+        satellites[i][2] = 0;
+        satellites[i][3] = 0;
+
+        boxes[i] = new QGraphicsRectItem();
+        boxes[i]->setBrush(QColor("Green"));
+        scene->addItem(boxes[i]);
+        boxes[i]->hide();
+
+        satTexts[i] = new QGraphicsSimpleTextItem("##",boxes[i]);
+        satTexts[i]->setBrush(QColor("Black"));
+        satTexts[i]->setFont(QFont("Courier"));
+    }
+
+}
+
+GpsSnrWidget::~GpsSnrWidget() {
+    delete scene;
+    scene = 0;
+}
+
+void GpsSnrWidget::showEvent(QShowEvent *event) {
+    Q_UNUSED(event)
+    scene->setSceneRect(0,0, this->viewport()->width(), this->viewport()->height());
+    for(int index = 0 ;index < MAX_SATTELITES ; index++) {
+        drawSat(index);
+    }
+}
+
+void GpsSnrWidget::resizeEvent(QResizeEvent* event) {
+    Q_UNUSED(event);
+    scene->setSceneRect(0,0, this->viewport()->width(), this->viewport()->height());
+    for(int index = 0 ;index < MAX_SATTELITES ; index++) {
+        drawSat(index);
+    }
+}
+
+void GpsSnrWidget::updateSat(int index, int prn, int elevation, int azimuth, int snr) {
+    if (index >= MAX_SATTELITES) {
+        // A bit of error checking never hurts.
+        return;
+    }
+
+    // TODO: add range checking
+    satellites[index][0] = prn;
+    satellites[index][1] = elevation;
+    satellites[index][2] = azimuth;
+    satellites[index][3] = snr;
+
+    drawSat(index);
+}
+
+void GpsSnrWidget::drawSat(int index) {
+    if (index >= MAX_SATTELITES) {
+        // A bit of error checking never hurts.
+        return;
+    }
+
+    const int prn = satellites[index][0];
+    const int snr = satellites[index][3];
+    if (prn && snr) {
+        boxes[index]->show();
+
+        // When using integer values, width and height are the
+        // box width and height, but the left and bottom borders are drawn on the box,
+        // and the top and right borders are drawn just next to the box.
+        // So the box seems one pixel wider and higher with a border.
+        // I'm sure there's a good explanation for that :)
+
+        // Casting to int rounds down, which is what I want.
+        // Minus 2 to allow a pixel of white left and right.
+        int availableWidth = (int)((scene->width()-2) / MAX_SATTELITES);
+
+        // 2 pixels, one on each side.
+        qreal width = availableWidth - 2;
+        // SNR = 1-99 (0 is special)..
+        qreal height = int((scene->height() / 99) * snr + 0.5);
+        // 1 for showing a pixel of white to the left.
+        qreal x = availableWidth * index + 1;
+        // Rember, 0 is at the top.
+        qreal y = scene->height() - height;
+        // Compensate for the extra pixel for the border.
+        boxes[index]->setRect(0,0,width-1,height-1);
+        boxes[index]->setPos(x,y);
+
+        QRectF boxRect = boxes[index]->boundingRect();
+        QString prnString = QString().number(prn);
+        if(prnString.length() == 1) {
+            prnString = "0" + prnString;
+        }
+        satTexts[index]->setText(prnString);
+        QRectF textRect = satTexts[index]->boundingRect();
+
+        QTransform matrix;
+        qreal scale = 0.85 * (boxRect.width() / textRect.width());
+        matrix.translate( boxRect.width()/2, boxRect.height());
+        matrix.scale(scale,scale);
+        matrix.translate(-textRect.width()/2,-textRect.height());
+        satTexts[index]->setTransform(matrix,false);
+    } else {
+        boxes[index]->hide();
+    }
+}

ground/src/plugins/gpsdisplay/gpssnrwidget.h

@@ -0,0 +1,34 @@
+#ifndef GPSSNRWIDGET_H
+#define GPSSNRWIDGET_H
+
+#include <QGraphicsView>
+#include <QtGui/QGraphicsRectItem>
+
+class GpsSnrWidget : public QGraphicsView
+{
+    Q_OBJECT
+public:
+    explicit GpsSnrWidget(QWidget *parent = 0);
+    ~GpsSnrWidget();
+
+signals:
+
+public slots:
+    void updateSat(int index, int prn, int elevation, int azimuth, int snr);
+
+private:
+    static const int MAX_SATTELITES = 16;
+    int satellites[MAX_SATTELITES][4];
+    QGraphicsScene *scene;
+    QGraphicsRectItem *boxes[MAX_SATTELITES];
+    QGraphicsSimpleTextItem* satTexts[MAX_SATTELITES];
+
+    void drawSat(int index);
+
+protected:
+    void showEvent(QShowEvent *event);
+    void resizeEvent(QResizeEvent *event);
+
+};
+
+#endif // GPSSNRWIDGET_H

ground/src/plugins/gpsdisplay/nmeaparser.cpp

@@ -301,13 +301,13 @@ void NMEAParser::nmeaProcessGPGSV(char *packet)
         const int elv = tokenslist.at(base+1).toInt(); // Elevation, degrees
         const int azimuth = tokenslist.at(base+2).toInt(); //  Azimuth, degrees
         const int sig = tokenslist.at(base+3).toInt(); // SNR - higher is better
-        const int index = sentence_index * 4 + sat;
+        const int index = (sentence_index-1) * 4 + sat;
         emit satellite(index, id, elv, azimuth, sig);
     }
 
     if(sentence_index == sentence_total) {
         // Last sentence
-        int total_sats = sentence_index * 4 + sats;
+        int total_sats = (sentence_index-1) * 4 + sats;
         for(int emptySatIndex = total_sats; emptySatIndex < 16; emptySatIndex++) {
             // Wipe the rest.
             emit satellite(emptySatIndex, 0, 0, 0, 0);