OP-42 GCS/Scope: Plot can now show high frequency data effectively

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1286 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/scope/plotdata.cpp

@@ -28,6 +28,7 @@
 
 #include "plotdata.h"
 #include <math.h>
+#include <QDebug>
 
 PlotData::PlotData(QString p_uavObject, QString p_uavField)
 {
@@ -67,7 +68,7 @@ bool SequencialPlotData::append(UAVObject* obj)
                 xData->insert(xData->size(), xData->size());
 
             //notify the gui of changes in the data
-            dataChanged();
+            //dataChanged();
             return true;
         }
     }
@@ -93,7 +94,7 @@ bool ChronoPlotData::append(UAVObject* obj)
             removeStaleData();
 
             //notify the gui of chages in the data
-            dataChanged();
+            //dataChanged();
             return true;
         }
     }
@@ -119,12 +120,15 @@ void ChronoPlotData::removeStaleData()
         } else
             break;
     }
+
+    //qDebug() << "removeStaleData ";
 }
 
 void ChronoPlotData::removeStaleDataTimeout()
 {
     removeStaleData();
-    dataChanged();
+    //dataChanged();
+    //qDebug() << "removeStaleDataTimeout";
 }
 
 bool UAVObjectPlotData::append(UAVObject* obj)

ground/src/plugins/scope/plotdata.h

@@ -77,6 +77,9 @@ public:
 
     virtual bool append(UAVObject* obj) = 0;
     virtual PlotType plotType() = 0;
+    virtual void removeStaleData() = 0;
+
+    void updatePlotCurveData();
 
 signals:
     void dataChanged();
@@ -105,6 +108,11 @@ public:
     virtual PlotType plotType() {
         return SequencialPlot;
     }
+
+    /*!
+      \brief Removes the old data from the buffer
+      */
+    virtual void removeStaleData(){}
 };
 
 /*!
@@ -114,16 +122,11 @@ class ChronoPlotData : public PlotData
 {
     Q_OBJECT
 public:
-    ChronoPlotData(QString uavObject, QString uavField, double refreshInterval)
+    ChronoPlotData(QString uavObject, QString uavField)
             : PlotData(uavObject, uavField) {
         scalePower = 1;
-        //Setup timer that removes stale data
-        timer = new QTimer();
-        connect(timer, SIGNAL(timeout()), this, SLOT(removeStaleDataTimeout()));
-        timer->start(refreshInterval * 1000);
     }
     ~ChronoPlotData() {
-        delete timer;
     }
 
     bool append(UAVObject* obj);
@@ -131,10 +134,10 @@ public:
     virtual PlotType plotType() {
         return ChronoPlot;
     }
-private:
-    void removeStaleData();
 
-    QTimer *timer;
+    virtual void removeStaleData();
+
+private:
 
 private slots:
     void removeStaleDataTimeout();
@@ -157,6 +160,8 @@ public:
     virtual PlotType plotType() {
         return UAVObjectPlot;
     }    
+
+    virtual void removeStaleData(){}
 };
 
 #endif // PLOTDATA_H

ground/src/plugins/scope/scopegadget.cpp

@@ -33,12 +33,14 @@
 
 ScopeGadget::ScopeGadget(QString classId, ScopeGadgetWidget *widget, QWidget *parent) :
         IUAVGadget(classId, parent),
-        m_widget(widget)
+        m_widget(widget),
+        configLoaded(false)
 {
 }
 
 void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration* config)
 {
+
     ScopeGadgetConfiguration *sgConfig = qobject_cast<ScopeGadgetConfiguration*>(config);
     ScopeGadgetWidget* widget = qobject_cast<ScopeGadgetWidget*>(m_widget);
 
@@ -63,12 +65,11 @@ void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration* config)
                 uavObject,
                 uavField,
                 scale,
-                QPen(
+                QPen(  QBrush(QColor(color),Qt::SolidPattern),
-                        QBrush(QColor(color),Qt::SolidPattern),
+                       (qreal)2,
-                        (qreal)2,
+                       Qt::SolidLine,
-                        Qt::SolidLine,
+                       Qt::SquareCap,
-                        Qt::SquareCap,
+                       Qt::BevelJoin)
-                        Qt::BevelJoin)
                 );
     }   
 }

ground/src/plugins/scope/scopegadget.h

@@ -61,6 +61,8 @@ public:
 private:
     QWidget *m_widget;
     QList<int> m_context;
+
+    bool configLoaded;
 };
 
 

ground/src/plugins/scope/scopegadgetconfiguration.cpp

@@ -33,7 +33,7 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, const QByteA
         IUAVGadgetConfiguration(classId, parent),
         m_plotType((int)ChronoPlot),
         m_dataSize(60),
-        m_refreshInterval(1)
+        m_refreshInterval(1000)
 {
     uint currentStreamVersion = 0;
     int plotCurveCount = 0;
@@ -71,6 +71,9 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, const QByteA
             m_PlotCurveConfigs.append(plotCurveConf);
         }
 
+        //The value is converted to milliseconds, so if it is < 100, it is still seconds
+        if(m_refreshInterval < 100)
+            m_refreshInterval *= 1000;
     }
 }
 

ground/src/plugins/scope/scopegadgetoptionspage.ui

@@ -28,7 +28,7 @@
       <x>0</x>
       <y>0</y>
       <width>551</width>
-      <height>231</height>
+      <height>275</height>
      </rect>
     </property>
     <layout class="QHBoxLayout" name="horizontalLayout">
@@ -97,16 +97,19 @@
        <item row="3" column="1">
         <widget class="QSpinBox" name="spnRefreshInterval">
          <property name="suffix">
-          <string> seconds</string>
+          <string>ms</string>
          </property>
          <property name="minimum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="maximum">
-          <number>30</number>
+          <number>30000</number>
+         </property>
+         <property name="singleStep">
+          <number>500</number>
          </property>
          <property name="value">
-          <number>5</number>
+          <number>1000</number>
          </property>
         </widget>
        </item>

ground/src/plugins/scope/scopegadgetwidget.cpp

@@ -49,15 +49,12 @@ TestDataGen* ScopeGadgetWidget::testDataGen;
 
 ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
 {
-  //  if(testDataGen == 0)
+//    if(testDataGen == 0)
-  //      testDataGen = new TestDataGen();
+//        testDataGen = new TestDataGen();
 
-    setCanvasBackground(Qt::darkBlue);
+    //Setup the timer that replots data
-
+    replotTimer = new QTimer(this);
-    QwtPlotGrid *grid = new QwtPlotGrid;
+    connect(replotTimer, SIGNAL(timeout()), this, SLOT(replotNewData()));
-    grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
-    grid->setMinPen(QPen(Qt::lightGray, 0 , Qt::DotLine));
-    grid->attach(this);
 }
 
 void ScopeGadgetWidget::preparePlot(PlotType plotType)
@@ -71,6 +68,14 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
     // Show a title
     setTitle("Scope");    
 
+    setCanvasBackground(Qt::darkBlue);
+
+    //Add grid lines
+    QwtPlotGrid *grid = new QwtPlotGrid;
+    grid->setMajPen(QPen(Qt::gray, 0, Qt::DashLine));
+    grid->setMinPen(QPen(Qt::lightGray, 0 , Qt::DotLine));
+    grid->attach(this);
+
     // Show a legend at the bottom
     if (legend() == 0) {
         QwtLegend *legend = new QwtLegend();
@@ -80,6 +85,14 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
     }
 
     connect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)),this, SLOT(showCurve(QwtPlotItem *, bool)));
+
+    if(!replotTimer->isActive())
+        replotTimer->start(m_refreshInterval);
+    else
+    {
+        replotTimer->setInterval(m_refreshInterval);
+    }
+
 }
 
 void ScopeGadgetWidget::showCurve(QwtPlotItem *item, bool on)
@@ -110,8 +123,8 @@ void ScopeGadgetWidget::setupChronoPlot()
     setAxisTitle(QwtPlot::xBottom, "Time [h:m:s]");
     setAxisScaleDraw(QwtPlot::xBottom, new TimeScaleDraw());
     uint NOW = QDateTime::currentDateTime().toTime_t();
-    setAxisScale(QwtPlot::xBottom, NOW - m_xWindowSize, NOW);
+    setAxisScale(QwtPlot::xBottom, NOW - m_xWindowSize / 1000, NOW);
-    setAxisLabelRotation(QwtPlot::xBottom, -50.0);
+    setAxisLabelRotation(QwtPlot::xBottom, -15.0);
     setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
 
     /*
@@ -135,7 +148,7 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavField, int sc
     if (m_plotType == SequencialPlot)
         plotData = new SequencialPlotData(uavObject, uavField);
     else if (m_plotType == ChronoPlot)
-        plotData = new ChronoPlotData(uavObject, uavField, m_refreshInterval);
+        plotData = new ChronoPlotData(uavObject, uavField);
     //else if (m_plotType == UAVObjectPlot)
     //    plotData = new UAVObjectPlotData(uavObject, uavField);
 
@@ -169,8 +182,6 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavField, int sc
         connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(uavObjectReceived(UAVObject*)));
     }
 
-    connect(plotData, SIGNAL(dataChanged()), this, SLOT(replotNewData()));
-
     replot();
 }
 
@@ -192,16 +203,24 @@ void ScopeGadgetWidget::uavObjectReceived(UAVObject* obj)
 {
     foreach(PlotData* plotData, m_curvesData.values()) {
         plotData->append(obj);
-        plotData->curve->setData(*plotData->xData, *plotData->yData);
     }
 }
 
 void ScopeGadgetWidget::replotNewData()
 {
-    if (m_plotType == ChronoPlot) {
+    foreach(PlotData* plotData, m_curvesData.values()) {
-        uint NOW = QDateTime::currentDateTime().toTime_t();
+        plotData->removeStaleData();
-        setAxisScale(QwtPlot::xBottom, NOW - m_xWindowSize, NOW);
+        plotData->curve->setData(*plotData->xData, *plotData->yData);
     }
+
+    QDateTime NOW = QDateTime::currentDateTime();
+    double toTime = NOW.toTime_t();
+    toTime += NOW.time().msec() / 1000.0;
+    if (m_plotType == ChronoPlot) {
+        setAxisScale(QwtPlot::xBottom, toTime - m_xWindowSize, toTime);
+    }
+     //qDebug() << "replotNewData from " << NOW.addSecs(- m_xWindowSize) << " to " << NOW;
+
     replot();
 }
 
@@ -257,6 +276,11 @@ void ScopeGadgetWidget::setupExamplePlot()
 
 ScopeGadgetWidget::~ScopeGadgetWidget()
 {
+    if (replotTimer)
+        replotTimer->stop();
+    delete replotTimer;
+    replotTimer = 0;
+
     //Get the object to de-monitor
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@@ -281,6 +305,7 @@ void ScopeGadgetWidget::clearCurvePlots()
     m_curvesData.clear();
 }
 
+
 TestDataGen::TestDataGen()
 {
     // Get required UAVObjects
@@ -291,17 +316,20 @@ TestDataGen::TestDataGen()
     gps = PositionActual::GetInstance(objManager);
 
     //Setup timer
+    periodMs = 5;
     timer = new QTimer(this);
     connect(timer, SIGNAL(timeout()), this, SLOT(genTestData()));
-    timer->start(2);
+    timer->start(periodMs);
+
+    debugCounter = 0;
 }
 
 void TestDataGen::genTestData()
 {
     // Update AltitudeActual object
     AltitudeActual::DataFields altActualData;
-    altActualData.Altitude = 500 * sin(0.1 * testTime) + 200 * cos(0.4 * testTime) + 800;
+    altActualData.Altitude = 500 * sin(1 * testTime) + 200 * cos(4 * testTime) + 800;
-    altActualData.Temperature = 30 * sin(0.05 * testTime);
+    altActualData.Temperature = 30 * sin(0.5 * testTime);
     altActualData.Pressure = 100;
     altActual->setData(altActualData);
 
@@ -316,7 +344,11 @@ void TestDataGen::genTestData()
     gpsData.Satellites = 10;
     gps->setData(gpsData);
 
-    testTime += 0.02;
+    testTime += (periodMs / 1000.0);
+
+    debugCounter++;
+    if (debugCounter % 100 == 0 )
+        qDebug() << "Test Time = " << testTime;
 }
 
 TestDataGen::~TestDataGen()

ground/src/plugins/scope/scopegadgetwidget.h

@@ -52,14 +52,17 @@ class TimeScaleDraw : public QwtScaleDraw
 {
 public:
     TimeScaleDraw() {
-        baseTime = QDateTime::currentDateTime().toTime_t();
+        //baseTime = QDateTime::currentDateTime().toTime_t();
     }
     virtual QwtText label(double v) const {
-        QDateTime upTime = QDateTime::fromTime_t((uint)v);
+        uint seconds = (uint)(v);
+        QDateTime upTime = QDateTime::fromTime_t(seconds);
+        QTime timePart = upTime.time().addMSecs((v - seconds )* 1000);
+        upTime.setTime(timePart);
         return upTime.toLocalTime().toString("hh:mm:ss");
     }
 private:
-    double baseTime;
+//    double baseTime;
 };
 
 /*!
@@ -80,6 +83,9 @@ private:
 
     QTimer *timer;
     double testTime;
+    int periodMs;
+
+    int debugCounter;
 
 private slots:
     void genTestData();
@@ -128,6 +134,8 @@ private:
     QMap<QString, PlotData*> m_curvesData;
 
     static TestDataGen* testDataGen;    
+
+    QTimer *replotTimer;
 };