/** ****************************************************************************** * * @file plotdata.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ScopePlugin Scope Gadget Plugin * @{ * @brief The scope Gadget, graphically plots the states of UAVObjects *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "plotdata.h" #include #include PlotData::PlotData(UAVObject *object, UAVObjectField *field, int element, int scaleOrderFactor, int meanSamples, QString mathFunction, double plotDataSize, QPen pen, bool antialiased) : m_scalePower(scaleOrderFactor), m_meanSamples(meanSamples), m_meanSum(0.0f), m_mathFunction(mathFunction), m_correctionSum(0.0f), m_correctionCount(0), m_plotDataSize(plotDataSize), m_object(object), m_field(field), m_element(element), m_plotCurve(NULL), m_isVisible(true), m_pen(pen), m_isEnumPlot(false) { if (m_field->getNumElements() > 1) { m_elementName = m_field->getElementNames().at(m_element); } m_plotName.append(QString("%1.%2").arg(m_object->getName()).arg(m_field->getName())); if (!m_elementName.isEmpty()) { m_plotName.append(QString(".%1").arg(m_elementName)); } if (m_scalePower == 0) { m_plotName.append(QString(" (%1)").arg(m_field->getUnits())); } else { m_plotName.append(QString(" (x10^%1 %2)").arg(m_scalePower).arg(m_field->getUnits())); } // Create the curve m_plotCurve = new QwtPlotCurve(m_plotName); if (antialiased) { m_plotCurve->setRenderHint(QwtPlotCurve::RenderAntialiased); } m_plotCurve->setPen(m_pen); m_plotCurve->setSamples(m_xDataEntries, m_yDataEntries); m_isEnumPlot = m_field->getType() == UAVObjectField::ENUM; } PlotData::~PlotData() { while (!m_enumMarkerList.isEmpty()) { QwtPlotMarker *marker = m_enumMarkerList.takeFirst(); marker->detach(); delete marker; } m_plotCurve->detach(); delete m_plotCurve; } bool PlotData::isVisible() const { return m_plotCurve->isVisible(); } void PlotData::setVisible(bool visible) { m_plotCurve->setVisible(visible); visibilityChanged(m_plotCurve); } void PlotData::updatePlotData() { m_plotCurve->setSamples(m_xDataEntries, m_yDataEntries); } void PlotData::clear() { m_meanSum = 0.0f; m_correctionSum = 0.0f; m_correctionCount = 0; m_xDataEntries.clear(); m_yDataEntries.clear(); while (!m_enumMarkerList.isEmpty()) { QwtPlotMarker *marker = m_enumMarkerList.takeFirst(); marker->detach(); delete marker; } if (wantsInitialData()) { append(m_object); } } bool PlotData::hasData() const { if (!m_isEnumPlot) { return !m_xDataEntries.isEmpty(); } else { return !m_enumMarkerList.isEmpty(); } } QString PlotData::lastDataAsString() { if (!m_isEnumPlot) { return QString().sprintf("%3.10g", m_yDataEntries.last()); } else { return m_enumMarkerList.last()->title().text(); } } void PlotData::attach(QwtPlot *plot) { m_plotCurve->attach(plot); } void PlotData::visibilityChanged(QwtPlotItem *item) { if (m_plotCurve == item) { foreach(QwtPlotMarker * marker, m_enumMarkerList) { m_plotCurve->isVisible() ? marker->attach(m_plotCurve->plot()) : marker->detach(); } } } void PlotData::calcMathFunction(double currentValue) { // Put the new value at the back m_yDataHistory.append(currentValue); // calculate average value m_meanSum += currentValue; if (m_yDataHistory.size() > m_meanSamples) { m_meanSum -= m_yDataHistory.first(); m_yDataHistory.pop_front(); } // make sure to correct the sum every meanSamples steps to prevent it // from running away due to floating point rounding errors m_correctionSum += currentValue; if (++m_correctionCount >= m_meanSamples) { m_meanSum = m_correctionSum; m_correctionSum = 0.0f; m_correctionCount = 0; } double boxcarAvg = m_meanSum / m_yDataHistory.size(); if (m_mathFunction == "Standard deviation") { // Calculate square of sample standard deviation, with Bessel's correction double stdSum = 0; for (int i = 0; i < m_yDataHistory.size(); i++) { stdSum += pow(m_yDataHistory.at(i) - boxcarAvg, 2) / (m_meanSamples - 1); } m_yDataEntries.append(sqrt(stdSum)); } else { m_yDataEntries.append(boxcarAvg); } } QwtPlotMarker *PlotData::createMarker(QString value) { QwtPlotMarker *marker = new QwtPlotMarker(value); marker->setZ(10); QwtText label(QString(" %1 ").arg(value)); label.setColor(QColor(Qt::black)); label.setBorderPen(QPen(m_pen.color(), 1)); label.setBorderRadius(2); QColor labelBackColor = QColor(Qt::white); labelBackColor.setAlpha(200); label.setBackgroundBrush(labelBackColor); QFont fnt(label.font()); fnt.setPointSize(8); label.setFont(fnt); marker->setLabel(label); marker->setTitle(value); marker->setLabelOrientation(Qt::Vertical); marker->setLabelAlignment(Qt::AlignBottom); marker->setLineStyle(QwtPlotMarker::VLine); marker->setLinePen(QPen(m_pen.color(), 1, Qt::DashDotLine)); return marker; } bool SequentialPlotData::append(UAVObject *obj) { if (obj == NULL) { obj = m_object; } if (m_object == obj && m_field) { if (!m_isEnumPlot) { double currentValue = m_field->getValue(m_element).toDouble() * pow(10, m_scalePower); // Perform scope math, if necessary if (m_mathFunction == "Boxcar average" || m_mathFunction == "Standard deviation") { calcMathFunction(currentValue); } else { m_yDataEntries.append(currentValue); } if (m_yDataEntries.size() > m_plotDataSize) { // If new data overflows the window, remove old data... m_yDataEntries.pop_front(); } else { // ...otherwise, add a new y point at position xData m_xDataEntries.insert(m_xDataEntries.size(), m_xDataEntries.size()); } return true; } else { // Enum markers QString value = m_field->getValue(m_element).toString(); QwtPlotMarker *marker = m_enumMarkerList.isEmpty() ? NULL : m_enumMarkerList.last(); if (!marker || marker->title() != value) { marker = createMarker(value); marker->setXValue(m_enumMarkerList.size()); if (m_plotCurve->isVisible()) { marker->attach(m_plotCurve->plot()); } m_enumMarkerList.append(marker); } } } return false; } bool ChronoPlotData::append(UAVObject *obj) { if (obj == NULL) { obj = m_object; } if (m_object == obj && m_field) { // Get the field of interest // THINK ABOUT REIMPLEMENTING THIS TO SHOW UAVO TIME, NOT SYSTEM TIME QDateTime NOW = QDateTime::currentDateTime(); double xValue = NOW.toTime_t() + NOW.time().msec() / 1000.0; if (!m_isEnumPlot) { double currentValue = m_field->getValue(m_element).toDouble() * pow(10, m_scalePower); // Perform scope math, if necessary if (m_mathFunction == "Boxcar average" || m_mathFunction == "Standard deviation") { calcMathFunction(currentValue); } else { m_yDataEntries.append(currentValue); } m_xDataEntries.append(xValue); } else { // Enum markers QString value = m_field->getValue(m_element).toString(); QwtPlotMarker *marker = m_enumMarkerList.isEmpty() ? NULL : m_enumMarkerList.last(); if (!marker || marker->title() != value) { marker = createMarker(value); marker->setXValue(xValue); if (m_plotCurve->isVisible()) { marker->attach(m_plotCurve->plot()); } m_enumMarkerList.append(marker); } } removeStaleData(); return true; } return false; } void ChronoPlotData::removeStaleData() { while (!m_xDataEntries.isEmpty() && (m_xDataEntries.last() - m_xDataEntries.first()) > m_plotDataSize) { m_yDataEntries.pop_front(); m_xDataEntries.pop_front(); } while (!m_enumMarkerList.isEmpty() && (m_enumMarkerList.last()->xValue() - m_enumMarkerList.first()->xValue()) > m_plotDataSize) { QwtPlotMarker *marker = m_enumMarkerList.takeFirst(); marker->detach(); delete marker; } }