diff --git a/App/ComponentUI/Scope/Chart.cpp b/App/ComponentUI/Scope/Chart.cpp index 3387c3d..8d9ecdd 100644 --- a/App/ComponentUI/Scope/Chart.cpp +++ b/App/ComponentUI/Scope/Chart.cpp @@ -1,4 +1,5 @@ #include "Chart.h" +#include "QElapsedTimer" int Chart::ChannelIndex = 0; @@ -313,7 +314,9 @@ void Chart::timeout(void)//10Hz void Chart::chartUpdate(void) { //读取新数据，如果没有，那就保持 + // QElapsedTimer time; + //time.start(); //当到达最大时（0.95），开始滚动 if(isScroll() == true) @@ -432,6 +435,7 @@ void Chart::chartUpdate(void) } + //qDebug() << "nsecsElapsed" << time.nsecsElapsed(); } @@ -666,7 +670,7 @@ void Chart::setSerieData(QString name, QVariant data) - chartUpdate(); + //chartUpdate(); } void Chart::setSerieData(QString name,QVariant data,int colorindex = 3) @@ -766,7 +770,7 @@ void Chart::setSerieData(QString name,QVariant data,int colorindex = 3) - chartUpdate(); + //chartUpdate(); } diff --git a/App/GCS_zh_CN.ts b/App/GCS_zh_CN.ts index 2c19c60..53d4a9c 100644 --- a/App/GCS_zh_CN.ts +++ b/App/GCS_zh_CN.ts @@ -2144,19 +2144,19 @@ 收：%1/发：%2 - - - + + + 未定位 - + %1D[%2颗] %1D[%2颗] - + fix[%1颗] %1D Fix 差分[%1颗] @@ -2174,256 +2174,256 @@ GPS错误 - + float[%1颗] 浮点[%1颗] - + err[%1颗] 错误[%1颗] - + ARM 解锁 - + DISARM 上锁 - + MANUAL 手动 - + ALTCTL 定高 - + POSCTL 定点 - + AUTO 自主 - + ACRO - + OFFBOARD - + STABILIZED 增稳 - + RATTITUDE 速率 - + STANDBY 待机 - + BIT 测试 - + AUTO_READY 就绪 - + AUTO_TAKEOFF 起飞 - + AUTO_LOITER 盘旋 - + AUTO_MISSION 任务 - + AUTO_RTL 返航 - + AUTO_LAND 着陆 - + AUTO_RTGS RTGS - + AUTO_FOLLOW_TARGET 目标跟随 - + 开加力 - + 半加力 - + 全加力 - + 关加力 - + 伞舱开 - + 伞舱关 - + INS解算正常 - + INS星数不足 - + INS内部错误 - + INS速度超限 - + SBG解算正常 - + SBG星数不足 - + SBG内部错误 - + SBG速度超限 - + 安控区内 - + 安控区外 - + mission group has changed, current group is %1 航线切换，当前航线为 %1 - + VERT_OFF OFF 纵向制导关闭 - + VNAV2THT 消除纵向偏差 - + HDOT2THT 控制升降速率 - + GAMMA2THT 控制航迹角 - + AS2THT 俯仰控制速度 - + H2THT 控制绝对高度 - + AGL2THT 控制相对高度 - + LAT_OFF 横向制导关闭 - + LNAV2PHI 滚转消除侧偏 - + PSI2PHI 滚转控制航向 - - - + + + @@ -2432,156 +2432,156 @@ 未定位 - - + + 未初始化 - - + + 垂直陀螺 - - + + AHRS - - + + 速度导航 - - + + 位置导航 - - + + 正常 - - - + + - + + 无效 - - + + 解算正常 - - + + 卫星数不足 - - + + 内部错误 - - + + 速度超限 - - - - + + + + 未知 - - + + 多普勒 - - + + 微分 - - - - 单点 - - - - - - 伪距差分 - - - - - - SBAS广域差分 - - - 广域差分 + 单点 - RTK_FLOAT + 伪距差分 - RTK_INT + SBAS广域差分 - PPP_FLOAT + 广域差分 - PPP_INT + RTK_FLOAT + RTK_INT + + + + + + PPP_FLOAT + + + + + + PPP_INT + + + + + FIXED @@ -2590,17 +2590,17 @@ 未支持 - + flight mode 飞行模式 - + 连接内置惯导 - + 连接SBG diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp index 44c4945..bfcd690 100644 --- a/App/mainwindow.cpp +++ b/App/mainwindow.cpp @@ -1036,6 +1036,8 @@ void MainWindow::setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, // 16~20Hz左右 运行频率可能太高 void MainWindow::updateUI()//事件驱动式更新数据 { + + static uint32_t custommode_old = 0; static uint8_t state_old = 0; bool isCustomChanged = false; @@ -1059,6 +1061,11 @@ void MainWindow::updateUI()//事件驱动式更新数据 } + QElapsedTimer ElapsedTimer; + + ElapsedTimer.start(); + + copk->setAttitude(dlink->mavlinknode->vehicle.attitude.pitch * 57.3, dlink->mavlinknode->vehicle.attitude.roll * 57.3, dlink->mavlinknode->vehicle.attitude.yaw * 57.3); @@ -1152,6 +1159,8 @@ void MainWindow::updateUI()//事件驱动式更新数据 copk->setGPS(gps_str); + //QApplication::processEvents(); + /* toolsui->diagram->setTime(3,QTime::fromMSecsSinceStartOfDay(StartupTime->time().msecsTo(QDateTime::currentDateTime().time())));//开车时长 @@ -1323,7 +1332,7 @@ void MainWindow::updateUI()//事件驱动式更新数据 dlink->mavlinknode->vehicle.attitude.yaw * 57.3); - + //QApplication::processEvents(); @@ -1846,7 +1855,7 @@ void MainWindow::updateUI()//事件驱动式更新数据 - + //QApplication::processEvents(); @@ -2425,6 +2434,8 @@ void MainWindow::updateUI()//事件驱动式更新数据 toolsui->senser->setDAS(2,8,QString::number(dlink->mavlinknode->vehicle.scaled_pressure.press_abs,'f',3)); + qDebug() << "nsecsElapsed" << ElapsedTimer.nsecsElapsed(); + } void MainWindow::Timer_1s_out(void) diff --git a/App/mainwindow.h b/App/mainwindow.h index 32a6b39..3e0f78d 100644 --- a/App/mainwindow.h +++ b/App/mainwindow.h @@ -3,7 +3,7 @@ #include #include "QApplication" - +#include "QElapsedTimer" #include "Config/Config.h" diff --git a/MavLinkNode/Terminal.cpp b/MavLinkNode/Terminal.cpp index ba46c84..1a327aa 100644 --- a/MavLinkNode/Terminal.cpp +++ b/MavLinkNode/Terminal.cpp @@ -26,8 +26,8 @@ void terminal::process()//线程函数 { default: case Nop_Mode : QThread::msleep(1000/frq());break; - case RecieveMode : ReadStateMachine();QApplication::processEvents();break; - case TransmitMode : WriteStateMachine();QApplication::processEvents();break; + case RecieveMode : ReadStateMachine();break;//QApplication::processEvents();break; + case TransmitMode : WriteStateMachine();break;//QApplication::processEvents();break; } if(isInterruptionRequested())//退出 diff --git a/MavLinkNode/commandprocess.cpp b/MavLinkNode/commandprocess.cpp index 916f7d8..5d32906 100644 --- a/MavLinkNode/commandprocess.cpp +++ b/MavLinkNode/commandprocess.cpp @@ -31,8 +31,8 @@ void commandprocess::process()//线程函数 { default: case Nop_Mode : QThread::msleep(1000.0/frq());break; - case RecieveMode : ReadStateMachine();QApplication::processEvents();break; - case TransmitMode : WriteStateMachine();QApplication::processEvents();break; + case RecieveMode : ReadStateMachine();break;//QApplication::processEvents();break; + case TransmitMode : WriteStateMachine();break;//QApplication::processEvents();break; } if(isInterruptionRequested())//退出 diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp index d5a8cb6..b9758cb 100644 --- a/MavLinkNode/mavlinknode.cpp +++ b/MavLinkNode/mavlinknode.cpp @@ -521,7 +521,7 @@ void MavLinkNode::process()//线程函数 { break; } - QApplication::processEvents(); + //QApplication::processEvents(); //QThread::yieldCurrentThread();//打开这个CPU占用50% if(isIdle) diff --git a/MavLinkNode/missionprocess.cpp b/MavLinkNode/missionprocess.cpp index 30680f0..bee44e3 100644 --- a/MavLinkNode/missionprocess.cpp +++ b/MavLinkNode/missionprocess.cpp @@ -27,10 +27,10 @@ void MissionProcess::process()//线程函数 { default: case Nop_Mode : QThread::msleep(1000/frq());break; - case RecieveMode : ReadStateMachine();QApplication::processEvents();break; + case RecieveMode : ReadStateMachine();break;//QApplication::processEvents();break; case TransmitMode : { - QApplication::processEvents(); + //QApplication::processEvents(); if(mission_status.transmit.type == 0)//航线传输 { WriteStateMachine(); diff --git a/MavLinkNode/parameterprocess.cpp b/MavLinkNode/parameterprocess.cpp index a30dd39..ec759b3 100644 --- a/MavLinkNode/parameterprocess.cpp +++ b/MavLinkNode/parameterprocess.cpp @@ -24,8 +24,8 @@ void ParameterProcess::process()//线程函数 { default: case Nop_Mode : QThread::msleep(1000/frq());break; - case RecieveMode : ReadStateMachine();QApplication::processEvents();break; - case TransmitMode : WriteStateMachine();QApplication::processEvents();break; + case RecieveMode : ReadStateMachine();break;//QApplication::processEvents();break; + case TransmitMode : WriteStateMachine();break;//QApplication::processEvents();break; } if(isInterruptionRequested())//退出 diff --git a/MavLinkNode/rcprocess.cpp b/MavLinkNode/rcprocess.cpp index 6c1eaa6..c7a9f5c 100644 --- a/MavLinkNode/rcprocess.cpp +++ b/MavLinkNode/rcprocess.cpp @@ -53,7 +53,7 @@ void rcprocess::process()//线程函数 if(datagram.size() > 0) { - QApplication::processEvents(); + //QApplication::processEvents(); parse(SourceType::s_port,datagram); } diff --git a/MavLinkNode/replay.cpp b/MavLinkNode/replay.cpp index 982e43d..8da2b1d 100644 --- a/MavLinkNode/replay.cpp +++ b/MavLinkNode/replay.cpp @@ -109,7 +109,7 @@ void Replay::process()//线程函数 lastTimestamp = currentTimestamp; - QApplication::processEvents(); + //QApplication::processEvents(); } else { diff --git a/MavLinkNode/rtkprocess.cpp b/MavLinkNode/rtkprocess.cpp index 5e62fe7..4793c7d 100644 --- a/MavLinkNode/rtkprocess.cpp +++ b/MavLinkNode/rtkprocess.cpp @@ -29,7 +29,7 @@ void rtkprocess::process()//线程函数 datagram = readbuff(SourceType::s_port);//每次全部读取 if(datagram.size() > 0) { - QApplication::processEvents(); + //QApplication::processEvents(); rtkrawdata.append(datagram); } diff --git a/MavLinkNode/statusprocess.cpp b/MavLinkNode/statusprocess.cpp index 9a593f6..a05d2d4 100644 --- a/MavLinkNode/statusprocess.cpp +++ b/MavLinkNode/statusprocess.cpp @@ -33,10 +33,10 @@ void statusprocess::process()//线程函数 { default: case Nop_Mode : QThread::msleep(1000.0/frq());break; - case RecieveMode : ReadStateMachine();QApplication::processEvents();break; + case RecieveMode : ReadStateMachine();break;//QApplication::processEvents();break; case TransmitMode : { - QApplication::processEvents(); + //QApplication::processEvents(); if((QTime::currentTime().msecsSinceStartOfDay() - time) > (1000.0/running_frq)) { heartbeat(m_heartbeat.custom_mode, diff --git a/opmap/MAP_zh_CN.qm b/opmap/MAP_zh_CN.qm index 63a5c2b..4015c8c 100644 Binary files a/opmap/MAP_zh_CN.qm and b/opmap/MAP_zh_CN.qm differ diff --git a/opmap/MAP_zh_CN.ts b/opmap/MAP_zh_CN.ts index f644af3..842c733 100644 --- a/opmap/MAP_zh_CN.ts +++ b/opmap/MAP_zh_CN.ts @@ -78,24 +78,24 @@ Please first select the area of the map to rip with <CTRL>+Left mouse clic mapcontrol::OPMapWidget - + .plan - + 开始上传航点，总数%1 - + 上传失败%1 - + recieve way point group:%1 seq:%2 - + 收到航点：第%1组，第%2点 @@ -103,17 +103,32 @@ Please first select the area of the map to rip with <CTRL>+Left mouse clic Position: - + 位置： Altitude: - + 海拔： Time: - + 时间： + + + + mapcontrol::WayPointItem + + + Speed: %1m/s + 速度：%1m/s + + + + Height: %1m +%2 + 高度：%1m +%2 @@ -165,7 +180,7 @@ Please first select the area of the map to rip with <CTRL>+Left mouse clic - + Tip 标签 @@ -175,13 +190,13 @@ Please first select the area of the map to rip with <CTRL>+Left mouse clic 显示标签 - - + + Measure 测量 - + Table 航线 @@ -190,7 +205,7 @@ Please first select the area of the map to rip with <CTRL>+Left mouse clic 选择一个航线文件... - + Measuring 测量中 diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp index c5ed893..76f947e 100644 --- a/opmap/mapwidget/opmapwidget.cpp +++ b/opmap/mapwidget/opmapwidget.cpp @@ -139,6 +139,10 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView waypointsetting,SLOT(measureState(bool))); + connect(waypointsetting,SIGNAL(WPShowTip(bool)), + this,SLOT(WPShowTip(bool))); + + //missiontable = new MissionDialog(); //missiontable->hide(); @@ -2343,7 +2347,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par //emit showMessage(tr("recieve way point %1").arg(seq + 1)); - emit showMessage(tr("recieve way point group:%1 seq:%2").arg(mission_type).arg(seq + 1)); + emit showMessage(tr("recieve way point group:%1 seq:%2").arg(mission_type - 2).arg(seq + 1)); //qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8; @@ -2585,7 +2589,16 @@ void OPMapWidget::getAllPoints(int group) } } - +void OPMapWidget::WPShowTip(bool flag) +{ + foreach(QGraphicsItem * i, map->childItems()) { + WayPointItem *w = qgraphicsitem_cast(i); + if (w) + { + w->setisShowTip(flag); + } + } +} } diff --git a/opmap/mapwidget/opmapwidget.h b/opmap/mapwidget/opmapwidget.h index b5da609..d84f8aa 100644 --- a/opmap/mapwidget/opmapwidget.h +++ b/opmap/mapwidget/opmapwidget.h @@ -718,6 +718,8 @@ public slots: void RipMap(); void OnSelectionChanged(); + + void WPShowTip(bool flag); }; } #endif // OPMAPWIDGET_H diff --git a/opmap/mapwidget/waypointitem.cpp b/opmap/mapwidget/waypointitem.cpp index c5242fa..a093c50 100644 --- a/opmap/mapwidget/waypointitem.cpp +++ b/opmap/mapwidget/waypointitem.cpp @@ -341,6 +341,36 @@ void WayPointItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti painter->drawText(QRect(12,-10,200,20),Qt::AlignLeft|Qt::AlignVCenter,QString::number(Elevation)); */ + + if(isShowTip) + { + QRectF rect = QRectF(-50,-60,100,40); + + //画一块底色#58ACFA + painter->setBrush(QColor("#A9F5F2")); + //painter->setBrush(Qt::NoBrush); + + ePen.setColor(QColor("#58ACFA")); + ePen.setWidth(2); + painter->setPen(ePen); + painter->drawRect(rect); + + //画字 + QFont font; + font.setWeight(QFont::ExtraLight); + font.setFamily("Arial");//非衬线 + font.setPixelSize(12); + painter->setFont(font); + + ePen.setColor(QColor("#000000")); + painter->setPen(ePen); + + QString _v = tr("Speed: %1m/s").arg(QString::number(property.param4,'f',0)); + QString _h = tr("Height: %1m\n%2").arg(QString::number(property.z,'f',0)).arg(_v); + + + painter->drawText(QRectF(rect.x() + 2,rect.y()+2,rect.width() - 4,rect.height() - 4),Qt::AlignLeft | Qt::AlignVCenter,_h); + } } } diff --git a/opmap/mapwidget/waypointitem.h b/opmap/mapwidget/waypointitem.h index d039ada..b9b6715 100644 --- a/opmap/mapwidget/waypointitem.h +++ b/opmap/mapwidget/waypointitem.h @@ -293,6 +293,29 @@ public: return isactive; } + + void setisShowTip(bool flag) + { + isShowTip = flag; + update(); + } + + bool getisShowTip(void) + { + return isShowTip; + } + + void setisFancy(bool flag) + { + isFancy = flag; + update(); + } + + bool getisFancy(void) + { + return isFancy; + } + protected: void mouseMoveEvent(QGraphicsSceneMouseEvent *event); void mousePressEvent(QGraphicsSceneMouseEvent *event); @@ -302,6 +325,10 @@ private: _property property; + bool isShowTip = false; + bool isFancy = false; + bool FancyType = 0; + bool isSimple = false; bool isEdit = false; bool isFollowPrevious = false; diff --git a/opmap/mapwidget/waypointsetting.cpp b/opmap/mapwidget/waypointsetting.cpp index aad4f53..0a6d678 100644 --- a/opmap/mapwidget/waypointsetting.cpp +++ b/opmap/mapwidget/waypointsetting.cpp @@ -131,10 +131,12 @@ WayPointSetting::WayPointSetting(MapGraphicItem *map, QColor background) : myMap if(btn_tip->Text() == tr("Tip")) { btn_tip->setText(tr("ShowTip")); + emit WPShowTip(true); } else { btn_tip->setText(tr("Tip")); + emit WPShowTip(false); } }); diff --git a/opmap/mapwidget/waypointsetting.h b/opmap/mapwidget/waypointsetting.h index b41ce21..8ef9aaf 100644 --- a/opmap/mapwidget/waypointsetting.h +++ b/opmap/mapwidget/waypointsetting.h @@ -182,6 +182,8 @@ signals: void WPRuler(void); void WPTable(void); + void WPShowTip(bool flag); + protected: void mouseMoveEvent(QGraphicsSceneMouseEvent *event);