#include "mainwindow.h" #include "QPushButton" #include "QAction" #include "QHBoxLayout" //从0开始 bool getBit(uint32_t d,int32_t pos) { bool bit = false; bit = (d >> pos) & 0x00000001; return bit; } float to360deg(float raw) { float angle = 0; if(raw > 360) { int a = (int)raw/360; raw = raw - a *360; } else if(raw < -360) { int a = (int)raw/360; raw = raw - a *360; } //0~360 if(raw < 0) { raw += 360; } angle = raw; return angle; } MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent) { //构建日志目录 QDir *logdir = new QDir; if(!logdir->exists("./log")) { qDebug() << "make dir log"; logdir->mkdir("./log");//如果文件夹不存在就新建 } //构建Tlog目录 QDir *Tlogdir = new QDir; if(!Tlogdir->exists("./log/tlog")) { qDebug() << "make dir tlog"; Tlogdir->mkdir("./log/tlog");//如果文件夹不存在就新建 } //构建CSV目录 QDir *csvlog = new QDir; if(!csvlog->exists("./log/csv")) { qDebug() << "make dir csv"; csvlog->mkdir("./log/csv");//如果文件夹不存在就新建 } //构建文本日志目录 QDir *textlog = new QDir; if(!textlog->exists("./log/textlog")) { qDebug() << "make dir textlog"; textlog->mkdir("./log/textlog");//如果文件夹不存在就新建 } setFocusPolicy(Qt::StrongFocus); setAttribute(Qt::WA_AcceptTouchEvents); /* //设置优先生成，然后对全局进行设置 setting = new Setting(this); setting->hide(); */ tts = new QTextToSpeech(this); //config config = new Config(); //ui initial //menubar menuBarUI = new MenuBarUI(this); connect(menuBarUI,SIGNAL(IndexChanged(int)), this,SLOT(onTabIndexChanged(int))); //--------------- //设置优先生成，然后对全局进行设置 setting = new Setting(this); setting->hide(); /* connect(setting->index0->globalsetting,&GlobalSetting::setGCSID, dlink->mavlinknode,&MavLinkNode::setGCSID,Qt::DirectConnection); */ //自检 checkUI = new CheckUI(this); checkUI->hide(); //信息 toolsui = new ToolsUI(this); toolsui->hide(); //状态 statusui = new StatusUI(this); statusui->hide(); healthui = new HealthUI(this); healthui->hide(); //指令 commandUI = new CommandUI(this); dlink = new DLink(); map = new mapcontrol::OPMapWidget(this); map->SetShowHome(false); map->SetShowCompass(false); map->SetUseOpenGL(true); map->setAttribute(Qt::WA_AlwaysStackOnTop); /* QVariant maptype; config->getMapType(&maptype); if(!maptype.toString().isNull()) { //map->SetMapType(mapcontrol::Helper::MapTypeFromString(maptype.toString())); //map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingHybrid")); } else { //map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingHybrid")); } */ map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingHybrid")); map->setWPLock(true); map->setFocus(); map->setMouseTracking(true); map->setGeometry(0, 0, this->width(), this->height()); map->SetZoom(4); map->SetCurrentPosition(internals::PointLatLng(33,106)); qDebug() << "map start"; copk = new Cockpit(this); copk->setGeometry(this->width() - copk->width(),0,400,350); qDebug() << "copk start"; missionUI = new propertyui(this); missionUI->hide(); qDebug() << "missionUI start"; qRegisterMetaType("uint8_t"); qRegisterMetaType("uint16_t"); qRegisterMetaType("uint32_t"); //commandbox ----- dlink connect(toolsui->servosystem,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)), dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection); connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)), toolsui->servosystem,SLOT(addVehicles(int,int))); connect(toolsui->servosystem,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)), dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection); connect(commandUI,SIGNAL(Accepted(bool,uint16_t,uint8_t)), toolsui->servosystem,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection); //command ----- map connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)), commandUI,SLOT(addVehicles(int,int))); connect(map,SIGNAL(PointNumber(QList)), commandUI,SLOT(setPointCount(QList))); connect(map,SIGNAL(uav_selected(int,int)), commandUI,SLOT(CurrentUAV(int,int))); /* connect(map,&mapcontrol::OPMapWidget::PointNumber, commandUI,&CommandUI::setPointCount,Qt::DirectConnection); */ //this ----- dlink connect(dlink->mavlinknode,SIGNAL(beep(int)), this,SLOT(beep(int))); connect(dlink->mavlinknode,SIGNAL(CommuniationLost(bool)), this,SLOT(setCommunicationLostState(bool))); connect(dlink->mavlinknode,SIGNAL(updateDlink(float,uint64_t,uint64_t)), this,SLOT(updateDlink(float,uint64_t,uint64_t))); connect(dlink,SIGNAL(byteCount(int,int)), this,SLOT(dlinkCount(int,int))); //this ----- map connect(map,SIGNAL(TotalDistanceUpdate(double)), this,SLOT(TotalDistance(double))); connect(this,SIGNAL(currentGroup(int)), map,SLOT(groupchanged(int))), //tools ----- map connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)), toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t))); //dlink ----- tools connect(toolsui->index2,SIGNAL(setPlay(bool)), dlink->mavlinknode->replay,SLOT(startReplay(bool)),Qt::DirectConnection); connect(toolsui->index2,SIGNAL(setFileName(QString)), dlink->mavlinknode,SLOT(setLogfile(QString)),Qt::DirectConnection); connect(toolsui->index2,SIGNAL(setPercentage(float)), dlink->mavlinknode->replay,SLOT(setPercentage(float)),Qt::DirectConnection); connect(toolsui->index2,SIGNAL(setMultiple(double)), dlink->mavlinknode->replay,SLOT(setMultiple(double)),Qt::DirectConnection); connect(dlink->mavlinknode->replay,SIGNAL(currentPercentage(float)), toolsui->index2,SLOT(setCurrentPercentage(float))); connect(dlink->mavlinknode->replay,SIGNAL(replayComplete()), toolsui->index2,SLOT(ReplayComplete())); //dlink --- toolui-index3 connect(dlink->mavlinknode,SIGNAL(Recieve(QString)), toolsui->index3,SLOT(Recieve(QString))); connect(toolsui->index3,SIGNAL(Terminal_Transmit(QString)), dlink->mavlinknode,SLOT(Transmit(QString)),Qt::DirectConnection); //setting ----- map connect(setting->index0->globalsetting,SIGNAL(getMapTypes()), map,SLOT(getMapTypes())); connect(map,SIGNAL(MapTypes(QStringList)), setting->index0->globalsetting,SLOT(MapTypes(QStringList))); connect(setting->index0->globalsetting,SIGNAL(setMapTypes(QVariant)), map,SLOT(setMapTypes(QVariant))); connect(setting->index0->globalsetting,&GlobalSetting::setServo, this,&MainWindow::setServoOffset); connect(setting->index0->globalsetting,SIGNAL(mapCache(bool,qreal,qreal,qreal,qreal,qint8)), map,SLOT(userRipMap(bool,qreal,qreal,qreal,qreal,qint8))); connect(map,SIGNAL(ripfinished()), setting->index0->globalsetting,SLOT(setripfinished())); connect(map,SIGNAL(percentageChanged(int)), setting->index0->globalsetting,SLOT(SetPercentage(int))); connect(map,SIGNAL(numberOfTilesChanged(int,int)), setting->index0->globalsetting,SLOT(SetNumberOfTiles(int,int))); connect(map,SIGNAL(providerChanged(QString,int)), setting->index0->globalsetting,SLOT(SetProvider(QString,int))); //command ----- dlink connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)), dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection); connect(dlink->mavlinknode->Commander,SIGNAL(commandAccepted(bool,uint16_t,uint8_t)), commandUI,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection); connect(commandUI,SIGNAL(WriteParam(uint8_t,uint8_t,QVariant,QVariant,QVariant)), dlink->mavlinknode->Parameter,SLOT(WriteCmd2(uint8_t,uint8_t,QVariant,QVariant,QVariant)),Qt::DirectConnection); //check ----- dlink connect(checkUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)), dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection); qRegisterMetaType("mavlink_message_t"); connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)), checkUI,SLOT(RecieveMsg(mavlink_message_t))); connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)), checkUI,SLOT(addVehicles(int,int))); //setting ----- dlink connect(dlink,SIGNAL(PortConnected(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)), setting->index0->link,SIGNAL(PortConnect(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant))); connect(dlink->mavlinknode,SIGNAL(state_updated()), this,SLOT(updateUI())); connect(setting->index0->link,SIGNAL(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)), dlink,SLOT(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant))); connect(dlink->mavlinknode->Parameter,SIGNAL(RecieveValue(mavlink_message_t)), setting->index1->paramInspect,SLOT(appendParameter(mavlink_message_t))); connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)), setting->index1->paramInspect,SLOT(addVehicles(int,int))); connect(setting->index1->paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)), dlink->mavlinknode->Parameter,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection); connect(setting->index1->paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)), dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection); //mision ----- map connect(map, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)), missionUI,SLOT(setWayPointProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t))); connect(missionUI,SIGNAL(WayPointPropertyChanged(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)), map,SIGNAL(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t))); connect(missionUI,SIGNAL(WPnearPoint(int)), map,SLOT(WPnearPoint(int))); connect(missionUI,SIGNAL(WPotherPoint(int)), map,SLOT(WPotherPoint(int))); connect(missionUI,SIGNAL(WPDelete()), map,SLOT(WPDelete())); connect(missionUI,SIGNAL(WPInsert()), map,SLOT(WPInsert())); connect(missionUI,SIGNAL(WPUpload()), map,SLOT(WPUpload())); connect(missionUI,SIGNAL(WPDownload()), map,SLOT(WPDownload())); connect(missionUI,SIGNAL(WPSave(QString)), map,SLOT(WPSave(QString))); connect(missionUI,SIGNAL(WPLoad(QString)), map,SLOT(WPLoad(QString))); connect(missionUI,SIGNAL(WPGroup(int)), map,SLOT(WPGroup(int))); connect(missionUI,SIGNAL(WPDeleteAll()), map,SLOT(WPDeleteAll())); connect(missionUI,SIGNAL(WPAdd()), map,SLOT(WPAdd())); connect(map,SIGNAL(allPoint(QMap)), missionUI,SLOT(setallPoint(QMap))); connect(missionUI,SIGNAL(searchall()), map,SLOT(WPsearchall())); connect(missionUI,SIGNAL(getAllPoints(int)), map,SLOT(getAllPoints(int))); connect(map,SIGNAL(settableGroup(int)), missionUI,SIGNAL(settableGroup(int))); connect(map,SIGNAL(measureState(bool)), missionUI,SLOT(measureState(bool))); connect(map,SIGNAL(settableClicked()), missionUI,SLOT(on_pushButton_Table_clicked())); connect(map,SIGNAL(setrulerClicked()), missionUI,SLOT(on_pushButton_Ruler_clicked())); connect(map,SIGNAL(mousePosition(qreal,qreal)), missionUI,SIGNAL(mousePosition(qreal,qreal))); connect(missionUI,SIGNAL(exitRuler()), map,SLOT(ruler_clicked())); connect(map,SIGNAL(createFenceCircle(int,qreal,bool,qreal,qreal)), missionUI,SIGNAL(createFenceCircle(int,qreal,bool,qreal,qreal))); connect(map,SIGNAL(createFencePolygon(int,qreal,bool,QList)), missionUI,SIGNAL(createFencePolygon(int,qreal,bool,QList))); connect(missionUI,SIGNAL(setFenceCircle(int,qreal,bool,qreal,qreal)), map,SLOT(setFenceCircle(int,qreal,bool,qreal,qreal))); connect(missionUI,SIGNAL(setFencePolygon(int,qreal,bool,QList)), map,SLOT(setFencePolygon(int,qreal,bool,QList))); connect(missionUI,SIGNAL(addCircle()), map,SLOT(addCircle())); connect(missionUI,SIGNAL(addPolygon()), map,SLOT(addPolygon())); connect(missionUI,SIGNAL(delFence(int)), map,SLOT(delFence(int))); connect(map,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)), missionUI,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal))); connect(map,SIGNAL(updateFencePolygon(int,qreal,bool,QList)), missionUI,SIGNAL(updateFencePolygon(int,qreal,bool,QList))); connect(map,SIGNAL(currentPointSeleted(int,int)), missionUI,SIGNAL(currentPointSeleted(int,int)),Qt::DirectConnection); connect(missionUI,SIGNAL(getCurrentPoint(int)), map,SLOT(getCurrentPoint(int)),Qt::DirectConnection); connect(map,SIGNAL(FenceGroupChanged(int,int)), missionUI,SIGNAL(FenceGroupChanged(int,int)),Qt::DirectConnection); connect(map,SIGNAL(clearTable()), missionUI,SLOT(clearTable()),Qt::DirectConnection); connect(map,SIGNAL(MeasurePosition(int,qreal,qreal)), missionUI,SIGNAL(MeasurePosition(int,qreal,qreal)),Qt::DirectConnection); connect(map,SIGNAL(Lineinfo(qreal,qreal)), missionUI,SIGNAL(Lineinfo(qreal,qreal)),Qt::DirectConnection); connect(missionUI,SIGNAL(valuechanged(int,qreal)), map,SLOT(MeasureValueChanged(int,qreal))); connect(map,SIGNAL(closeMissionDialog(bool)), missionUI,SLOT(closeMissionDialog(bool)),Qt::DirectConnection); //dlink ----- map connect(map,SIGNAL(signal_WPDownload(uint8_t,uint8_t,int)), dlink->mavlinknode->Mission,SLOT(ReadCmd(uint8_t,uint8_t,int)),Qt::DirectConnection); connect(map,SIGNAL(signal_WPUpload(uint8_t,uint8_t,uint32_t,int)), dlink->mavlinknode->Mission,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t,int)),Qt::DirectConnection); //生成航线必须在map线程完成，因此不能直接连接 //停下来让ui、运行一下 connect(dlink->mavlinknode->Mission,SIGNAL(receivedPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)), map,SLOT(receivedPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::BlockingQueuedConnection); connect(map,SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)), dlink->mavlinknode->Mission,SLOT(transmitPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection); connect(dlink->mavlinknode->Mission,SIGNAL(clearWaypoint()), map,SLOT(WPDeleteAll())); connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)), map,SLOT(addUAV(int,int))); connect(map,SIGNAL(uav_selected(int,int)), dlink->mavlinknode,SLOT(setCurrentSelected(int,int)),Qt::DirectConnection); connect(dlink->mavlinknode->Mission,SIGNAL(sendItemOK(uint16_t,bool)), map,SLOT(WPSendItemOK(uint16_t,bool))); connect(map,SIGNAL(sendFence(qreal,qreal,qreal,qreal,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t)), dlink->mavlinknode->Mission,SLOT(sendFence(qreal,qreal,qreal,qreal,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t)),Qt::DirectConnection); connect(map,SIGNAL(getMissionFromVehicle(int)), dlink->mavlinknode->Mission,SLOT(checkoutVehicle(int)),Qt::DirectConnection); connect(dlink->mavlinknode->Mission,SIGNAL(vehicleChanged(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)), map,SLOT(vehicleChanged(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t))); //map ----- commandui connect(map,SIGNAL(setCurrent(int,int)), commandUI,SLOT(missionConfirm(int,int))); connect(commandUI,SIGNAL(SetCurrentPoint(int)), dlink->mavlinknode->Mission,SLOT(SetCurrentPoint(int)),Qt::DirectConnection); connect(commandUI,SIGNAL(getAllPoint(int)), map,SLOT(find_PointNumber(int))); connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)), map,SLOT(WPSetCurrent(int))); connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)), menuBarUI,SLOT(setTargetPoint(int))); /* connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)), toolsui->diagram,SLOT(setTargetPoint(int))); */ //=======setting=====tools==== connect(setting->index1->paramInspect,SIGNAL(APversion(QString)), toolsui->servosystem,SLOT(setAPversion(QString))); connect(setting->index1->paramInspect,SIGNAL(HILMode(QString)), toolsui->servosystem,SLOT(setHILMode(QString))); connect(setting->index0->globalsetting,&GlobalSetting::setServo, toolsui->servosystem,&ServoSystem::setServoOffset); //==== showmessage===== connect(toolsui->servosystem,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(commandUI,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(copk,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(dlink,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(map,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(setting->index1->paramInspect,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(setting->index0->globalsetting,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); //connect(menuBarUI,SIGNAL(NewMessage(QString)),toolsui->index1,SLOT(setLog(QString)),Qt::DirectConnection); qDebug() << "main window start"; //监测ssl，用于网络连接 qDebug()<<"QSslSocket="<setInterval(1000); connect(Timer_1s,&QTimer::timeout, this,&MainWindow::Timer_1s_out); FlightTime = new QDateTime(); //FlightTime->setTime(QDateTime::currentDateTime().time()); StartupTime = new QDateTime(); //StartupTime->setTime(QDateTime::currentDateTime().time()); connect(setting->index0->globalsetting,&GlobalSetting::setGCSID, dlink->mavlinknode,&MavLinkNode::setGCSID,Qt::DirectConnection); connect(setting->index0->globalsetting,&GlobalSetting::setHeartBeat, dlink->mavlinknode,&MavLinkNode::setHeartbeat,Qt::DirectConnection); //设置地面站ID setting->index0->globalsetting->getGCSID(); setting->index0->globalsetting->getServo(); setting->index0->globalsetting->getHeartBeat(); } MainWindow::~MainWindow() { if(tts) { tts->stop(); delete tts; tts = nullptr; } if(map) { map->close(); delete map; } if(dlink) { //dlink->stopPort(); delete dlink; } if(copk) { copk->close(); delete copk; } QCoreApplication::quit();//退出所有窗口 } void MainWindow::closeEvent(QCloseEvent *event) { event->accept(); QCoreApplication::quit();//退出所有 } void MainWindow::resizeEvent(QResizeEvent *event) { qDebug() << event; Q_UNUSED(event) menuBarUI->setGeometry(0,0,this->width(),100); qDebug() << "resize"; setting->setGeometry(0,menuBarUI->height(), this->width(),this->height() - menuBarUI->height()); checkUI->setGeometry(0,menuBarUI->height(), this->width(),this->height() - menuBarUI->height()); map->setGeometry(0,menuBarUI->height(), this->width()- copk->width() - statusui->width(),this->height() - menuBarUI->height()); //if(MainIndex == 5)//renwu { if(statusui->isHidden()) map->setGeometry(0,menuBarUI->height(), this->width()- copk->width(),this->height() - menuBarUI->height()); } if(MainIndex == 2)//renwu { if(statusui->isHidden()) { if(missionUI->isHidden()) { map->setGeometry(0,menuBarUI->height(), this->width(),this->height() - menuBarUI->height());//隐藏missionUI } else { map->setGeometry(0,menuBarUI->height(), this->width()- copk->width(),this->height() - menuBarUI->height());//显示missionUI } } } /* if(MainIndex == 2)//renwu { qDebug() << "renwu"; map->setGeometry(0,menuBarUI->height(), this->width(),this->height() - menuBarUI->height()); } */ copk->setGeometry(this->width() - copk->width(),menuBarUI->height(), copk->width(),copk->height()); healthui->setGeometry(this->width() - copk->width(),menuBarUI->height() + copk->height(), copk->width(),healthui->height()); statusui->setGeometry(map->width(), menuBarUI->height(), statusui->width(),//copk->width() * 1.0, this->height() - menuBarUI->height()); missionUI->setGeometry(this->width() - copk->width(),menuBarUI->height(), copk->width(),this->height() - menuBarUI->height()); if(!healthui->isHidden()) { commandUI->setGeometry(this->width() - copk->width(),menuBarUI->height() + copk->height() + healthui->height(), copk->width(),this->height() - menuBarUI->height() - copk->height() - healthui->height()); } else { commandUI->setGeometry(this->width() - copk->width(),menuBarUI->height() + copk->height(), copk->width(),this->height() - menuBarUI->height() - copk->height()); } toolsui->setGeometry(0,menuBarUI->height(), this->width(),this->height() - menuBarUI->height()); update(); } //这个是不必要的，因为每个部件都有自己相应的动作 void MainWindow::mousePressEvent(QMouseEvent* event) { if(event->buttons() == Qt::MiddleButton) { if(!healthui->isHidden()) { healthui->hide(); } else { healthui->show(); } } resizeEvent(nullptr); } void MainWindow::keyPressEvent(QKeyEvent *event) //键盘按下事件 { qInfo() << "key" << event; //qDebug() << event; switch(event->key()) { case Qt::Key_Up: qDebug() << "Key_Up"; break; case Qt::Key_Down: qDebug() << "Key_Down"; break; case Qt::Key_Left: qDebug() << "Key_Left"; break; case Qt::Key_Right: qDebug() << "Key_Right"; break; case Qt::Key_D: if(event->modifiers() == Qt::AltModifier) { qInfo() << "alt + D"; } break; case Qt::Key_U : { if(event->modifiers() == Qt::AltModifier) { qInfo() << "atl + U"; } }break; case Qt::Key_P : { if(event->modifiers() == Qt::AltModifier) {//下载参数 qInfo() << "atl + P"; } }break; case Qt::Key_O : { if(event->modifiers() == Qt::AltModifier) {//上传参数 qInfo() << "atl + O"; } }break; case Qt::Key_S: break; case Qt::Key_W: break; case Qt::Key_K : { if(event->modifiers() == Qt::ControlModifier) { } } break; case Qt::Key_Space : { //map->setcu map->SetCurrentPosition(); //根据选中的飞机设置当前位置 } break; case Qt::Key_Equal : { if(event->modifiers() == Qt::ShiftModifier) { } else { map->SetZoom(map->ZoomReal() + 1); } } break; case Qt::Key_Plus : { if(event->modifiers() == Qt::ShiftModifier) { } } break; case Qt::Key_Minus: { if(event->modifiers() == Qt::ShiftModifier) { } else { map->SetZoom(map->ZoomReal() - 1); } } break; case Qt::Key_C: { if(event->modifiers() == Qt::AltModifier) { map->DeleteTrail(); } } break; } QWidget::keyPressEvent(event); } bool MainWindow::event(QEvent *event) { return QWidget::event(event); } void MainWindow::onTabIndexChanged(const int &index)//界面选择管理 { //记录主界面目录 MainIndex = index; //设置 if(index == 0) setting->show(); else setting->hide(); //自检 if(index == 1) checkUI->show(); else checkUI->hide(); //任务 if(index == 2) { map->setWPLock(false); map->setWPCreate(true); //missionUI->show(); missionUI->hide(); } else { map->setWPLock(true); map->setWPCreate(false); missionUI->hide(); } if((index == 2)||(index == 3)||(index == 5)) map->show(); else map->hide(); //飞行 if(index == 3) { copk->show(); commandUI->show(); //statusui->show(); healthui->show(); } else { copk->hide(); commandUI->hide(); //statusui->hide(); healthui->hide(); } //信息 if(index == 4) toolsui->show(); else toolsui->hide(); if(index == 5) { if(statusui->isHidden()) { copk->show(); commandUI->show(); statusui->show(); healthui->show(); } else { copk->show(); commandUI->show(); statusui->hide(); healthui->show(); } //得到航线组数，数据为1，2，3，4 //emit currentGroup(group + 1); } else { statusui->hide(); } resizeEvent(nullptr); } void MainWindow::showMessage(const QString &message, int TimeOut) { menuBarUI->showMessage(message,TimeOut); toolsui->index1->setLog(message); } void MainWindow::beep(int id) { Q_UNUSED(id) QApplication::beep(); } void MainWindow::setCommunicationLostState(bool flag) { static bool last = false; isCommunicationLost = flag; healthui->setState(6,(dlink->mavlinknode->isCommunicationLost)?(HealthUI::state::failure):(HealthUI::state::success));//DLINK if(flag == true)//通讯丢失 { if(last != flag) { showMessage(tr("Communication Lost"),3000); tts->say(tr("Communication Lost")); } healthui->setState(1,HealthUI::state::failure); healthui->setState(2,HealthUI::state::failure); healthui->setState(4,HealthUI::state::failure); healthui->setState(3,HealthUI::state::failure); healthui->setState(5,HealthUI::state::failure); healthui->setState(6,HealthUI::state::failure); healthui->setState(7,HealthUI::state::failure); healthui->setState(8,HealthUI::state::failure); healthui->setState(9,HealthUI::state::failure); healthui->setState(10,HealthUI::state::failure); healthui->setState(11,HealthUI::state::failure); healthui->setState(12,HealthUI::state::failure); healthui->setState(13,HealthUI::state::failure); healthui->setState(14,HealthUI::state::failure); healthui->setState(15,HealthUI::state::failure); healthui->setState(16,HealthUI::state::failure); healthui->setState(17,HealthUI::state::failure); healthui->setState(18,HealthUI::state::failure); healthui->setState(19,HealthUI::state::failure); healthui->setState(20,HealthUI::state::failure); healthui->setState(21,HealthUI::state::failure); healthui->setState(22,HealthUI::state::failure); healthui->setState(23,HealthUI::state::failure); healthui->setState(24,HealthUI::state::failure); healthui->setState(25,HealthUI::state::failure); healthui->setState(26,HealthUI::state::failure); healthui->setState(27,HealthUI::state::failure); healthui->setState(28,HealthUI::state::failure); healthui->setState(29,HealthUI::state::failure); healthui->setState(30,HealthUI::state::failure); healthui->setState(31,HealthUI::state::failure); healthui->setState(32,HealthUI::state::failure); healthui->setState(33,HealthUI::state::failure); healthui->setState(34,HealthUI::state::failure); healthui->setState(35,HealthUI::state::failure); healthui->setState(36,HealthUI::state::failure); healthui->setState(37,HealthUI::state::failure); healthui->setState(38,HealthUI::state::failure); healthui->setState(39,HealthUI::state::failure); healthui->setState(40,HealthUI::state::failure); } else { if(last != flag) { showMessage(tr("Communication Regain"),3000); tts->say(tr("Communication Regain")); } } last = flag; } void MainWindow::updateDlink(float rssi,uint64_t in,uint64_t out) { statusui->setDlink(1,QString::number(rssi,'f',0), tr("R:%1 / T:%2").arg(QString::number(in)).arg(QString::number(dlinkout))); } void MainWindow::dlinkCount(int in,int out) { dlinkout = out; } void MainWindow::setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru, QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru, QVariant scalela, QVariant scalera, QVariant scalele, QVariant scalere, QVariant scaleru, QVariant la, QVariant ra,QVariant le, QVariant re,QVariant ru) { dir_la = dirla; dir_ra = dirra; dir_le = dirle; dir_re = dirre; dir_ru = dirru; max_la = maxla; max_ra = maxra; max_le = maxle; max_re = maxre; max_ru = maxru; scale_la = scalela; scale_ra = scalera; scale_le = scalele; scale_re = scalere; scale_ru = scaleru; bias_la = la; bias_ra = ra; bias_le = le; bias_re = re; bias_ru = ru; } // 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; bool isStateChanged = false; static quint64 lastTime = QDateTime::currentMSecsSinceEpoch(); static qint64 frq_time = 0; if((QDateTime::currentMSecsSinceEpoch() - frq_time) <= 200) { return; } frq_time = QDateTime::currentMSecsSinceEpoch(); int currentUAV = map->getUAVCurrent(); if(currentUAV < 1)//滤掉错值 { return; } //经纬度大于正常值，将舍弃 更新所有飞机的信息， foreach (MavLinkNode::_vehicle v, dlink->mavlinknode->vehicleList) { double lat = (double)(v.gps_raw_int.lat * 10e-8); double lng = (double)(v.gps_raw_int.lon * 10e-8); if(((lat > -90)&&(lat < 90))&&((lng > -180)&&(lng < 180))) { map->setUAVPos(v.sysid, v.compid, (double)(v.gps_raw_int.lat * 10e-8), (double)(v.gps_raw_int.lon * 10e-8), (double)(v.gps_raw_int.alt * 10e-4)); } map->setUAVHeading(v.sysid, v.compid, v.attitude.yaw * 57.3); map->setUAVSpeed(v.sysid, v.compid, v.emb_atom_com.mach, v.vfr_hud.airspeed); } //只更新当前选择的飞机信息 MavLinkNode::_vehicle vehicle = dlink->mavlinknode->vehicleList.value(currentUAV); copk->setAttitude(vehicle.attitude.pitch * 57.3, vehicle.attitude.roll * 57.3, vehicle.attitude.yaw * 57.3); copk->setAltitude(vehicle.global_position_int.alt * 10e-4); copk->setAltitudeTarget(vehicle.global_position_int.alt * 10e-4 +vehicle.nav_controller_output.alt_error); switch (copk->AltitudeFlag()) { default: case 0://绝对 copk->setHeight(vehicle.global_position_int.alt * 10e-4); break; case 1://相对 copk->setHeight(vehicle.global_position_int.relative_alt * 10e-4); break; case 2://气压 copk->setHeight(vehicle.vfr_hud.alt); break; } //vehicle.vfr_hud.airspeed //表速 //vehicle.gps_raw_int.vel//地速 copk->setAirSpeed(vehicle.emb_atom_com.Airspeed,5);//真空速 copk->setAirSpeedTarget(vehicle.emb_atom_com.Airspeed +vehicle.nav_controller_output.aspd_error,5); //c t g m switch (copk->AirSpeedFlag()) { case 0: copk->setSpeed(vehicle.vfr_hud.airspeed,copk->AirSpeedFlag());//表速 break; case 1: copk->setSpeed(vehicle.emb_atom_com.Airspeed,copk->AirSpeedFlag());//真空速 break; case 2: copk->setSpeed(vehicle.gps_raw_int.vel * 0.01,copk->AirSpeedFlag());//地速 break; case 3: copk->setSpeed(vehicle.emb_atom_com.mach,copk->AirSpeedFlag());//马赫 break; } copk->setAOA(vehicle.emb_atom_com.alpha); copk->setOL(vehicle.ins1.az/(-9.8)); copk->setVerticalSpeed(-vehicle.global_position_int.vz * 10e-3);//速度朝下为正 copk->setAlt_err(vehicle.nav_controller_output.alt_error);//高度差 飞机在航线下面为正 copk->setXTrack(vehicle.nav_controller_output.xtrack_error);//侧偏距 飞机在航线右侧为正 copk->setRollTarget(vehicle.nav_controller_output.nav_roll);// copk->setPitchTarget(vehicle.nav_controller_output.nav_pitch);// copk->setYawTarget(vehicle.nav_controller_output.nav_bearing);// QString gps_str; gps_str.clear(); switch (vehicle.gps_raw_int.fix_type) { case 1: gps_str.append(tr("未定位")); break; case 2: case 3: gps_str.append(tr("%1D[%2颗]").arg(vehicle.gps_raw_int.fix_type).arg(vehicle.gps_raw_int.satellites_visible)); break; case 4: gps_str.append(tr("fix[%1颗]").arg(vehicle.gps_raw_int.satellites_visible)); break; case 5: gps_str.append(tr("float[%1颗]").arg(vehicle.gps_raw_int.satellites_visible)); break; default: gps_str.append(tr("err[%1颗]").arg(vehicle.gps_raw_int.satellites_visible)); break; } copk->setGPS(gps_str); //QApplication::processEvents(); /* toolsui->diagram->setTime(3,QTime::fromMSecsSinceStartOfDay(StartupTime->time().msecsTo(QDateTime::currentDateTime().time())));//开车时长 toolsui->diagram->setTime(4,QTime::fromMSecsSinceStartOfDay(FlightTime->time().msecsTo(QDateTime::currentDateTime().time())));//飞行时长 */ QString arm_str; arm_str.clear(); uint8_t state = 0; state = (vehicle.heartbeat.base_mode&MAV_MODE_FLAG::MAV_MODE_FLAG_SAFETY_ARMED); if(state != state_old) { isStateChanged = true; //解锁后清除航迹 if(state == MAV_MODE_FLAG::MAV_MODE_FLAG_SAFETY_ARMED) { FlightTime->setTime(QDateTime::currentDateTime().time()); map->DeleteTrail(); StartPoint = map->CurrentPosition(); } else { /* if(menuBarUI) menuBarUI->setArm(false); */ } } else { isStateChanged = false; } state_old = state; switch (state) { case MAV_MODE_FLAG_SAFETY_ARMED: arm_str.append(tr("ARM")); menuBarUI->setFlightTime(QTime::fromMSecsSinceStartOfDay(FlightTime->time().msecsTo(QDateTime::currentDateTime().time())));//飞行时长 //toolsui->diagram->setTime(4,QTime::fromMSecsSinceStartOfDay(FlightTime->time().msecsTo(QDateTime::currentDateTime().time())));//飞行时长 break; case 0: arm_str.append(tr("DISARM")); break; default: break; } copk->setState(arm_str); uint32_t custommode = vehicle.heartbeat.custom_mode; if(custommode != custommode_old) { isCustomChanged = true; } else { isCustomChanged = false; } custommode_old = custommode; QString mode_str; switch (custommode) { case 1<<16: mode_str.append(tr("MANUAL")); break; case 2<<16: mode_str.append(tr("ALTCTL")); break; case 3<<16: mode_str.append(tr("POSCTL")); break; case 4<<16: mode_str.append(tr("AUTO")); break; case 5<<16: mode_str.append(tr("ACRO")); break; case 6<<16: mode_str.append(tr("OFFBOARD")); break; case 7<<16: mode_str.append(tr("STABILIZED")); break; case 8<<16: mode_str.append(tr("RATTITUDE")); break; case 9<<16: mode_str.append(tr("STANDBY")); break; case 10<<16: mode_str.append(tr("BIT")); break; case (4<<16)+(1<<24): mode_str.append(tr("AUTO_READY")); break; case (4<<16)+(2<<24): mode_str.append(tr("AUTO_TAKEOFF")); break; case (4<<16)+(3<<24): mode_str.append(tr("AUTO_LOITER")); break; case (4<<16)+(4<<24): mode_str.append(tr("AUTO_MISSION")); break; case (4<<16)+(5<<24): mode_str.append(tr("AUTO_RTL")); break; case (4<<16)+(6<<24): mode_str.append(tr("AUTO_LAND")); break; case (4<<16)+(7<<24): mode_str.append(tr("AUTO_RTGS")); break; case (4<<16)+(8<<24): mode_str.append(tr("AUTO_FOLLOW_TARGET")); break; default: mode_str.append(QString::number(custommode)); break; } copk->setMode(mode_str); //这里会一直生成一个，导致无法释放 if(isStateChanged == true) { tts->say(arm_str); } if(isCustomChanged == true) { mode_str.append(tr("flight mode")); tts->say(mode_str); } uint32_t health = vehicle.sys_status.onboard_control_sensors_health; uint32_t enable = vehicle.sys_status.onboard_control_sensors_enabled; uint32_t present = vehicle.sys_status.onboard_control_sensors_present; uint64_t time; uint64_t date; if(getBit(health,12)?(true):(false)) { time = ((uint64_t)vehicle.ins1.time)% 1000000; date = ((uint64_t)vehicle.ins1.time)/ 1000000; } else { time = ((uint64_t)vehicle.ins2.time)% 1000000; date = ((uint64_t)vehicle.ins2.time)/ 1000000; } menuBarUI->setTargetAlt(vehicle.sys_status.load); uint8_t hour = time / 10000; if(hour >= 24){ hour -= 24; } uint8_t min = (time % 10000)/100; uint8_t sec = time % 100; QString tim_str; tim_str.append(QString::number(hour)); tim_str.append(":"); tim_str.append(QString::number(min)); tim_str.append(":"); tim_str.append(QString::number(sec)); menuBarUI->setTagetAirspeed(tim_str); menuBarUI->setX(vehicle.nav_controller_output.xtrack_error); menuBarUI->setwp_Dist(((float)vehicle.nav_controller_output.wp_dist) * 0.01); /* //实测,r,le,e,la,a //有符号16位，-32767 ~ 32767 le = vehicle.servo_output_raw.servo1_raw re = ru = la = ra = thr = (1000 ~2000) afb = (1000/2000) 0 0 healt sbus = feedback (ra) sbus = feedback (re) sbus = feedback (ru) sbus = feedback (la) 15 sbus = feedback (le) health = 0 000 000 000 000 000 //顺序和上面sbus一样 GBIT zero SBIT //指令 舵机指令 自检 2004 */ toolsui->powersystem->setTurbineState(&vehicle.turbinstate); toolsui->powersystem->setCCMState(&vehicle.ccmstate); toolsui->powersystem->setMa(vehicle.emb_atom_com.mach); toolsui->powersystem->setAlt(vehicle.gps_raw_int.alt * 10e-4); toolsui->powersystem->setFuel(QString::number(vehicle.ccmstate.volts[2],'f',0), QString::number(vehicle.ccmstate.fuel_level * 10.0 / 65536.0f,'f',1)); toolsui->servosystem->setBUMState(&vehicle.bmustate); toolsui->servosystem->setCCMState(&vehicle.ccmstate); //在这里设置 toolsui->servosystem->setServoState(&vehicle.servo_output_raw); bool v28_Low = false,v56_Low = false; v28_Low = (((float)vehicle.bmustate.BAT1_remain_perc * 0.1) < 10)?(false):(true); v56_Low = (((float)vehicle.bmustate.BAT2_remain_perc * 0.1) < 10)?(false):(true); // qDebug() << "v28_Low" << v28_Low << "v56_Low" << v56_Low; toolsui->servosystem->setCheckState(1,v28_Low || v56_Low); toolsui->servosystem->setCheckState(2,v28_Low); toolsui->servosystem->setCheckState(3,v56_Low); //两秒检测一次，如果两秒内，数据变化，说明在加热 static qint64 echo_time = 0; static uint8_t echo_seq_old = 0; static uint8_t echo_count = 0; if((QDateTime::currentMSecsSinceEpoch() - echo_time) >= 2000) { //qDebug() << "echo" <= 3) { echo_count = 3; toolsui->servosystem->setCheckState(4,1);//空速管加热 healthui->setState(7,HealthUI::state::success);//AIR } echo_seq_old = vehicle.ccmstate.echo_seq; } else { toolsui->servosystem->setCheckState(4,0);//空速管不加热 healthui->setState(7,HealthUI::state::inital);//AIR echo_count = 0; } echo_time = QDateTime::currentMSecsSinceEpoch(); } //qDebug() << health << QString::number(health,16); // 0000 0000 0000 0000 0000 0000 0000 0000 // 选通内置（1）| |fl ccm ecu bmu sbg 内置 //qDebug() << getBit(0x00000001,0) << getBit(0x00000002,0); //0 ok,1 fail ,2 warn toolsui->servosystem->setCheckState(5,(getBit(enable,8))?(1):(0)); if(isCommunicationLost == false) { healthui->setState(1,getBit(health,6)?(getBit(health,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//IMU healthui->setState(2,getBit(health,7)?(getBit(health,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG healthui->setState(4,getBit(health,8)?(getBit(health,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//BMU healthui->setState(3,getBit(health,9)?(getBit(health,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//ECU healthui->setState(5,getBit(health,10)?(getBit(health,4)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//CCM healthui->setState(6,(dlink->mavlinknode->isCommunicationLost)?(HealthUI::state::failure):(HealthUI::state::success));//DLINK // 22 23 24 25 26 27 28 29 // 5525D 5803A 5607A 4525D atteck slide 解码 通讯 //healthui->setState(7,getBit(health,29)?(getBit(health,28)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//AIR healthui->setState(8,getBit(health,5)?(getBit(health,11)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//FL toolsui->servosystem->setCheckState(6,getBit(health,22)?(HealthUI::state::failure):(HealthUI::state::success)); toolsui->servosystem->setCheckState(7,getBit(health,23)?(HealthUI::state::failure):(HealthUI::state::success)); toolsui->servosystem->setCheckState(8,getBit(health,24)?(HealthUI::state::failure):(HealthUI::state::success)); toolsui->servosystem->setCheckState(9,getBit(health,25)?(HealthUI::state::failure):(HealthUI::state::success)); toolsui->servosystem->setCheckState(10,getBit(health,26)?(HealthUI::state::failure):(HealthUI::state::success)); toolsui->servosystem->setCheckState(11,getBit(health,27)?(HealthUI::state::failure):(HealthUI::state::success)); /* qDebug() << getBit(health,22) << getBit(health,23) << getBit(health,24) << getBit(health,25) << getBit(health,26) << getBit(health,27); */ /* sbus = feedback (ra) sbus = feedback (re) sbus = feedback (ru) sbus = feedback (la) 15 sbus = feedback (le) health = 0 le la ru re ra //顺序和上面sbus一样 GBIT zero SBIT */ //舵机反馈是有符号16b/ uint16_t servoHealt = vehicle.servo_output_raw.servo10_raw; //3 0 4 1 2 //1 4 0 3 2 healthui->setState(11,getBit(health,16)?(getBit(servoHealt,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LA healthui->setState(12,getBit(health,13)?(getBit(servoHealt,4)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RA healthui->setState(13,getBit(health,17)?(getBit(servoHealt,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LE healthui->setState(14,getBit(health,14)?(getBit(servoHealt,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RE healthui->setState(15,getBit(health,15)?(getBit(servoHealt,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RU //19~24 if(((vehicle.turbinstate.SysState & 0x000F) == 0x04) || ((vehicle.turbinstate.SysState & 0x000F) == 0x00)) { healthui->setState(21,HealthUI::state::failure);//停车 } else { healthui->setState(21,HealthUI::state::inital);//停车 } //healthui->setState(21,((vehicle.turbinstate.SysState & 0x000F) == 0x04)?(HealthUI::state::failure):(HealthUI::state::inital));//停车 healthui->setState(22,getBit(health,18)?(HealthUI::state::failure):(HealthUI::state::inital));//开伞 healthui->setState(23,getBit(health,19)?(HealthUI::state::failure):(HealthUI::state::inital));//开气囊 healthui->setState(24,getBit(health,20)?(HealthUI::state::failure):(HealthUI::state::inital));//充气 healthui->setState(25,getBit(health,21)?(HealthUI::state::failure):(HealthUI::state::inital));//抛伞 //healthui->setState(26,((vehicle.turbinstate.SysState & 0x000F) >= 0x0d)?(HealthUI::state::success):(HealthUI::state::inital));//开加力 if((vehicle.turbinstate.SysState & 0x000F) >= 0x0d) { uint8_t sta = vehicle.turbinstate.SysState & 0x000F; switch (sta) { case 0x0d: healthui->setValueState(26,tr("开加力")); break; case 0x0e: healthui->setValueState(26,tr("半加力")); break; case 0x0f: healthui->setValueState(26,tr("全加力")); break; default: healthui->setValueState(26,tr("关加力")); break; } healthui->setState(26,HealthUI::state::success);//开加力 } else { healthui->setState(26,HealthUI::state::inital);//开加力 healthui->setValueState(26,tr("关加力")); } if(getBit(enable,6))//从0开始，获取第6位 { healthui->setState(27,HealthUI::state::failure);//伞舱 healthui->setValueState(27,tr("伞舱开")); } else { healthui->setState(27,HealthUI::state::success);//伞舱 healthui->setValueState(27,tr("伞舱关")); } //healthui->setState(26,(((vehicle.servo_output_raw.servo6_raw - 1000)/10) > 110)?(HealthUI::state::success):(HealthUI::state::inital));//开加力 switch (vehicle.ins1.sys_status & 0x0F) { default: case 0: { healthui->setState(9,HealthUI::state::success); healthui->setValueState(9,tr("INS解算正常")); }break; case 1: { healthui->setState(9,HealthUI::state::failure); healthui->setValueState(9,tr("INS星数不足")); }break; case 2: { healthui->setState(9,HealthUI::state::failure); healthui->setValueState(9,tr("INS内部错误")); }break; case 3: { healthui->setState(9,HealthUI::state::failure); healthui->setValueState(9,tr("INS速度超限")); }break; } switch (vehicle.ins2.sys_status & 0x0F) { default: case 0: { healthui->setState(10,HealthUI::state::success); healthui->setValueState(10,tr("SBG解算正常")); }break; case 1: { healthui->setState(10,HealthUI::state::failure); healthui->setValueState(10,tr("SBG星数不足")); }break; case 2: { healthui->setState(10,HealthUI::state::failure); healthui->setValueState(10,tr("SBG内部错误")); }break; case 3: { healthui->setState(10,HealthUI::state::failure); healthui->setValueState(10,tr("SBG速度超限")); }break; } healthui->setState(28,getBit(health,31)?(HealthUI::state::inital):(HealthUI::state::failure));//上行有效 healthui->setState(29,getBit(health,30)?(HealthUI::state::success):(HealthUI::state::inital)); //healthui->setValueState(29,getBit(health,30)?(tr("记录已打开")):(tr("")));//sel healthui->setState(30,getBit(health,12)?(HealthUI::state::warning):(HealthUI::state::success));//sel healthui->setValueState(30,getBit(health,12)?(tr("连接内置惯导")):(tr("连接SBG")));//sel //31-40 healthui->setState(31,getBit(enable,4)?(getBit(enable,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//内置记录 healthui->setState(32,getBit(enable,5)?(HealthUI::state::success):(HealthUI::state::failure));//内置写入 healthui->setState(33,getBit(enable,1)?(getBit(enable,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//外置记录 healthui->setState(34,getBit(enable,2)?(HealthUI::state::success):(HealthUI::state::failure));//外置写入 healthui->setState(35,getBit(enable,7)?(HealthUI::state::success):(HealthUI::state::failure));//sel healthui->setValueState(35,getBit(enable,7)?(tr("安控区内")):(tr("安控区外")));//sel //get 9-10 //得到航线组数，数据为1，2，3，4 //group = (int)(getBit(enable,11) << 2) | (int)(getBit(enable,10) << 1) | (int)(getBit(enable,9)); //group = vehicle. /* if(group_old != group)//有变化的时候就发出去 { emit currentGroup(group + 2); showMessage(tr("mission group has changed, current group is %1").arg(group)); } group_old = group; menuBarUI->setMissionGroup(group); */ } QString AFCS_VERT = 0; QString AFCS_LAT = 0; //处理横纵模态 //取个位 switch (present%10 ) { default: case 0: AFCS_VERT = tr("VERT_OFF"); break; case 1: AFCS_VERT = tr("VNAV2THT"); break; case 2: AFCS_VERT = tr("HDOT2THT"); break; case 3: AFCS_VERT = tr("GAMMA2THT"); break; case 4: AFCS_VERT = tr("AS2THT"); break; case 5: AFCS_VERT = tr("H2THT"); break; case 6: AFCS_VERT = tr("AGL2THT"); break; } //qDebug() << "vert" << present%10; //取十位 present = present / 10;//去除个位 switch (present%10 ) { default: case 0: AFCS_LAT = tr("LAT_OFF"); break; case 1: AFCS_LAT = tr("LNAV2PHI"); break; case 2: AFCS_LAT = tr("PSI2PHI"); break; } //qDebug() << "LAT" << present%10; //===================status ui ============================================= statusui->setMode(1,mode_str,0); statusui->setMode(2,AFCS_VERT,AFCS_LAT); //======================== statusui->setState(1,QString::number(vehicle.ins1.az,'f',1),0); statusui->setState(2,QString::number(vehicle.ins1.ay,'f',1),0); statusui->setState(3,QString::number(vehicle.attitude.roll * 57.3,'f',1), QString::number(vehicle.nav_controller_output.nav_roll,'f',1)); statusui->setState(4,QString::number(vehicle.attitude.pitch * 57.3,'f',1), QString::number(vehicle.nav_controller_output.nav_pitch,'f',1)); statusui->setState(5,QString::number(to360deg(vehicle.gps_raw_int.cog * 0.01),'f',1), QString::number(to360deg(vehicle.nav_controller_output.nav_bearing),'f',1)); statusui->setState(6,QString::number(vehicle.gps_raw_int.alt * 10e-4,'f',1), QString::number(vehicle.gps_raw_int.alt * 10e-4 +vehicle.nav_controller_output.alt_error,'f',1)); statusui->setState(7,QString::number(vehicle.vfr_hud.airspeed,'f',1), QString::number(vehicle.vfr_hud.airspeed +vehicle.nav_controller_output.aspd_error,'f',1)); statusui->setState(8,QString::number(vehicle.emb_atom_com.Airspeed,'f',1), QString::number(vehicle.emb_atom_com.Airspeed +vehicle.nav_controller_output.aspd_error,'f',1)); statusui->setState(9,QString::number(vehicle.gps_raw_int.vel * 10e-3,'f',1),tr(" ")); statusui->setState(10,QString::number(vehicle.emb_atom_com.mach,'f',2),tr(" ")); statusui->setState(11,QString::number(-vehicle.global_position_int.vz * 10e-3,'f',1),tr(" ")); if(toolsui->senser) { toolsui->senser->setAltChart("海拔高度",vehicle.global_position_int.alt * 10e-4,2); toolsui->senser->setAltChart("气压高度",vehicle.vfr_hud.alt,1); toolsui->senser->setAttChart("滚转角度值",vehicle.attitude.roll*57.3,3); toolsui->senser->setAttChart("俯仰角度值",vehicle.attitude.pitch*57.3,1); toolsui->senser->setGyroChart("滚转角速度",vehicle.attitude.rollspeed * 57.3,3); toolsui->senser->setGyroChart("俯仰角速度",vehicle.attitude.pitchspeed * 57.3,1); toolsui->senser->setGyroChart("偏航角速度",vehicle.attitude.yawspeed * 57.3,2); toolsui->senser->setAccChart("轴向加速度",vehicle.ins1.ax,3); //toolsui->senser->setAccChart("外置ax",vehicle.ins2.ax,3); toolsui->senser->setAccChart("侧向加速度",vehicle.ins1.ay,1); //toolsui->senser->setAccChart("外置ay",vehicle.ins2.ay,1); toolsui->senser->setAccChart("法向加速度",vehicle.ins1.az,2); //toolsui->senser->setAccChart("外置az",vehicle.ins2.az,2); toolsui->senser->setSpeedChart("地速",vehicle.gps_raw_int.vel * 10e-3,3); toolsui->senser->setSpeedChart("真空速",vehicle.emb_atom_com.Airspeed,2); toolsui->senser->setSpeedChart("表速",vehicle.vfr_hud.airspeed,0); toolsui->senser->setSpeedChart("目标表速",vehicle.vfr_hud.airspeed +vehicle.nav_controller_output.aspd_error,1); } qreal la_command = dir_la.toInt() * ((int16_t)vehicle.servo_output_raw.servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() + bias_la.toDouble() * 57.295; qreal la_angle = dir_la.toInt() * ((int16_t)vehicle.servo_output_raw.servo4_raw) /32767.0 * max_la.toDouble()/scale_la.toDouble() + bias_la.toDouble() * 57.295; qreal ra_command = dir_ra.toInt() * ((int16_t)vehicle.servo_output_raw.servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() + bias_ra.toDouble() * 57.295; qreal ra_angle = dir_ra.toInt() * ((int16_t)vehicle.servo_output_raw.servo5_raw)/ 32767.0 * max_ra.toDouble()/scale_ra.toDouble() + bias_ra.toDouble() * 57.295; qreal le_command = dir_le.toInt() * ((int16_t)vehicle.servo_output_raw.servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() + bias_le.toDouble() * 57.295; qreal le_angle = dir_le.toInt() * ((int16_t)vehicle.servo_output_raw.servo1_raw) /32767.0 * max_le.toDouble()/scale_le.toDouble() + bias_le.toDouble() * 57.295; qreal re_command = dir_re.toInt() * ((int16_t)vehicle.servo_output_raw.servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() + bias_re.toDouble() * 57.295; qreal re_angle = dir_re.toInt() * ((int16_t)vehicle.servo_output_raw.servo2_raw) /32767.0 * max_re.toDouble()/scale_re.toDouble() + bias_re.toDouble() * 57.295; qreal ru_command = dir_ru.toInt() * ((int16_t)vehicle.servo_output_raw.servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() + bias_ru.toDouble() * 57.295; qreal ru_angle = dir_ru.toInt() * ((int16_t)vehicle.servo_output_raw.servo3_raw) /32767.0 * max_ru.toDouble()/scale_ru.toDouble() + bias_ru.toDouble() * 57.295; statusui->setServo(1,QString::number(la_command,'f',2), QString::number(la_angle,'f',2)); statusui->setServo(2,QString::number(ra_command,'f',2), QString::number(ra_angle,'f',2)); statusui->setServo(3,QString::number(le_command,'f',2), QString::number(le_angle,'f',2)); statusui->setServo(4,QString::number(re_command,'f',2), QString::number(re_angle,'f',2)); statusui->setServo(5,QString::number(ru_command,'f',2), QString::number(ru_angle,'f',2)); if(toolsui->senser) { //toolsui->senser->setServoChart("左副翼",la_angle); //toolsui->senser->setServoChart("左副翼角度",la_command); toolsui->senser->setServoChart("右副翼舵",ra_angle,3); //toolsui->senser->setServoChart("右副翼角度",ra_command); //toolsui->senser->setServoChart("左升降",le_angle); //toolsui->senser->setServoChart("左升降角度",le_command); toolsui->senser->setServoChart("右升降舵",re_angle,1); //toolsui->senser->setServoChart("右升降角度",re_command); toolsui->senser->setServoChart("方向舵",ru_angle,2); //toolsui->senser->setServoChart("方向舵角度",ru_command); } statusui->setEngine(1,QString::number((vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0), QString::number(vehicle.turbinstate.RPM_mea,'f',0)); statusui->setEngine(2,QString::number(vehicle.ccmstate.fuel_level * 10.0 / 65536.0f,'f',1), QString::number(vehicle.servo_output_raw.servo7_raw * 0.01,'f',1));//剩余油量 statusui->setEngine(3,QString::number(vehicle.ccmstate.volts[2],'f',0),0);//油压 statusui->setEngine(4,QString::number(vehicle.ccmstate.temp[1] * 0.1,'f',1),//温度 QString::number(vehicle.ccmstate.temp[0] * 0.1,'f',1)); statusui->setBattery(1,QString::number(vehicle.bmustate.BAT1_group_voltage_mv * 0.001,'f',1), QString::number((float)((int16_t)vehicle.bmustate.BAT1_group_current_dA) *0.1f,'f',1)); statusui->setBattery(2,QString::number(vehicle.bmustate.BAT2_group_voltage_mv * 0.001,'f',1), QString::number((float)((int16_t)vehicle.bmustate.BAT2_group_current_dA) *0.1f,'f',1)); if((isEngineStartUp == false)&&(vehicle.turbinstate.RPM_mea >= 10000)) { StartupTime->setTime(QDateTime::currentDateTime().time()); isEngineStartUp = true; } else if((isEngineStartUp == true)&&(vehicle.turbinstate.RPM_mea < 8000)) { isEngineStartUp = false; } if(isEngineStartUp == true) { //toolsui->diagram->setTime(3,QTime::fromMSecsSinceStartOfDay(StartupTime->time().msecsTo(QDateTime::currentDateTime().time())));//开车时长 } QString bit1; switch (vehicle.ins1.BIT & 0x0F) { default: case 0: { bit1.append(tr("未初始化")); //toolsui->senser->setINSState(1,2,ToolsU); }break; case 1: { bit1.append(tr("垂直陀螺")); }break; case 2: { bit1.append(tr("AHRS")); }break; case 3: { bit1.append(tr("速度导航")); }break; case 4: { bit1.append(tr("位置导航")); }break; } QString att1; if(vehicle.ins1.BIT & 0x10) { att1.append(tr("正常")); } else{ att1.append(tr("无效")); } QString heading1; if(vehicle.ins1.BIT & 0x20) { heading1.append(tr("正常")); } else{ heading1.append(tr("无效")); } QString spd1; if(vehicle.ins1.BIT & 0x40) { spd1.append(tr("正常")); } else{ spd1.append(tr("无效")); } QString pos1; if(vehicle.ins1.BIT & 0x80) { pos1.append(tr("正常")); } else{ pos1.append(tr("无效")); } QString sys1; switch (vehicle.ins1.sys_status & 0x0F) { default: case 0: { sys1.append(tr("解算正常")); }break; case 1: { sys1.append(tr("卫星数不足")); }break; case 2: { sys1.append(tr("内部错误")); }break; case 3: { sys1.append(tr("速度超限")); }break; } QString com1; switch (vehicle.ins1.com_status & 0x0F) { default: case 0: { com1.append(tr("无效")); }break; case 1: { com1.append(tr("未知")); }break; case 2: { com1.append(tr("多普勒")); }break; case 3: { com1.append(tr("微分")); }break; } QString gps1; switch (vehicle.ins1.gps_status) { case 0: gps1.append(tr("未定位")); case 1: gps1.append(tr("未知")); break; case 2: gps1.append(tr("单点")); break; case 3: gps1.append(tr("伪距差分")); break; case 4: gps1.append(tr("SBAS广域差分")); break; case 5: gps1.append(tr("广域差分")); break; case 6: gps1.append(tr("RTK_FLOAT")); break; case 7: gps1.append(tr("RTK_INT")); break; case 8: gps1.append(tr("PPP_FLOAT")); break; case 9: gps1.append(tr("PPP_INT")); break; case 10: gps1.append(tr("FIXED")); break; default: break; } toolsui->senser->setINS(1,1,QString::number(vehicle.ins1.satellites_visible)); toolsui->senser->setINS(1,2,bit1);//bit toolsui->senser->setINS(1,3,att1);//bit1 toolsui->senser->setINS(1,4,heading1);//bit2 toolsui->senser->setINS(1,5,spd1);//bit3 toolsui->senser->setINS(1,6,pos1);//bit4 toolsui->senser->setINS(1,7,sys1);//sys toolsui->senser->setINS(1,8,com1);//com toolsui->senser->setINS(1,9,gps1);//gps toolsui->senser->setINS(1,10,QString::number(vehicle.ins1.lon,'f',8)); toolsui->senser->setINS(1,11,QString::number(vehicle.ins1.lat,'f',8)); toolsui->senser->setINS(1,12,QString::number(vehicle.ins1.alt,'f',1)); toolsui->senser->setINS(1,13,QString::number(sqrt(pow(vehicle.ins1.v_north,2) + pow(vehicle.ins1.v_east,2) + pow(vehicle.ins1.v_up,2)),'f',1)); toolsui->senser->setINS(1,14,QString::number(vehicle.ins1.roll * 57.3,'f',1)); toolsui->senser->setINS(1,15,QString::number(vehicle.ins1.pitch * 57.3,'f',1)); toolsui->senser->setINS(1,16,QString::number(to360deg(vehicle.ins1.yaw * 57.3),'f',1)); if((vehicle.ins1.v_east != 0)|| (vehicle.ins1.v_north != 0)) { toolsui->senser->setINS(1,17,QString::number(to360deg(atan2(vehicle.ins1.v_east, vehicle.ins1.v_north) * 57.3),'f',1)); } toolsui->senser->setINS(1,18,QString::number(vehicle.ins1.gx,'f',1)); toolsui->senser->setINS(1,19,QString::number(vehicle.ins1.gy,'f',1)); toolsui->senser->setINS(1,20,QString::number(vehicle.ins1.gz,'f',1)); toolsui->senser->setINS(1,21,QString::number(vehicle.ins1.ax,'f',1)); toolsui->senser->setINS(1,22,QString::number(vehicle.ins1.ay,'f',1)); toolsui->senser->setINS(1,23,QString::number(vehicle.ins1.az,'f',1)); QString bit2; switch (vehicle.ins2.BIT & 0x0F) { default: case 0: { bit2.append(tr("未初始化")); }break; case 1: { bit2.append(tr("垂直陀螺")); }break; case 2: { bit2.append(tr("AHRS")); }break; case 3: { bit2.append(tr("速度导航")); }break; case 4: { bit2.append(tr("位置导航")); }break; } QString att2; if(vehicle.ins2.BIT & 0x10) { att2.append(tr("正常")); } else{ att2.append(tr("无效")); } QString heading2; if(vehicle.ins2.BIT & 0x20) { heading2.append(tr("正常")); } else{ heading2.append(tr("无效")); } QString spd2; if(vehicle.ins2.BIT & 0x40) { spd2.append(tr("正常")); } else{ spd2.append(tr("无效")); } QString pos2; if(vehicle.ins2.BIT & 0x80) { pos2.append(tr("正常")); } else{ pos2.append(tr("无效")); } QString sys2; switch (vehicle.ins2.sys_status & 0x0F) { default: case 0: { sys2.append(tr("解算正常")); }break; case 1: { sys2.append(tr("卫星数不足")); }break; case 2: { sys2.append(tr("内部错误")); }break; case 3: { sys2.append(tr("速度超限")); }break; } QString com2; switch (vehicle.ins2.com_status & 0x0F) { default: case 0: { com2.append(tr("无效")); }break; case 1: { com2.append(tr("未知")); }break; case 2: { com2.append(tr("多普勒")); }break; case 3: { com2.append(tr("微分")); }break; } QString gps2; switch (vehicle.ins2.gps_status) { case 0: gps2.append(tr("未定位")); case 1: gps2.append(tr("未知")); break; case 2: gps2.append(tr("单点")); break; case 3: gps2.append(tr("伪距差分")); break; case 4: gps2.append(tr("SBAS广域差分")); break; case 5: gps2.append(tr("广域差分")); break; case 6: gps2.append(tr("RTK_FLOAT")); break; case 7: gps2.append(tr("RTK_INT")); break; case 8: gps2.append(tr("PPP_FLOAT")); break; case 9: gps2.append(tr("PPP_INT")); break; case 10: gps2.append(tr("FIXED")); break; default: break; } toolsui->senser->setINS(2,1,QString::number(vehicle.ins2.satellites_visible)); toolsui->senser->setINS(2,2,bit2); toolsui->senser->setINS(2,3,att2);//bit1 toolsui->senser->setINS(2,4,heading2);//bit2 toolsui->senser->setINS(2,5,spd2);//bit3 toolsui->senser->setINS(2,6,pos2);//bit4 toolsui->senser->setINS(2,7,sys2); toolsui->senser->setINS(2,8,com2); toolsui->senser->setINS(2,9,gps2); toolsui->senser->setINS(2,10,QString::number(vehicle.ins2.lon,'f',8)); toolsui->senser->setINS(2,11,QString::number(vehicle.ins2.lat,'f',8)); toolsui->senser->setINS(2,12,QString::number(vehicle.ins2.alt,'f',1)); toolsui->senser->setINS(2,13,QString::number(sqrt(pow(vehicle.ins2.v_north,2) + pow(vehicle.ins2.v_east,2) + pow(vehicle.ins2.v_up,2)),'f',1)); toolsui->senser->setINS(2,14,QString::number(vehicle.ins2.roll * 57.3,'f',1)); toolsui->senser->setINS(2,15,QString::number(vehicle.ins2.pitch * 57.3,'f',1)); toolsui->senser->setINS(2,16,QString::number(to360deg(vehicle.ins2.yaw * 57.3),'f',1)); if((vehicle.ins2.v_east != 0)|| (vehicle.ins2.v_north != 0)) { toolsui->senser->setINS(2,17,QString::number(to360deg(atan2(vehicle.ins2.v_east, vehicle.ins2.v_north) * 57.3),'f',1)); } toolsui->senser->setINS(2,18,QString::number(vehicle.ins2.gx,'f',1)); toolsui->senser->setINS(2,19,QString::number(vehicle.ins2.gy,'f',1)); toolsui->senser->setINS(2,20,QString::number(vehicle.ins2.gz,'f',1)); toolsui->senser->setINS(2,21,QString::number(vehicle.ins2.ax,'f',1)); toolsui->senser->setINS(2,22,QString::number(vehicle.ins2.ay,'f',1)); toolsui->senser->setINS(2,23,QString::number(vehicle.ins2.az,'f',1)); toolsui->senser->setDAS(1,3,QString::number(vehicle.vfr_hud.alt,'f',1)); toolsui->senser->setDAS(1,4,QString::number(vehicle.vfr_hud.airspeed,'f',1)); toolsui->senser->setDAS(1,5,QString::number(vehicle.emb_atom_com.Airspeed,'f',1)); toolsui->senser->setDAS(1,6,QString::number(vehicle.emb_atom_com.mach,'f',3)); toolsui->senser->setDAS(1,7,QString::number(vehicle.emb_atom_com.qbar * 0.01,'f',3)); toolsui->senser->setDAS(1,8,QString::number(vehicle.emb_atom_com.ps * 0.01,'f',3)); toolsui->senser->setDAS(2,1,QString::number(vehicle.emb_atom_com.alpha,'f',1)); toolsui->senser->setDAS(2,2,QString::number(vehicle.emb_atom_com.beta,'f',1)); //toolsui->senser->setDAS(2,3,QString::number(vehicle.emb_atom_com.)); toolsui->senser->setDAS(2,4,QString::number(vehicle.vfr_hud.airspeed,'f',1)); toolsui->senser->setDAS(2,7,QString::number(vehicle.scaled_pressure.press_diff,'f',3)); 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) { } void MainWindow::TotalDistance(double value) { /* if(MainIndex == 2)//任务界面 { QString message; message.append(tr("
总航程：%1米\t
").arg(value)); message.append(tr("
最远距离：%1米\t
").arg(0)); message.append(tr("
预计飞行时间：%1小时\t
").arg(0)); showMessage(message); } */ }