1430 lines
55 KiB
C++
1430 lines
55 KiB
C++
#include "mainwindow.h"
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#include "QPushButton"
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#include "QAction"
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#include "QHBoxLayout"
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//从0开始
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bool getBit(uint32_t d,int32_t pos)
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{
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bool bit = false;
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bit = (d >> pos) & 0x00000001;
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return bit;
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}
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float to360deg(float raw)
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{
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float angle = 0;
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if(raw > 360)
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{
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int a = (int)raw/360;
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raw = raw - a *360;
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}
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else if(raw < -360)
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{
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int a = (int)raw/360;
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raw = raw - a *360;
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}
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//0~360
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if(raw < 0)
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{
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raw += 360;
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}
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angle = raw;
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return angle;
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}
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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{
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//setGeometry();
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//检测qml文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
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/*
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QDir *qmlDir = new QDir;
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if(!qmlDir->exists("./qml"))
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qmlDir->mkdir("./qml");//如果文件夹不存在就新建
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*/
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setFocusPolicy(Qt::StrongFocus);
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setAttribute(Qt::WA_AcceptTouchEvents);
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tts = new QTextToSpeech(this);
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//config
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config = new Config();
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//ui initial
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//menubar
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menuBarUI = new MenuBarUI(this);
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connect(menuBarUI,SIGNAL(IndexChanged(int)),
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this,SLOT(onTabIndexChanged(int)));
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qDebug() << "menuBar init";
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//---------------
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//设置
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setting = new Setting(this);
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setting->hide();
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//自检
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checkUI = new CheckUI(this);
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checkUI->hide();
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//信息
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toolsui = new ToolsUI(this);
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toolsui->hide();
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//状态
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//statusui = new StatusUI(this);
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//statusui->hide();
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//healthui = new HealthUI(this);
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//指令
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commandUI = new CommandUI(this);
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dlink = new DLink();
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map = new mapcontrol::OPMapWidget(this);
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map->SetShowHome(false);
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map->SetShowCompass(false);
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map->SetUseOpenGL(true);
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map->setAttribute(Qt::WA_AlwaysStackOnTop);
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//QString maptype = myinifile->ReadIni("GCS.ini","Map","Type");
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map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingHybrid"));
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map->setWPLock(true);
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map->setFocus();
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map->setMouseTracking(true);
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map->setGeometry(0,
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0,
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this->width(),
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this->height());
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map->SetZoom(10);
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qDebug() << "map start";
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copk = new Cockpit(this);
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copk->setGeometry(this->width() - copk->width(),0,400,350);
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missionUI = new propertyui(this);
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missionUI->hide();
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//commandbox ----- dlink
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connect(toolsui->command,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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toolsui->command,SLOT(addVehicles(int,int)),Qt::DirectConnection);
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connect(toolsui->command,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
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dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
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//command ----- map
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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commandUI,SLOT(addVehicles(int,int)),Qt::DirectConnection);
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connect(map,SIGNAL(PointNumber(int)),
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commandUI,SLOT(setPointCount(int)),Qt::DirectConnection);
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//this ----- dlink
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connect(dlink->mavlinknode,SIGNAL(beep()),
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this,SLOT(beep()),Qt::DirectConnection);
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connect(dlink->mavlinknode,SIGNAL(CommuniationLost(bool)),
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this,SLOT(setCommunicationLostState(bool)),Qt::DirectConnection);
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//this ----- map
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connect(map,SIGNAL(TotalDistanceUpdate(double)),
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this,SLOT(TotalDistance(double)));
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//tools ----- map
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connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
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toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)),Qt::DirectConnection);
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//dlink ----- tools
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connect(toolsui->index2,SIGNAL(setPlay(bool)),
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dlink->mavlinknode->replay,SLOT(startReplay(bool)),Qt::DirectConnection);
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connect(toolsui->index2,SIGNAL(setFileName(QString)),
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dlink->mavlinknode,SLOT(setLogfile(QString)),Qt::DirectConnection);
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connect(toolsui->index2,SIGNAL(setPercentage(float)),
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dlink->mavlinknode->replay,SLOT(setPercentage(float)),Qt::DirectConnection);
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connect(dlink->mavlinknode->replay,SIGNAL(currentPercentage(float)),
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toolsui->index2,SLOT(setCurrentPercentage(float)),Qt::DirectConnection);
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connect(dlink->mavlinknode->replay,SIGNAL(replayComplete()),
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toolsui->index2,SLOT(ReplayComplete()),Qt::DirectConnection);
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//setting ----- map
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connect(setting->index0->mapsetting,SIGNAL(getMapTypes()),
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map,SLOT(getMapTypes()));
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connect(map,SIGNAL(MapTypes(QStringList)),
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setting->index0->mapsetting,SLOT(MapTypes(QStringList)));
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connect(setting->index0->mapsetting,SIGNAL(setMapTypes(QVariant)),
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map,SLOT(setMapTypes(QVariant)));
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//command ----- dlink
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connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);
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connect(dlink->mavlinknode->Commander,SIGNAL(commandAccepted(bool,uint16_t,uint8_t)),
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commandUI,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection);
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//check ----- dlink
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connect(checkUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);
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connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
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checkUI,SLOT(RecieveMsg(mavlink_message_t)));
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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checkUI,SLOT(addVehicles(int,int)));
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//setting ----- dlink
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connect(dlink,SIGNAL(PortConnected(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)),
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setting->index0->link,SIGNAL(PortConnect(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)));
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connect(dlink->mavlinknode,SIGNAL(state_updated()),
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this,SLOT(updateUI()));
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connect(setting->index0->link,SIGNAL(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)),
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dlink,SLOT(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)));
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qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
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connect(dlink->mavlinknode->Parameter,SIGNAL(RecieveValue(mavlink_message_t)),
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setting->index1->paramInspect,SLOT(appendParameter(mavlink_message_t)));
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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setting->index1->paramInspect,SLOT(addVehicles(int,int)),Qt::DirectConnection);
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connect(setting->index1->paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
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dlink->mavlinknode->Parameter,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
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connect(setting->index1->paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
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dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
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//mision ----- map
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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)),
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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)));
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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)),
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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)));
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connect(missionUI,SIGNAL(WPotherPoint(int)),
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map,SLOT(WPotherPoint(int)));
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connect(missionUI,SIGNAL(WPDelete(int)),
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map,SLOT(WPDelete(int)));
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connect(missionUI,SIGNAL(WPInsert(int)),
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map,SLOT(WPInsert(int)));
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connect(missionUI,SIGNAL(WPUpload()),
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map,SLOT(WPUpload()));
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connect(missionUI,SIGNAL(WPDownload()),
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map,SLOT(WPDownload()));
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connect(missionUI,SIGNAL(WPSave(QString)),
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map,SLOT(WPSave(QString)));
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connect(missionUI,SIGNAL(WPLoad(QString)),
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map,SLOT(WPLoad(QString)));
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connect(map,SIGNAL(allPoint(QMap<int,int>)),
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missionUI,SLOT(setallPoint(QMap<int,int>)));
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connect(missionUI,SIGNAL(searchall()),
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map,SLOT(WPsearchall()));
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//dlink ----- map
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connect(map,SIGNAL(signal_WPDownload(uint8_t, uint8_t)),
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dlink->mavlinknode->Mission,SLOT(ReadCmd(uint8_t, uint8_t)),Qt::DirectConnection);
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connect(map,SIGNAL(signal_WPUpload(uint8_t,uint8_t,uint32_t)),
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dlink->mavlinknode->Mission,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t)),Qt::DirectConnection);
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//生成航线必须在map线程完成，因此不能直接连接
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//停下来让ui、运行一下
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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)),
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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);
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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)),
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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);
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connect(dlink->mavlinknode->Mission,SIGNAL(clearWaypoint()),
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map,SLOT(WPDeleteAll()));
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connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
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map,SLOT(addUAV(int,int)));
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connect(map,SIGNAL(uav_selected(int,int)),
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dlink->mavlinknode,SLOT(setCurrentSelected(int,int)),Qt::DirectConnection);
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connect(dlink->mavlinknode->Mission,SIGNAL(sendItemOK(uint16_t,bool)),
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map,SLOT(WPSendItemOK(uint16_t,bool)),Qt::DirectConnection);
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//航点确认窗口
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connect(map,SIGNAL(setCurrent(int)),
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commandUI,SLOT(missionConfirm(int)),Qt::DirectConnection);
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connect(commandUI,SIGNAL(SetCurrentPoint(int)),
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dlink->mavlinknode->Mission,SLOT(SetCurrentPoint(int)),Qt::DirectConnection);
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connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)),
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map,SLOT(WPSetCurrent(int)),Qt::DirectConnection);
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//==== showmessage=====
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//connect(toolsui->command,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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connect(commandUI,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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connect(copk,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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connect(dlink,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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connect(map,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
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qDebug() << "main window start";
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//监测ssl，用于网络连接
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qDebug()<<"QSslSocket="<<QSslSocket::sslLibraryBuildVersionString();
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qDebug() << "OpenSSL支持情况:" << QSslSocket::supportsSsl();
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//showMessage(tr("航点传输有问题，无法传输最后一个点，航点计数可能有问题"));
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}
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MainWindow::~MainWindow()
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{
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if(tts)
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{
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tts->stop();
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delete tts;
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tts = nullptr;
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}
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if(map)
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{
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map->close();
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delete map;
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}
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if(dlink)
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{
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//dlink->stopPort();
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delete dlink;
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}
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if(copk)
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{
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copk->close();
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delete copk;
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}
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QCoreApplication::quit();//退出所有窗口
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}
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void MainWindow::closeEvent(QCloseEvent *event)
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{
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event->accept();
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QCoreApplication::quit();//退出所有
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}
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void MainWindow::resizeEvent(QResizeEvent *event)
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{
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qDebug() << event;
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Q_UNUSED(event)
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menuBarUI->setGeometry(0,0,this->width(),100);
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qDebug() << "resize";
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setting->setGeometry(0,menuBarUI->height(),
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this->width(),this->height() - menuBarUI->height());
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checkUI->setGeometry(0,menuBarUI->height(),
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this->width(),this->height() - menuBarUI->height());
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map->setGeometry(0,menuBarUI->height(),
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this->width()- copk->width(),this->height() - menuBarUI->height());
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if(MainIndex == 2)//renwu
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{
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map->setGeometry(0,menuBarUI->height(),
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this->width()- copk->width(),this->height() - menuBarUI->height());
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}
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//if(MainIndex == 5)//renwu
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{
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/*
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if(statusui->isHidden())
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map->setGeometry(0,menuBarUI->height(),
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this->width()- copk->width(),this->height() - menuBarUI->height());
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*/
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}
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copk->setGeometry(this->width() - copk->width(),menuBarUI->height(),
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copk->width(),copk->height());
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missionUI->setGeometry(this->width() - copk->width(),menuBarUI->height(),
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copk->width(),this->height() - menuBarUI->height());
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commandUI->setGeometry(this->width() - copk->width(),menuBarUI->height() + copk->height(),
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copk->width(),this->height() - menuBarUI->height() - copk->height());
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toolsui->setGeometry(0,menuBarUI->height(),
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this->width(),this->height() - menuBarUI->height());
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update();
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}
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//这个是不必要的，因为每个部件都有自己相应的动作
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void MainWindow::mousePressEvent(QMouseEvent* event)
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{
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Q_UNUSED(event)
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}
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void MainWindow::keyPressEvent(QKeyEvent *event) //键盘按下事件
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{
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qInfo() << "key" << event;
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//qDebug() << event;
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switch(event->key())
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{
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case Qt::Key_Up:
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qDebug() << "Key_Up";
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break;
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case Qt::Key_Down:
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qDebug() << "Key_Down";
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break;
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case Qt::Key_Left:
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qDebug() << "Key_Left";
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break;
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case Qt::Key_Right:
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qDebug() << "Key_Right";
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break;
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case Qt::Key_D:
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if(event->modifiers() == Qt::AltModifier)
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{
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qInfo() << "alt + D";
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}
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break;
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case Qt::Key_U :
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{
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if(event->modifiers() == Qt::AltModifier)
|
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{
|
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qInfo() << "atl + U";
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}
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}break;
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case Qt::Key_P :
|
||
{
|
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if(event->modifiers() == Qt::AltModifier)
|
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{//下载参数
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qInfo() << "atl + P";
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}
|
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}break;
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case Qt::Key_O :
|
||
{
|
||
if(event->modifiers() == Qt::AltModifier)
|
||
{//上传参数
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||
qInfo() << "atl + O";
|
||
}
|
||
}break;
|
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case Qt::Key_S:
|
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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;
|
||
}
|
||
}
|
||
|
||
bool MainWindow::event(QEvent *event)
|
||
{
|
||
/*
|
||
switch (event->type()) {
|
||
case QEvent::TouchBegin:
|
||
case QEvent::TouchUpdate:
|
||
case QEvent::TouchEnd:
|
||
{
|
||
qDebug() <<"CProjectionPicture::event";
|
||
QTouchEvent *touchEvent = static_cast<QTouchEvent *>(event);
|
||
QList<QTouchEvent::TouchPoint> touchPoints = touchEvent->touchPoints();
|
||
if (touchPoints.count() == 2) {
|
||
//m_bIsTwoPoint = true;//两指时不让移动
|
||
const QTouchEvent::TouchPoint &touchPoint0 = touchPoints.first();
|
||
const QTouchEvent::TouchPoint &touchPoint1 = touchPoints.last();
|
||
qreal currentScaleFactor =
|
||
QLineF(touchPoint0.pos(), touchPoint1.pos()).length()
|
||
/ QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length();
|
||
|
||
if (touchEvent->touchPointStates() & Qt::TouchPointReleased) {
|
||
if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() > QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
|
||
map->SetZoom(map->ZoomReal() + currentScaleFactor);
|
||
else if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() < QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
|
||
map->SetZoom(map->ZoomReal() - currentScaleFactor);
|
||
qDebug() << "currentScaleFactor" << currentScaleFactor;
|
||
}
|
||
|
||
update();
|
||
}
|
||
else if(touchPoints.count() == 1){
|
||
//m_bIsTwoPoint = false;
|
||
}
|
||
return true;
|
||
}
|
||
default:
|
||
break;
|
||
}
|
||
*/
|
||
|
||
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();
|
||
|
||
}
|
||
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)
|
||
{
|
||
|
||
copk->show();
|
||
commandUI->show();
|
||
//statusui->hide();
|
||
//healthui->show();
|
||
|
||
}
|
||
else
|
||
{
|
||
//statusui->hide();
|
||
}
|
||
|
||
|
||
resizeEvent(nullptr);
|
||
}
|
||
|
||
|
||
|
||
void MainWindow::showMessage(const QString &message, int TimeOut)
|
||
{
|
||
menuBarUI->showMessage(message,TimeOut);
|
||
}
|
||
|
||
void MainWindow::beep(void)
|
||
{
|
||
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(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(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(30,HealthUI::state::failure);
|
||
*/
|
||
}
|
||
else
|
||
{
|
||
if(last != flag)
|
||
{
|
||
showMessage(tr("Communication Regain"),3000);
|
||
tts->say(tr("Communication Regain"));
|
||
}
|
||
}
|
||
|
||
last = flag;
|
||
}
|
||
|
||
|
||
|
||
// 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();
|
||
|
||
|
||
copk->setAttitude(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,
|
||
dlink->mavlinknode->vehicle.attitude.roll * 57.3,
|
||
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
|
||
|
||
copk->setAltitude(dlink->mavlinknode->vehicle.global_position_int.relative_alt * 10e-4);
|
||
copk->setAltitudeTarget(dlink->mavlinknode->vehicle.global_position_int.relative_alt * 10e-4
|
||
+dlink->mavlinknode->vehicle.nav_controller_output.alt_error);
|
||
|
||
//dlink->mavlinknode->vehicle.vfr_hud.airspeed //表速
|
||
//dlink->mavlinknode->vehicle.gps_raw_int.vel//地速
|
||
|
||
copk->setAirSpeed(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed,5);//真空速
|
||
copk->setAirSpeedTarget(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed
|
||
+dlink->mavlinknode->vehicle.nav_controller_output.aspd_error,5);
|
||
|
||
//c t g m
|
||
switch (copk->AirSpeedFlag()) {
|
||
case 0:
|
||
copk->setSpeed(dlink->mavlinknode->vehicle.vfr_hud.airspeed,copk->AirSpeedFlag());//表速
|
||
break;
|
||
case 1:
|
||
copk->setSpeed(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed,copk->AirSpeedFlag());//真空速
|
||
break;
|
||
case 2:
|
||
copk->setSpeed(dlink->mavlinknode->vehicle.gps_raw_int.vel * 0.01,copk->AirSpeedFlag());//地速
|
||
break;
|
||
case 3:
|
||
copk->setSpeed(dlink->mavlinknode->vehicle.emb_atom_com.mach,copk->AirSpeedFlag());//马赫
|
||
break;
|
||
|
||
}
|
||
|
||
copk->setAOA(dlink->mavlinknode->vehicle.emb_atom_com.alpha);
|
||
copk->setOL(dlink->mavlinknode->vehicle.ins1.az/(-9.8));
|
||
|
||
|
||
copk->setVerticalSpeed(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3);//速度朝下为正
|
||
|
||
|
||
|
||
copk->setAlt_err(dlink->mavlinknode->vehicle.nav_controller_output.alt_error);//高度差 飞机在航线下面为正
|
||
copk->setXTrack(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error);//侧偏距 飞机在航线右侧为正
|
||
|
||
copk->setRollTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll);//
|
||
copk->setPitchTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch);//
|
||
copk->setYawTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing);//
|
||
|
||
|
||
|
||
QString gps_str;
|
||
gps_str.clear();
|
||
|
||
switch (dlink->mavlinknode->vehicle.gps_raw_int.fix_type) {
|
||
case 1:
|
||
case 2:
|
||
case 3:
|
||
gps_str.append(tr("%1D[%2颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type).arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
|
||
break;
|
||
case 4:
|
||
gps_str.append(tr("fix[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
|
||
break;
|
||
case 5:
|
||
gps_str.append(tr("float[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
|
||
break;
|
||
default:
|
||
gps_str.append(tr("err[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
|
||
break;
|
||
}
|
||
|
||
copk->setGPS(gps_str);
|
||
|
||
|
||
QString arm_str;
|
||
arm_str.clear();
|
||
|
||
uint8_t state = 0;
|
||
|
||
state = (dlink->mavlinknode->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)
|
||
{
|
||
map->DeleteTrail();
|
||
}
|
||
}
|
||
else
|
||
{
|
||
isStateChanged = false;
|
||
}
|
||
state_old = state;
|
||
|
||
switch (state) {
|
||
case MAV_MODE_FLAG_SAFETY_ARMED:
|
||
arm_str.append(tr("ARM"));
|
||
break;
|
||
case 0:
|
||
arm_str.append(tr("DISARM"));
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
copk->setState(arm_str);
|
||
|
||
uint32_t custommode = dlink->mavlinknode->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(tr("unsported"));
|
||
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);
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
//经纬度大于正常值，将舍弃
|
||
|
||
double lat = (double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8);
|
||
double lng = (double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8);
|
||
|
||
if(((lat > -90)&&(lat < 90))&&((lng > -180)&&(lng < 180)))
|
||
{
|
||
map->setUAVPos(dlink->mavlinknode->vehicle.sysid,
|
||
dlink->mavlinknode->vehicle.compid,
|
||
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8),
|
||
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8),
|
||
(double)(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4));
|
||
}
|
||
|
||
map->setUAVHeading(dlink->mavlinknode->vehicle.sysid,
|
||
dlink->mavlinknode->vehicle.compid,
|
||
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
|
||
|
||
|
||
|
||
if(MainIndex == 3)//飞行界面
|
||
{
|
||
//刷新时间1Hz
|
||
//显示状态信息 数据链信号状态，定位信号状态，电池状态，解锁状态，剩余飞行时间等
|
||
QString message;
|
||
|
||
message.append(tr("<h6>数据强度：<font color=red>%1</font>\t").arg(QString::number(100)));
|
||
message.append(tr("定位类型：<font color=red>%1</font>\t").arg(gps_str));
|
||
message.append(tr("卫星数目：<font color=red>%1</font>颗</h6>").arg(QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible)));
|
||
message.append(tr("<h6>电池电压：<font color=red>%1</font>V\t").arg(QString::number(dlink->mavlinknode->vehicle.sys_status.voltage_battery * 0.001)));
|
||
message.append(tr("剩余时间：<font color=red>%1</font></h6>").arg(QString::number(0)));
|
||
|
||
showMessage(message);
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
/*
|
||
//实测,r,le,e,la,a
|
||
//有符号16位，-32767 ~ 32767
|
||
le = dlink->mavlinknode->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
|
||
*/
|
||
/*
|
||
|
||
//设置舵机显示
|
||
|
||
int ServoPort = 0;
|
||
int16_t servos[16];
|
||
|
||
ServoPort = dlink->mavlinknode->vehicle.servo_output_raw.port;
|
||
servos[0] = dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw;
|
||
servos[1] = dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw;
|
||
servos[2] = dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw;
|
||
servos[3] = dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw;
|
||
servos[4] = dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw;
|
||
servos[5] = dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw;
|
||
servos[6] = dlink->mavlinknode->vehicle.servo_output_raw.servo7_raw;
|
||
servos[7] = dlink->mavlinknode->vehicle.servo_output_raw.servo8_raw;
|
||
servos[8] = dlink->mavlinknode->vehicle.servo_output_raw.servo9_raw;
|
||
servos[9] = dlink->mavlinknode->vehicle.servo_output_raw.servo10_raw;
|
||
servos[10] = dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw;
|
||
servos[11] = dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw;
|
||
servos[12] = dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw;
|
||
servos[13] = dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw;
|
||
servos[14] = dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw;
|
||
servos[15] = dlink->mavlinknode->vehicle.servo_output_raw.servo16_raw;
|
||
|
||
toolsui->index4->setChannel(ServoPort,servos);
|
||
|
||
|
||
toolsui->powersystem->setTurbineState(&dlink->mavlinknode->vehicle.turbinstate);
|
||
toolsui->powersystem->setCCMState(&dlink->mavlinknode->vehicle.ccmstate);
|
||
|
||
toolsui->powersystem->setMa(dlink->mavlinknode->vehicle.emb_atom_com.mach);
|
||
toolsui->powersystem->setAlt(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);
|
||
|
||
|
||
toolsui->servosystem->setBUMState(&dlink->mavlinknode->vehicle.bmustate);
|
||
toolsui->servosystem->setServoState(&dlink->mavlinknode->vehicle.servo_output_raw);
|
||
|
||
|
||
bool v28_Low = false,v56_Low = false;
|
||
v28_Low = (((float)dlink->mavlinknode->vehicle.bmustate.BAT1_remain_perc * 0.1) < 10)?(false):(true);
|
||
v56_Low = (((float)dlink->mavlinknode->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);
|
||
toolsui->servosystem->setCheckState(4,0);
|
||
toolsui->servosystem->setCheckState(5,(dlink->mavlinknode->vehicle.bmustate.p500w_enabled)?(0):(1));
|
||
|
||
|
||
uint32_t health = dlink->mavlinknode->vehicle.sys_status.onboard_control_sensors_health;
|
||
|
||
// 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
|
||
|
||
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
|
||
// 5525D 5803A 5607A 4525D atteck slide
|
||
healthui->setState(7,(getBit(health,26)&getBit(health,27))?(HealthUI::state::success):(HealthUI::state::failure));//AIR
|
||
|
||
healthui->setState(8,getBit(health,5)?(getBit(health,11)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//FL
|
||
|
||
//dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw
|
||
uint16_t servoHealt = dlink->mavlinknode->vehicle.servo_output_raw.servo10_raw;
|
||
|
||
*/
|
||
/*
|
||
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/
|
||
|
||
//qDebug() << getBit(health,16);
|
||
/*
|
||
healthui->setState(11,getBit(health,16)?(getBit(servoHealt,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LA
|
||
healthui->setState(12,getBit(health,13)?(getBit(servoHealt,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RA
|
||
healthui->setState(13,getBit(health,17)?(getBit(servoHealt,4)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LE
|
||
healthui->setState(14,getBit(health,14)?(getBit(servoHealt,1)?(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
|
||
healthui->setState(21,getBit(health,18)?(HealthUI::state::failure):(HealthUI::state::success));//开伞
|
||
healthui->setState(22,getBit(health,19)?(HealthUI::state::failure):(HealthUI::state::success));//开气囊
|
||
healthui->setState(23,getBit(health,20)?(HealthUI::state::failure):(HealthUI::state::success));//充气
|
||
healthui->setState(24,getBit(health,21)?(HealthUI::state::failure):(HealthUI::state::success));//抛伞
|
||
healthui->setState(25,((dlink->mavlinknode->vehicle.turbinstate.SysState & 0x000F) == 0x04)?(HealthUI::state::failure):(HealthUI::state::inital));//停车
|
||
|
||
//healthui->setState(24,((dlink->mavlinknode->vehicle.turbinstate.SysState & 0x000F) == 0x04)?(HealthUI::state::failure):(HealthUI::state::inital));//ENG stop
|
||
//healthui->setState(25,(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible > 7)?(HealthUI::state::success):(HealthUI::state::failure));//GPS
|
||
//healthui->setValueState(25,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible) + tr("颗星"));//GPS
|
||
|
||
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
|
||
|
||
}
|
||
else
|
||
{
|
||
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(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(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(30,HealthUI::state::failure);
|
||
}
|
||
|
||
|
||
|
||
//===================status ui =============================================
|
||
|
||
statusui->setDigitalAtmosphereSystem(1,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.alpha,'f',1),tr(" "));
|
||
|
||
statusui->setDigitalAtmosphereSystem(2,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.beta,'f',1),tr(" "));
|
||
|
||
|
||
statusui->setState(1,QString::number(dlink->mavlinknode->vehicle.attitude.roll * 57.3,'f',1),
|
||
QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll,'f',1));
|
||
|
||
statusui->setState(2,QString::number(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,'f',1),
|
||
QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch,'f',1));
|
||
|
||
statusui->setState(3,QString::number(to360deg(dlink->mavlinknode->vehicle.gps_raw_int.cog * 0.01),'f',1),
|
||
QString::number(to360deg(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing),'f',1));
|
||
|
||
statusui->setState(4,QString::number(to360deg(dlink->mavlinknode->vehicle.attitude.yaw * 57.3),'f',1),tr(" "));
|
||
|
||
statusui->setState(5,QString::number(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error,'f',1),tr(" "));
|
||
|
||
statusui->setState(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4,'f',1),tr(" "));
|
||
|
||
statusui->setState(7,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1),tr(" "));
|
||
|
||
statusui->setState(8,QString::number(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3,'f',1),tr(" "));
|
||
|
||
|
||
statusui->setServo(1,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw)/32767.0 * 35.0,'f',2));
|
||
statusui->setServo(2,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw)/32767.0 * 35.0,'f',2));
|
||
statusui->setServo(3,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw)/32767.0 * 35.0,'f',2));
|
||
statusui->setServo(4,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw)/32767.0 * 35.0,'f',2));
|
||
statusui->setServo(5,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw)/32767.0 * 35.0,'f',2));
|
||
|
||
|
||
|
||
statusui->setEngine(1,QString::number((dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0));
|
||
statusui->setEngine(2,QString::number(dlink->mavlinknode->vehicle.turbinstate.RPM_mea,'f',1));
|
||
statusui->setEngine(3,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[0] * 0.1,'f',1));
|
||
statusui->setEngine(4,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[1] * 0.1,'f',1));
|
||
statusui->setEngine(5,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[3],'f',1));//剩余油量
|
||
statusui->setEngine(6,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[2],'f',0));//油压
|
||
|
||
|
||
statusui->setBattery(1,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_group_voltage_mv * 0.001,'f',1));
|
||
statusui->setBattery(2,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT1_group_current_dA) *0.1f,'f',1));
|
||
statusui->setBattery(3,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_remain_perc *0.1f,'f',1));
|
||
|
||
statusui->setBattery(4,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_group_voltage_mv * 0.001,'f',1));
|
||
statusui->setBattery(5,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT2_group_current_dA) *0.1f,'f',1));
|
||
statusui->setBattery(6,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_remain_perc *0.1f,'f',1));
|
||
|
||
|
||
statusui->setDlink(1,QString::number(dlink->mavlinknode->rssi,'f',0));
|
||
statusui->setDlink(2,QString::number(dlink->mavlinknode->bitrate));
|
||
|
||
|
||
statusui->setAttitude1(1,QString::number(dlink->mavlinknode->vehicle.ins1.ax,'f',1));
|
||
statusui->setAttitude1(2,QString::number(dlink->mavlinknode->vehicle.ins1.ay,'f',1));
|
||
statusui->setAttitude1(3,QString::number(dlink->mavlinknode->vehicle.ins1.az,'f',1));
|
||
statusui->setAttitude1(4,QString::number(dlink->mavlinknode->vehicle.ins1.gx,'f',1));
|
||
statusui->setAttitude1(5,QString::number(dlink->mavlinknode->vehicle.ins1.gy,'f',1));
|
||
statusui->setAttitude1(6,QString::number(dlink->mavlinknode->vehicle.ins1.gz,'f',1));
|
||
statusui->setAttitude1(7,QString::number(dlink->mavlinknode->vehicle.ins1.roll * 57.3,'f',1));
|
||
statusui->setAttitude1(8,QString::number(dlink->mavlinknode->vehicle.ins1.pitch * 57.3,'f',1));
|
||
statusui->setAttitude1(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins1.yaw * 57.3),'f',1));
|
||
|
||
statusui->setAttitude2(1,QString::number(dlink->mavlinknode->vehicle.ins2.ax,'f',1));
|
||
statusui->setAttitude2(2,QString::number(dlink->mavlinknode->vehicle.ins2.ay,'f',1));
|
||
statusui->setAttitude2(3,QString::number(dlink->mavlinknode->vehicle.ins2.az,'f',1));
|
||
statusui->setAttitude2(4,QString::number(dlink->mavlinknode->vehicle.ins2.gx,'f',1));
|
||
statusui->setAttitude2(5,QString::number(dlink->mavlinknode->vehicle.ins2.gy,'f',1));
|
||
statusui->setAttitude2(6,QString::number(dlink->mavlinknode->vehicle.ins2.gz,'f',1));
|
||
statusui->setAttitude2(7,QString::number(dlink->mavlinknode->vehicle.ins2.roll * 57.3,'f',1));
|
||
statusui->setAttitude2(8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch * 57.3,'f',1));
|
||
statusui->setAttitude2(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins2.yaw * 57.3),'f',1));
|
||
|
||
statusui->setGPS1(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
|
||
statusui->setGPS1(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
|
||
statusui->setGPS1(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
|
||
statusui->setGPS1(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins1.v_north,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins1.v_east,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins1.v_up,2)),'f',1));
|
||
statusui->setGPS1(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
|
||
dlink->mavlinknode->vehicle.ins1.v_north),'f',1));
|
||
statusui->setGPS1(6,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible,'f',0));
|
||
|
||
QString gpsFix1;
|
||
switch (dlink->mavlinknode->vehicle.ins1.gps_status) {
|
||
case 0:
|
||
case 1:
|
||
gpsFix1.append(tr("GPS Unlocated"));
|
||
break;
|
||
case 2:
|
||
case 3:
|
||
gpsFix1.append(tr("%1D").arg(dlink->mavlinknode->vehicle.ins1.gps_status));
|
||
break;
|
||
case 4:
|
||
gpsFix1.append(tr("fixed"));
|
||
break;
|
||
case 5:
|
||
gpsFix1.append(tr("float"));
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
statusui->setGPS1(7,gpsFix1);
|
||
|
||
|
||
|
||
|
||
statusui->setGPS2(1,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
|
||
statusui->setGPS2(2,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
|
||
statusui->setGPS2(3,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
|
||
statusui->setGPS2(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins2.v_north,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins2.v_east,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins2.v_up,2)),'f',1));
|
||
statusui->setGPS2(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
|
||
dlink->mavlinknode->vehicle.ins2.v_north),'f',1));
|
||
statusui->setGPS2(6,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible,'f',0));
|
||
|
||
QString gpsFix2;
|
||
switch (dlink->mavlinknode->vehicle.ins2.gps_status) {
|
||
case 0:
|
||
case 1:
|
||
gpsFix2.append(tr("GPS Unlocated"));
|
||
break;
|
||
case 2:
|
||
case 3:
|
||
gpsFix2.append(tr("%1D").arg(dlink->mavlinknode->vehicle.ins2.gps_status));
|
||
break;
|
||
case 4:
|
||
gpsFix2.append(tr("fixed"));
|
||
break;
|
||
case 5:
|
||
gpsFix2.append(tr("float"));
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
statusui->setGPS2(7,gpsFix2);
|
||
|
||
|
||
|
||
//===================diagram ui =============================================
|
||
|
||
toolsui->diagram->setDigitalAtmosphereSystem(1,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.alpha,'f',1),tr(" "));
|
||
|
||
toolsui->diagram->setDigitalAtmosphereSystem(2,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.beta,'f',1),tr(" "));
|
||
|
||
|
||
toolsui->diagram->setState(1,QString::number(dlink->mavlinknode->vehicle.attitude.roll * 57.3,'f',1),
|
||
QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll,'f',1));
|
||
|
||
toolsui->diagram->setState(2,QString::number(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,'f',1),
|
||
QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch,'f',1));
|
||
|
||
toolsui->diagram->setState(3,QString::number(to360deg(dlink->mavlinknode->vehicle.global_position_int.hdg),'f',1),
|
||
QString::number(to360deg(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing),'f',1));
|
||
|
||
toolsui->diagram->setState(4,QString::number(to360deg(dlink->mavlinknode->vehicle.attitude.yaw * 57.3),'f',1),tr(" "));
|
||
|
||
toolsui->diagram->setState(5,QString::number(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error,'f',1),tr(" "));
|
||
|
||
toolsui->diagram->setState(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4,'f',1),tr(" "));
|
||
|
||
toolsui->diagram->setState(7,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1),tr(" "));
|
||
|
||
toolsui->diagram->setState(8,QString::number(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3,'f',1),tr(" "));
|
||
|
||
|
||
toolsui->diagram->setServo(1,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw)/32767.0 * 35.0,'f',2));
|
||
toolsui->diagram->setServo(2,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw)/32767.0 * 35.0,'f',2));
|
||
toolsui->diagram->setServo(3,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw)/32767.0 * 35.0,'f',2));
|
||
toolsui->diagram->setServo(4,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw)/32767.0 * 35.0,'f',2));
|
||
toolsui->diagram->setServo(5,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 35.0,'f',2),
|
||
QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw)/32767.0 * 35.0,'f',2));
|
||
|
||
|
||
|
||
toolsui->diagram->setEngine(1,QString::number((dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0));
|
||
toolsui->diagram->setEngine(2,QString::number(dlink->mavlinknode->vehicle.turbinstate.RPM_mea,'f',1));
|
||
toolsui->diagram->setEngine(3,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[0] * 0.1,'f',1));
|
||
toolsui->diagram->setEngine(4,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[1] * 0.1,'f',1));
|
||
toolsui->diagram->setEngine(5,QString::number(dlink->mavlinknode->vehicle.ccmstate.fuel_level,'f',1));
|
||
toolsui->diagram->setEngine(6,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[2],'f',0));
|
||
|
||
|
||
toolsui->diagram->setBattery(1,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_group_voltage_mv * 0.001,'f',1));
|
||
toolsui->diagram->setBattery(2,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT1_group_current_dA) *0.1f,'f',1));
|
||
toolsui->diagram->setBattery(3,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_remain_perc *0.1f,'f',1));
|
||
|
||
toolsui->diagram->setBattery(4,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_group_voltage_mv * 0.001,'f',1));
|
||
toolsui->diagram->setBattery(5,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT2_group_current_dA) *0.1f,'f',1));
|
||
toolsui->diagram->setBattery(6,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_remain_perc *0.1f,'f',1));
|
||
|
||
|
||
toolsui->diagram->setDlink(1,QString::number(dlink->mavlinknode->rssi,'f',0));
|
||
toolsui->diagram->setDlink(2,QString::number(dlink->mavlinknode->bitrate));
|
||
|
||
|
||
toolsui->diagram->setAttitude1(1,QString::number(dlink->mavlinknode->vehicle.ins1.ax,'f',1));
|
||
toolsui->diagram->setAttitude1(2,QString::number(dlink->mavlinknode->vehicle.ins1.ay,'f',1));
|
||
toolsui->diagram->setAttitude1(3,QString::number(dlink->mavlinknode->vehicle.ins1.az,'f',1));
|
||
toolsui->diagram->setAttitude1(4,QString::number(dlink->mavlinknode->vehicle.ins1.gx * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude1(5,QString::number(dlink->mavlinknode->vehicle.ins1.gy * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude1(6,QString::number(dlink->mavlinknode->vehicle.ins1.gz * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude1(7,QString::number(dlink->mavlinknode->vehicle.ins1.roll * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude1(8,QString::number(dlink->mavlinknode->vehicle.ins1.pitch * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude1(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins1.yaw * 57.3),'f',1));
|
||
|
||
toolsui->diagram->setAttitude2(1,QString::number(dlink->mavlinknode->vehicle.ins2.ax,'f',1));
|
||
toolsui->diagram->setAttitude2(2,QString::number(dlink->mavlinknode->vehicle.ins2.ay,'f',1));
|
||
toolsui->diagram->setAttitude2(3,QString::number(dlink->mavlinknode->vehicle.ins2.az,'f',1));
|
||
toolsui->diagram->setAttitude2(4,QString::number(dlink->mavlinknode->vehicle.ins2.gx * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude2(5,QString::number(dlink->mavlinknode->vehicle.ins2.gy * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude2(6,QString::number(dlink->mavlinknode->vehicle.ins2.gz * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude2(7,QString::number(dlink->mavlinknode->vehicle.ins2.roll * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude2(8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch * 57.3,'f',1));
|
||
toolsui->diagram->setAttitude2(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins2.yaw * 57.3),'f',1));
|
||
|
||
toolsui->diagram->setGPS1(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
|
||
toolsui->diagram->setGPS1(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
|
||
toolsui->diagram->setGPS1(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
|
||
toolsui->diagram->setGPS1(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins1.v_north,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins1.v_east,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins1.v_up,2)),'f',1));
|
||
toolsui->diagram->setGPS1(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
|
||
dlink->mavlinknode->vehicle.ins1.v_north),'f',1));
|
||
toolsui->diagram->setGPS1(6,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible,'f',0));
|
||
toolsui->diagram->setGPS1(7,gpsFix1);
|
||
|
||
toolsui->diagram->setGPS2(1,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
|
||
toolsui->diagram->setGPS2(2,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
|
||
toolsui->diagram->setGPS2(3,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
|
||
toolsui->diagram->setGPS2(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins2.v_north,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins2.v_east,2) +
|
||
pow(dlink->mavlinknode->vehicle.ins2.v_up,2)),'f',1));
|
||
toolsui->diagram->setGPS2(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
|
||
dlink->mavlinknode->vehicle.ins2.v_north),'f',1));
|
||
toolsui->diagram->setGPS2(6,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible,'f',0));
|
||
toolsui->diagram->setGPS2(7,gpsFix2);
|
||
|
||
|
||
*/
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
void MainWindow::TotalDistance(double value)
|
||
{
|
||
|
||
if(MainIndex == 2)//任务界面
|
||
{
|
||
QString message;
|
||
|
||
message.append(tr("<h6>总航程：<font color=red>%1</font>米\t</h6>").arg(value));
|
||
message.append(tr("<h6>最远距离：<font color=red>%1</font>米\t</h6>").arg(0));
|
||
message.append(tr("<h6>预计飞行时间：<font color=red>%1</font>小时\t</h6>").arg(0));
|
||
|
||
showMessage(message);
|
||
|
||
}
|
||
|
||
}
|
||
|