PIDTuning.qml

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import QtQuick
import QtQuick.Controls
import QtGraphs
import QtQuick.Layouts
 
import QGroundControl
import QGroundControl.Controls
import QGroundControl.FactControls
 
RowLayout {
    spacing: _margins
 
    QGCPalette { id: qgcPal }
 
    property real   availableHeight
    property real   availableWidth
    property var    axis
    property string unit
    property string title
    property var    tuningMode
    property double chartDisplaySec:    8 // number of seconds to display
    property bool   showAutoModeChange: false
    property bool   showAutoTuning:     false
    property bool   useAutoTuning:      false
 
    property real   _margins:           ScreenTools.defaultFontPixelHeight / 2
    property int    _currentAxis:       0
    property var    _xAxis:             xAxis
    property var    _yAxis:             yAxis
    property int    _msecs:             0
    property double _last_t:            0
    property var    _savedTuningParamValues:    [ ]
 
    readonly property int _tickSeparation:      5
    readonly property int _maxTickSections:     10
 
    property string _chartTitle:        ""
    readonly property var _seriesColors: ["#21be2b", "#c62828", "#1565c0", "#f9a825", "#6a1b9a", "#00838f"]
    property var _legendModel:          []
 
    Component {
        id: lineSeriesComponent
        LineSeries { }
    }
 
    function adjustYAxisMin(yAxis, newValue) {
        var newMin = Math.min(yAxis.min, newValue)
        if (newMin % 5 != 0) {
            newMin -= 5
            newMin = Math.floor(newMin / _tickSeparation) * _tickSeparation
        }
        yAxis.min = newMin
    }
 
    function adjustYAxisMax(yAxis, newValue) {
        var newMax = Math.max(yAxis.max, newValue)
        if (newMax % 5 != 0) {
            newMax += 5
            newMax = Math.floor(newMax / _tickSeparation) * _tickSeparation
        }
        yAxis.max = newMax
    }
 
    function resetGraphs() {
        for (var i = 0; i < chart.seriesList.length; ++i) {
            chart.seriesList[i].clear()
        }
        _xAxis.min = 0
        _xAxis.max = 0
        _yAxis.min = 0
        _yAxis.max = 0
        _msecs = 0
        _last_t = 0
    }
 
    // Save the current set of tuning values so we can reset to them
    function saveTuningParamValues() {
        _savedTuningParamValues = [ ]
        for (var i=0; i<axis[_currentAxis].params.count; i++) {
            var currentTuneParam = controller.getParameterFact(-1, axis[_currentAxis].params.get(i).param)
            _savedTuningParamValues.push(currentTuneParam.valueString)
        }
        savedRepeater.model = _savedTuningParamValues
    }
 
    function resetToSavedTuningParamValues() {
        for (var i=0; i<axis[_currentAxis].params.count; i++) {
            var currentTuneParam = controller.getParameterFact(-1,
                axis[_currentAxis].params.get(i).param)
            currentTuneParam.value = _savedTuningParamValues[i]
        }
    }
 
    function axisIndexChanged() {
        while (chart.seriesList.length > 0) {
            // Do not call s.destroy() here. QGraphsView holds an internal
            // pointer to the series that is only cleared during the next
            // updatePolish() pass. Destroying the series before that pass
            // causes a SIGSEGV in QGraphsView::updatePolish(). The series is
            // parented to chart so it is freed when the chart is destroyed.
            // GPU/graph resources are released by removeSeries().
            chart.removeSeries(chart.seriesList[0])
        }
        var legendItems = []
        axis[_currentAxis].plot.forEach(function(e, idx) {
            var color = _seriesColors[idx % _seriesColors.length]
            var series = lineSeriesComponent.createObject(chart, {name: e.name, color: color})
            chart.addSeries(series)
            legendItems.push({name: e.name, color: color})
        })
        _legendModel = legendItems
        var chartTitle = axis[_currentAxis].plotTitle
        if (chartTitle == null)
            chartTitle = axis[_currentAxis].name
        _chartTitle = chartTitle + " " + title
        saveTuningParamValues()
        resetGraphs()
    }
 
    Component.onCompleted: {
        axisIndexChanged()
        globals.activeVehicle.setPIDTuningTelemetryMode(tuningMode)
        saveTuningParamValues()
    }
 
    Component.onDestruction: globals.activeVehicle.setPIDTuningTelemetryMode(Vehicle.ModeDisabled)
    on_CurrentAxisChanged: axisIndexChanged()
 
    Timer {
        id:         dataTimer
        interval:   10
        running:    true
        repeat:     true
 
        onTriggered: {
            _xAxis.max = _msecs / 1000
            _xAxis.min = _msecs / 1000 - chartDisplaySec
 
            var firstPoint = _msecs == 0
 
            var len = axis[_currentAxis].plot.length
            for (var i = 0; i < len; ++i) {
                var value = axis[_currentAxis].plot[i].value
                if (!isNaN(value)) {
                    chart.seriesList[i].append(_msecs/1000, value)
                    if (firstPoint) {
                        _yAxis.min = value
                        _yAxis.max = value
                    } else {
                        adjustYAxisMin(_yAxis, value)
                        adjustYAxisMax(_yAxis, value)
                    }
                    // limit history
                    var minSec = _msecs/1000 - 3*60
                    while (chart.seriesList[i].count > 0 && chart.seriesList[i].at(0).x < minSec) {
                        chart.seriesList[i].remove(0)
                    }
                }
            }
 
            var t = new Date().getTime() // in ms
            if (_last_t > 0)
                _msecs += t-_last_t
            _last_t = t
        }
 
        property int _maxPointCount:    10000 / interval
    }
 
    Column {
        id:                 leftPanel
        Layout.fillWidth:   true
        Layout.alignment:   Qt.AlignTop
        spacing:            ScreenTools.defaultFontPixelHeight / 4
        clip:               true // chart has redraw problems
 
        QGCLabel {
            id:                 chartTitleLabel
            text:               _chartTitle
            font.pointSize:     ScreenTools.defaultFontPointSize
            font.family:        ScreenTools.normalFontFamily
            anchors.horizontalCenter: parent.horizontalCenter
        }
 
        GraphsView {
            id:                     chart
            width:                  Math.max(_minChartWidth, availableWidth - rightPanel.width - parent.spacing - _margins)
            height:                 Math.max(_minChartHeight, availableHeight - leftPanelBottomColumn.height - chartTitleLabel.height - legendRow.height - parent.spacing * 3 - _margins)
 
            property real _minChartWidth:   ScreenTools.defaultFontPixelWidth * 40
            property real _minChartHeight:  ScreenTools.defaultFontPixelHeight * 15
 
            theme: GraphsTheme {
                colorScheme:            qgcPal.globalTheme === QGCPalette.Light ? GraphsTheme.ColorScheme.Light : GraphsTheme.ColorScheme.Dark
                plotAreaBackgroundColor: qgcPal.window
                grid.mainColor:         Qt.rgba(qgcPal.text.r, qgcPal.text.g, qgcPal.text.b, 0.5)
                grid.subColor:          Qt.rgba(qgcPal.text.r, qgcPal.text.g, qgcPal.text.b, 0.3)
                grid.mainWidth:         1
                labelBackgroundVisible: false
                labelTextColor:         qgcPal.text
            }
 
            axisX: ValueAxis {
                id:                     xAxis
                min:                    0
                max:                    0
                labelFormat:            "%.1f"
                titleText:              ScreenTools.isShortScreen ? "" : qsTr("sec")
                titleFont.pointSize:    ScreenTools.defaultFontPointSize
                titleFont.family:       ScreenTools.normalFontFamily
            }
 
            axisY: ValueAxis {
                id:                     yAxis
                min:                    0
                max:                    10
                titleText:              unit
                tickInterval:           _tickSeparation
                titleFont.pointSize:    ScreenTools.defaultFontPointSize
                titleFont.family:       ScreenTools.normalFontFamily
            }
 
            // enable mouse dragging
            MouseArea {
                property var _startPoint: undefined
                property double _scaling: 0
                anchors.fill: parent
                onPressed: (mouse) => {
                    _startPoint = Qt.point(mouse.x, mouse.y)
                    if (chart.seriesList.length > 0) {
                        var start = chart.seriesList[0].dataPointCoordinatesAt(_startPoint.x, _startPoint.y)
                        var next = chart.seriesList[0].dataPointCoordinatesAt(mouse.x+1, mouse.y+1)
                        _scaling = next.x - start.x
                    }
                }
                onWheel: (wheel) => {
                    if (wheel.angleDelta.y > 0)
                        chartDisplaySec /= 1.2
                    else
                        chartDisplaySec *= 1.2
                    _xAxis.min = _xAxis.max - chartDisplaySec
                }
                onPositionChanged: (mouse) => {
                    if(_startPoint != undefined) {
                        dataTimer.running = false
                        var cp = Qt.point(mouse.x, mouse.y)
                        var dx = (cp.x - _startPoint.x) * _scaling
                        _startPoint = cp
                        _xAxis.max -= dx
                        _xAxis.min -= dx
                    }
                }
 
                onReleased: {
                    _startPoint = undefined
                }
            }
        }
 
        Row {
            id:         legendRow
            spacing:    ScreenTools.defaultFontPixelWidth
            anchors.horizontalCenter: parent.horizontalCenter
 
            Repeater {
                model: _legendModel
                Row {
                    spacing: ScreenTools.defaultFontPixelWidth / 2
                    Rectangle {
                        width:  ScreenTools.defaultFontPixelHeight
                        height: ScreenTools.defaultFontPixelHeight / 3
                        color:  modelData.color
                        anchors.verticalCenter: parent.verticalCenter
                    }
                    QGCLabel {
                        text:               modelData.name
                        font.pointSize:     ScreenTools.smallFontPointSize
                    }
                }
            }
        }
 
        Column {
            id:         leftPanelBottomColumn
            spacing:    ScreenTools.defaultFontPixelHeight / 4
 
            RowLayout {
                spacing: _margins
 
                QGCButton {
                    text:       qsTr("Clear")
                    onClicked:  resetGraphs()
                }
 
                QGCButton {
                    text:       dataTimer.running ? qsTr("Stop") : qsTr("Start")
                    onClicked: {
                        dataTimer.running = !dataTimer.running
                        _last_t = 0
                        if (showAutoModeChange && autoModeChange.checked) {
                            globals.activeVehicle.flightMode = dataTimer.running ? globals.activeVehicle.stabilizedFlightMode : globals.activeVehicle.pauseFlightMode
                        }
                    }
                }
                Connections {
                    target: globals.activeVehicle
                    onArmedChanged: {
                        if (armed && !dataTimer.running) { // start plotting on arming if not already running
                            dataTimer.running = true
                            _last_t = 0
                        }
                    }
                }
            }
 
            QGCCheckBox {
                visible: showAutoModeChange
                id:     autoModeChange
                text:   qsTr("Automatic Flight Mode Switching")
                onClicked: {
                    if (checked)
                        dataTimer.running = false
                }
            }
 
            Column {
                visible: autoModeChange.checked
                QGCLabel {
                    text:            qsTr("Switches to 'Stabilized' when you click Start.")
                    font.pointSize:     ScreenTools.smallFontPointSize
                }
 
                QGCLabel {
                    text:            qsTr("Switches to '%1' when you click Stop.").arg(globals.activeVehicle.pauseFlightMode)
                    font.pointSize:     ScreenTools.smallFontPointSize
                }
            }
        }
    }
 
    ColumnLayout {
        id:                 rightPanel
        Layout.alignment:   Qt.AlignTop
 
        RowLayout {
            visible: showAutoTuning
 
            QGCRadioButton {
                id:         useAutoTuningRadio
                text:       qsTr("Use auto-tuning")
                checked:    useAutoTuning
                onClicked:  useAutoTuning = true
            }
            QGCRadioButton {
                id:         useManualTuningRadio
                text:       qsTr("Use manual tuning")
                checked:    !useAutoTuning
                onClicked:  useAutoTuning = false
            }
        }
 
        AutotuneUI {
            visible: showAutoTuning && useAutoTuningRadio.checked
        }
 
        ColumnLayout {
            visible: !showAutoTuning || useManualTuningRadio.checked
 
            Column {
                RowLayout {
                    spacing: _margins
                    visible: axis.length > 1
 
                    QGCLabel { text: qsTr("Select Tuning:") }
 
                    Repeater {
                        model: axis
                        QGCRadioButton {
                            objectName:     "pidTuning_axisButton_" + modelData.name.replace(/ /g, "")
                            text:           modelData.name
                            checked:        index == _currentAxis
                            onClicked: _currentAxis = index
                        }
                    }
                }
            }
 
            // Instantiate all sliders (instead of switching the model), so that
            // values are not changed unexpectedly if they do not match with a tick value.
            Repeater {
                model: axis
 
                Repeater {
                    id: paramRepeater
                    model: axis[index].params
 
                    property int axisIndex: index
 
                    SettingsGroupLayout {
                        id:                     tuningGroup
                        heading:                title
                        headingDescription:     description
                        visible:                _currentAxis === paramRepeater.axisIndex
                        Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 40
 
                        FactSlider {
                            fact:                   controller.getParameterFact(-1, param)
                            from:                   min
                            to:                     max
                            majorTickStepSize:      step
                            Layout.fillWidth:       true
                        }
                    }
                }
            }
 
            Column {
                QGCLabel { text: qsTr("Clipboard Values:") }
 
                GridLayout {
                    rows:           savedRepeater.model.length
                    flow:           GridLayout.TopToBottom
                    rowSpacing:     0
                    columnSpacing:  _margins
 
                    Repeater {
                        model: axis[_currentAxis].params
 
                        QGCLabel { text: param }
                    }
 
                    Repeater {
                        id: savedRepeater
 
                        QGCLabel { text: modelData }
                    }
                }
            }
 
            RowLayout {
                spacing: _margins
 
                QGCButton {
                    text:       qsTr("Save To Clipboard")
                    onClicked:  saveTuningParamValues()
                }
 
                QGCButton {
                    text:       qsTr("Restore From Clipboard")
                    onClicked:  resetToSavedTuningParamValues()
                }
            }
        }
    }
 
} // RowLayout