public class Flight extends BaseViewPart {
public static final String ID = "it.xbladecopter.flight";
private LogManager logger = LogManager.getInstance();
private static Group sensorData;
private static Text rollText;
private static Text pitchText;
private static Text headingText;
private static Text accXText;
private static Text accYText;
private static Text accZText;
private static Text awXText;
private static Text awYText;
private static Text awZText;
private static Text magXText;
private static Text magZText;
private static Text magYText;
private static Text m0Text;
private static Text m1Text;
private static Text m2Text;
private static Text m3Text;
private static CLabel gM0;
private static CLabel gM1;
private static CLabel gM2;
private static CLabel gM3;
@Override
public void createPartControl(Composite parent) {
logger.logInfo("Starting flight data view...", this.getClass());
sensorData = new Group(parent, SWT.NONE);
sensorData.setLayout(new GridLayout(1, false));
GridData layoutData = new GridData();
layoutData.horizontalSpan = 1;
layoutData.grabExcessVerticalSpace = true;
sensorData.setLayoutData(layoutData);
sensorData.setText("Flight Data");
GridData layoutGradient = new GridData(GridData.HORIZONTAL_ALIGN_FILL);
layoutGradient.widthHint = 40;
layoutGradient.heightHint = 15;
layoutGradient.horizontalSpan = 1;
GridData layoutSensor = new GridData();
layoutSensor.minimumWidth = 20;
layoutSensor.widthHint = 50;
GridData layoutMotor = new GridData();
layoutMotor.minimumWidth = 20;
layoutMotor.widthHint = 30;
GridData layoutLabelAttitude = new GridData();
layoutLabelAttitude.minimumWidth = 20;
layoutLabelAttitude.widthHint = 50;
GridData layoutLabelS = new GridData();
layoutLabelS.minimumWidth = 20;
layoutLabelS.widthHint = 30;
GridData layoutLabel = new GridData();
layoutLabel.minimumWidth = 20;
layoutLabel.widthHint = 50;
Group angleData = new Group(sensorData, SWT.NONE);
angleData.setLayout(new GridLayout(4, true));
angleData.setText("Attitude Angles (°)");
angleData.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
Label label = new Label(angleData, SWT.NONE);
label.setText("Roll: ");
label.setLayoutData(layoutLabelAttitude);
rollText = new Text(angleData, SWT.NONE);
rollText.setEnabled(false);
rollText.setLayoutData(layoutSensor);
rollText.setText("0.0");
label = new Label(angleData, SWT.NONE);
label.setText("Pitch: ");
label.setLayoutData(layoutLabelAttitude);
pitchText = new Text(angleData, SWT.NONE);
pitchText.setEnabled(false);
pitchText.setLayoutData(layoutSensor);
pitchText.setText("0.0");
label = new Label(angleData, SWT.NONE);
label.setText("Heading: ");
label.setLayoutData(layoutLabelAttitude);
headingText = new Text(angleData, SWT.NONE);
headingText.setEnabled(false);
headingText.setLayoutData(layoutSensor);
headingText.setText("0.0");
Group dof1Data = new Group(sensorData, SWT.NONE);
dof1Data.setLayout(new GridLayout(6, false));
dof1Data.setText("Acceleration (g)");
dof1Data.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(dof1Data, SWT.NONE);
label.setText("x: ");
label.setLayoutData(layoutLabelS);
accXText = new Text(dof1Data, SWT.NONE);
accXText.setEnabled(false);
accXText.setLayoutData(layoutSensor);
accXText.setText("0.0");
label = new Label(dof1Data, SWT.NONE);
label.setText("y: ");
label.setLayoutData(layoutLabelS);
accYText = new Text(dof1Data, SWT.NONE);
accYText.setEnabled(false);
accYText.setLayoutData(layoutSensor);
accYText.setText("0.0");
label = new Label(dof1Data, SWT.NONE);
label.setText("z: ");
label.setLayoutData(layoutLabelS);
accZText = new Text(dof1Data, SWT.NONE);
accZText.setEnabled(false);
accZText.setLayoutData(layoutSensor);
accZText.setText("0.0");
Group dof2Data = new Group(sensorData, SWT.NONE);
dof2Data.setLayout(new GridLayout(6, false));
dof2Data.setText("Angular Velocity (°/s)");
dof2Data.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(dof2Data, SWT.NONE);
label.setText("x: ");
label.setLayoutData(layoutLabelS);
awXText = new Text(dof2Data, SWT.NONE);
awXText.setEnabled(false);
awXText.setLayoutData(layoutSensor);
awXText.setText("0.0");
label = new Label(dof2Data, SWT.NONE);
label.setText("y: ");
label.setLayoutData(layoutLabelS);
awYText = new Text(dof2Data, SWT.NONE);
awYText.setEnabled(false);
awYText.setLayoutData(layoutSensor);
awYText.setText("0.0");
label = new Label(dof2Data, SWT.NONE);
label.setText("z: ");
label.setLayoutData(layoutLabelS);
awZText = new Text(dof2Data, SWT.NONE);
awZText.setEnabled(false);
awZText.setLayoutData(layoutSensor);
awZText.setText("0.0");
Group dof3Data = new Group(sensorData, SWT.NONE);
dof3Data.setLayout(new GridLayout(6, false));
dof3Data.setText("Magnetic Field (uGauss)");
dof3Data.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(dof3Data, SWT.NONE);
label.setText("x: ");
label.setLayoutData(layoutLabelS);
magXText = new Text(dof3Data, SWT.NONE);
magXText.setEnabled(false);
magXText.setLayoutData(layoutSensor);
magXText.setText("0.0");
label = new Label(dof3Data, SWT.NONE);
label.setText("y: ");
label.setLayoutData(layoutLabelS);
magYText = new Text(dof3Data, SWT.NONE);
magYText.setEnabled(false);
magYText.setLayoutData(layoutSensor);
magYText.setText("0.0");
label = new Label(dof3Data, SWT.NONE);
label.setText("z: ");
label.setLayoutData(layoutLabelS);
magZText = new Text(dof3Data, SWT.NONE);
magZText.setEnabled(false);
magZText.setLayoutData(layoutSensor);
magZText.setText("0.0");
Group control = new Group(sensorData, SWT.NONE);
control.setLayout(new GridLayout(6, false));
layoutData = new GridData(GridData.HORIZONTAL_ALIGN_FILL);
layoutData.horizontalSpan = 6;
control.setLayoutData(layoutData);
control.setText("Motors Speed");
label = new Label(control, SWT.NONE);
label.setText("Front (R): ");
label.setLayoutData(layoutLabel);
gM0 = new CLabel(control, SWT.SHADOW_IN);
gM0.setLayoutData(layoutGradient);
gM0.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m0Text = new Text(control, SWT.NONE);
m0Text.setEnabled(false);
m0Text.setLayoutData(layoutMotor);
m0Text.setText("0.0");
label = new Label(control, SWT.NONE);
label.setText("Front (L): ");
label.setLayoutData(layoutLabel);
gM1 = new CLabel(control, SWT.SHADOW_IN);
gM1.setLayoutData(layoutGradient);
gM1.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m1Text = new Text(control, SWT.NONE);
m1Text.setEnabled(false);
m1Text.setLayoutData(layoutMotor);
m1Text.setText("0.0");
label = new Label(control, SWT.NONE);
label.setText("Back (R): ");
label.setLayoutData(layoutLabel);
gM2 = new CLabel(control, SWT.SHADOW_IN);
gM2.setLayoutData(layoutGradient);
gM2.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m2Text = new Text(control, SWT.NONE);
m2Text.setEnabled(false);
m2Text.setLayoutData(layoutMotor);
m2Text.setText("0.0");
label = new Label(control, SWT.NONE);
label.setText("Back (L): ");
label.setLayoutData(layoutLabel);
gM3 = new CLabel(control, SWT.SHADOW_IN);
gM3.setLayoutData(layoutGradient);
gM3.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m3Text = new Text(control, SWT.NONE);
m3Text.setEnabled(false);
m3Text.setLayoutData(layoutMotor);
m3Text.setText("0.0");
}
public static void updateFlight() {
try {
if (!sensorData.isDisposed() && sensorData.isVisible()) {
rollText.setText(String.format("%3.3f", rpy.getRoll()));
pitchText.setText(String.format("%3.3f", rpy.getPitch()));
headingText.setText(String.format("%3.3f", rpy.getHeading()));
accXText.setText(String.format("%3.3f", rpy.getAccX()));
accYText.setText(String.format("%3.3f", rpy.getAccY()));
accZText.setText(String.format("%3.3f", rpy.getAccZ()));
awXText.setText(String.format("%3.3f", rpy.getGyroX()));
awYText.setText(String.format("%3.3f", rpy.getGyroY()));
awZText.setText(String.format("%3.3f", rpy.getGyroZ()));
magXText.setText(String.format("%3.3f", rpy.getMagX()));
magYText.setText(String.format("%3.3f", rpy.getMagY()));
magZText.setText(String.format("%3.3f", rpy.getMagZ()));
if (rpy.getM3() <= 100 && rpy.getM3() >= 0) {
gM1.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {(int) (100 - rpy.getM3()), 100});
m1Text.setText(String.format("%3.1f", rpy.getM3()));
gM1.layout();
}
if (rpy.getM2() <= 100 && rpy.getM2() >= 0) {
gM0.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {(int) (100 - rpy.getM2()), 100});
m0Text.setText(String.format("%3.1f", rpy.getM2()));
gM0.layout();
}
if (rpy.getM0() <= 100 && rpy.getM0() >= 0) {
gM3.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {(int) (100 - rpy.getM0()), 100});
m3Text.setText(String.format("%3.1f", rpy.getM0()));
gM3.layout();
}
if (rpy.getM1() <= 100 && rpy.getM1() >= 0) {
gM2.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {(int) (100 - rpy.getM1()), 100});
m2Text.setText(String.format("%3.1f", rpy.getM1()));
gM2.layout();
}
}
} catch (Exception e) {
}
}
@Override
public void setFocus() {}
}
@Override
public void createPartControl(Composite parent) {
logger.logInfo("Starting flight data view...", this.getClass());
sensorData = new Group(parent, SWT.NONE);
sensorData.setLayout(new GridLayout(1, false));
GridData layoutData = new GridData();
layoutData.horizontalSpan = 1;
layoutData.grabExcessVerticalSpace = true;
sensorData.setLayoutData(layoutData);
sensorData.setText("Flight Data");
GridData layoutGradient = new GridData(GridData.HORIZONTAL_ALIGN_FILL);
layoutGradient.widthHint = 40;
layoutGradient.heightHint = 15;
layoutGradient.horizontalSpan = 1;
GridData layoutSensor = new GridData();
layoutSensor.minimumWidth = 20;
layoutSensor.widthHint = 50;
GridData layoutMotor = new GridData();
layoutMotor.minimumWidth = 20;
layoutMotor.widthHint = 30;
GridData layoutLabelAttitude = new GridData();
layoutLabelAttitude.minimumWidth = 20;
layoutLabelAttitude.widthHint = 50;
GridData layoutLabelS = new GridData();
layoutLabelS.minimumWidth = 20;
layoutLabelS.widthHint = 30;
GridData layoutLabel = new GridData();
layoutLabel.minimumWidth = 20;
layoutLabel.widthHint = 50;
Group angleData = new Group(sensorData, SWT.NONE);
angleData.setLayout(new GridLayout(4, true));
angleData.setText("Attitude Angles (°)");
angleData.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
Label label = new Label(angleData, SWT.NONE);
label.setText("Roll: ");
label.setLayoutData(layoutLabelAttitude);
rollText = new Text(angleData, SWT.NONE);
rollText.setEnabled(false);
rollText.setLayoutData(layoutSensor);
rollText.setText("0.0");
label = new Label(angleData, SWT.NONE);
label.setText("Pitch: ");
label.setLayoutData(layoutLabelAttitude);
pitchText = new Text(angleData, SWT.NONE);
pitchText.setEnabled(false);
pitchText.setLayoutData(layoutSensor);
pitchText.setText("0.0");
label = new Label(angleData, SWT.NONE);
label.setText("Heading: ");
label.setLayoutData(layoutLabelAttitude);
headingText = new Text(angleData, SWT.NONE);
headingText.setEnabled(false);
headingText.setLayoutData(layoutSensor);
headingText.setText("0.0");
Group dof1Data = new Group(sensorData, SWT.NONE);
dof1Data.setLayout(new GridLayout(6, false));
dof1Data.setText("Acceleration (g)");
dof1Data.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(dof1Data, SWT.NONE);
label.setText("x: ");
label.setLayoutData(layoutLabelS);
accXText = new Text(dof1Data, SWT.NONE);
accXText.setEnabled(false);
accXText.setLayoutData(layoutSensor);
accXText.setText("0.0");
label = new Label(dof1Data, SWT.NONE);
label.setText("y: ");
label.setLayoutData(layoutLabelS);
accYText = new Text(dof1Data, SWT.NONE);
accYText.setEnabled(false);
accYText.setLayoutData(layoutSensor);
accYText.setText("0.0");
label = new Label(dof1Data, SWT.NONE);
label.setText("z: ");
label.setLayoutData(layoutLabelS);
accZText = new Text(dof1Data, SWT.NONE);
accZText.setEnabled(false);
accZText.setLayoutData(layoutSensor);
accZText.setText("0.0");
Group dof2Data = new Group(sensorData, SWT.NONE);
dof2Data.setLayout(new GridLayout(6, false));
dof2Data.setText("Angular Velocity (°/s)");
dof2Data.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(dof2Data, SWT.NONE);
label.setText("x: ");
label.setLayoutData(layoutLabelS);
awXText = new Text(dof2Data, SWT.NONE);
awXText.setEnabled(false);
awXText.setLayoutData(layoutSensor);
awXText.setText("0.0");
label = new Label(dof2Data, SWT.NONE);
label.setText("y: ");
label.setLayoutData(layoutLabelS);
awYText = new Text(dof2Data, SWT.NONE);
awYText.setEnabled(false);
awYText.setLayoutData(layoutSensor);
awYText.setText("0.0");
label = new Label(dof2Data, SWT.NONE);
label.setText("z: ");
label.setLayoutData(layoutLabelS);
awZText = new Text(dof2Data, SWT.NONE);
awZText.setEnabled(false);
awZText.setLayoutData(layoutSensor);
awZText.setText("0.0");
Group dof3Data = new Group(sensorData, SWT.NONE);
dof3Data.setLayout(new GridLayout(6, false));
dof3Data.setText("Magnetic Field (uGauss)");
dof3Data.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(dof3Data, SWT.NONE);
label.setText("x: ");
label.setLayoutData(layoutLabelS);
magXText = new Text(dof3Data, SWT.NONE);
magXText.setEnabled(false);
magXText.setLayoutData(layoutSensor);
magXText.setText("0.0");
label = new Label(dof3Data, SWT.NONE);
label.setText("y: ");
label.setLayoutData(layoutLabelS);
magYText = new Text(dof3Data, SWT.NONE);
magYText.setEnabled(false);
magYText.setLayoutData(layoutSensor);
magYText.setText("0.0");
label = new Label(dof3Data, SWT.NONE);
label.setText("z: ");
label.setLayoutData(layoutLabelS);
magZText = new Text(dof3Data, SWT.NONE);
magZText.setEnabled(false);
magZText.setLayoutData(layoutSensor);
magZText.setText("0.0");
Group control = new Group(sensorData, SWT.NONE);
control.setLayout(new GridLayout(6, false));
layoutData = new GridData(GridData.HORIZONTAL_ALIGN_FILL);
layoutData.horizontalSpan = 6;
control.setLayoutData(layoutData);
control.setText("Motors Speed");
label = new Label(control, SWT.NONE);
label.setText("Front (R): ");
label.setLayoutData(layoutLabel);
gM0 = new CLabel(control, SWT.SHADOW_IN);
gM0.setLayoutData(layoutGradient);
gM0.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m0Text = new Text(control, SWT.NONE);
m0Text.setEnabled(false);
m0Text.setLayoutData(layoutMotor);
m0Text.setText("0.0");
label = new Label(control, SWT.NONE);
label.setText("Front (L): ");
label.setLayoutData(layoutLabel);
gM1 = new CLabel(control, SWT.SHADOW_IN);
gM1.setLayoutData(layoutGradient);
gM1.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m1Text = new Text(control, SWT.NONE);
m1Text.setEnabled(false);
m1Text.setLayoutData(layoutMotor);
m1Text.setText("0.0");
label = new Label(control, SWT.NONE);
label.setText("Back (R): ");
label.setLayoutData(layoutLabel);
gM2 = new CLabel(control, SWT.SHADOW_IN);
gM2.setLayoutData(layoutGradient);
gM2.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m2Text = new Text(control, SWT.NONE);
m2Text.setEnabled(false);
m2Text.setLayoutData(layoutMotor);
m2Text.setText("0.0");
label = new Label(control, SWT.NONE);
label.setText("Back (L): ");
label.setLayoutData(layoutLabel);
gM3 = new CLabel(control, SWT.SHADOW_IN);
gM3.setLayoutData(layoutGradient);
gM3.setBackground(
new Color[] {
Display.getDefault().getSystemColor(SWT.COLOR_GREEN),
Display.getDefault().getSystemColor(SWT.COLOR_YELLOW),
Display.getDefault().getSystemColor(SWT.COLOR_RED)
},
new int[] {100, 100});
m3Text = new Text(control, SWT.NONE);
m3Text.setEnabled(false);
m3Text.setLayoutData(layoutMotor);
m3Text.setText("0.0");
}
public class Command extends ViewPart {
private LogManager logger = LogManager.getInstance();
static final Color background1 = new Color(Display.getCurrent(), new RGB(76, 127, 220));
static final Color background2 = new Color(Display.getCurrent(), new RGB(255, 130, 0));
static final Color foregroundWhite = new Color(Display.getCurrent(), new RGB(255, 255, 255));
private float roll = 0;
private float pitch = 0;
private boolean enable = false;
private boolean enableDoubleClick = false;
private Text rollText;
private Text pitchText;
private static Text rollMax;
private Button lockRoll;
private Button lockPitch;
private static Text pitchMax;
private Canvas canvas;
boolean running = true;
private Text throttleText;
private CommandThread commandThread;
private int prevX = 0;
private int prevY = 0;
/** The ID of the view as specified by the extension. */
public static final String ID = "it.xbladecopter.command";
/** The constructor. */
public Command() {
commandThread = new CommandThread();
commandThread.setRunning(true);
ExecutorService exec = Executors.newSingleThreadExecutor();
exec.execute(commandThread);
exec.shutdown();
}
@Override
public void dispose() {
commandThread.setRunning(false);
super.dispose();
}
public static void updateFromPreferences() {
IPreferenceStore store = Activator.getDefault().getPreferenceStore();
if (rollMax != null && !rollMax.isDisposed())
rollMax.setText(store.getString(PreferenceConstants.P_CMD_ROLL));
if (pitchMax != null && !pitchMax.isDisposed())
pitchMax.setText(store.getString(PreferenceConstants.P_CMD_PITCH));
}
public void createPartControl(final Composite parent) {
parent.setLayout(new GridLayout(3, false));
final Composite comp = new Composite(parent, SWT.BORDER);
comp.setLayout(new FillLayout());
comp.setLayoutData(new GridData(GridData.FILL_BOTH));
final Scale scale = new Scale(parent, SWT.BORDER | SWT.VERTICAL);
scale.setLayoutData(new GridData(GridData.FILL_VERTICAL));
scale.setMaximum(100);
scale.setMinimum(0);
scale.setPageIncrement(1);
scale.setSelection(100);
scale.setToolTipText("Throttle Command.");
scale.addListener(
SWT.Selection,
new Listener() {
@Override
public void handleEvent(Event event) {
int value = 100 - scale.getSelection();
// Inverted! from 100 to 0.
if (throttleText != null) throttleText.setText(String.valueOf(value) + " %");
commandThread.getData().setM2(value);
commandThread.getData().setM3(value);
commandThread.getData().setM1(value);
commandThread.getData().setM0(value);
}
});
canvas = new Canvas(comp, SWT.DOUBLE_BUFFERED);
final Composite data = new Composite(parent, SWT.NONE);
data.setLayout(new GridLayout(1, true));
data.setLayoutData(new GridData(GridData.FILL_VERTICAL));
Group groupThrottle = new Group(data, SWT.NONE);
groupThrottle.setText("Throttle Command");
groupThrottle.setLayout(new GridLayout(2, true));
groupThrottle.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
Label label = new Label(groupThrottle, SWT.NONE);
label.setText("Throttle:");
throttleText = new Text(groupThrottle, SWT.BORDER);
throttleText.setEditable(false);
throttleText.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
throttleText.setText("0 %");
Group groupRoll = new Group(data, SWT.NONE);
groupRoll.setText("Roll Command");
groupRoll.setLayout(new GridLayout(2, true));
groupRoll.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
Group groupPitch = new Group(data, SWT.NONE);
groupPitch.setText("Pitch Command");
groupPitch.setLayout(new GridLayout(2, true));
groupPitch.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(groupRoll, SWT.NONE);
label.setText("Lock Roll:");
lockRoll = new Button(groupRoll, SWT.CHECK);
label = new Label(groupRoll, SWT.NONE);
label.setText("Roll (°):");
rollText = new Text(groupRoll, SWT.BORDER);
rollText.setEditable(false);
rollText.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(groupPitch, SWT.NONE);
label.setText("Lock Pitch:");
lockPitch = new Button(groupPitch, SWT.CHECK);
label = new Label(groupPitch, SWT.NONE);
label.setText("Pitch (°):");
pitchText = new Text(groupPitch, SWT.BORDER);
pitchText.setEditable(false);
pitchText.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
label = new Label(groupRoll, SWT.NONE);
label.setText("Max Roll (°):");
rollMax = new Text(groupRoll, SWT.BORDER);
rollMax.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
rollMax.addFocusListener(
new FocusListener() {
@Override
public void focusLost(FocusEvent e) {
String value = ((Text) e.widget).getText();
IPreferenceStore store = Activator.getDefault().getPreferenceStore();
int intVal = 0;
try {
intVal = Integer.valueOf(value);
} catch (NumberFormatException e1) {
((Text) e.widget).setText(store.getString(PreferenceConstants.P_CMD_ROLL));
}
if (intVal > 90 || intVal < 0)
((Text) e.widget).setText(store.getString(PreferenceConstants.P_CMD_ROLL));
}
@Override
public void focusGained(FocusEvent arg0) {}
});
label = new Label(groupPitch, SWT.NONE);
label.setText("Max Pitch (°):");
pitchMax = new Text(groupPitch, SWT.BORDER);
pitchMax.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
pitchMax.addFocusListener(
new FocusListener() {
@Override
public void focusLost(FocusEvent e) {
String value = ((Text) e.widget).getText();
IPreferenceStore store = Activator.getDefault().getPreferenceStore();
int intVal = 0;
try {
intVal = Integer.valueOf(value);
} catch (NumberFormatException e1) {
((Text) e.widget).setText(store.getString(PreferenceConstants.P_CMD_PITCH));
}
if (intVal > 90 || intVal < 0)
((Text) e.widget).setText(store.getString(PreferenceConstants.P_CMD_PITCH));
}
@Override
public void focusGained(FocusEvent arg0) {}
});
final Composite buttons = new Composite(data, SWT.NONE);
buttons.setLayout(new GridLayout(2, true));
buttons.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
final Button recordBtn = new Button(buttons, SWT.TOGGLE);
recordBtn.addListener(
SWT.Selection,
new Listener() {
@Override
public void handleEvent(Event event) {
if (recordBtn.getSelection()) TelemetryDataSingleton.getInstance().setLogEnabled(true);
else TelemetryDataSingleton.getInstance().setLogEnabled(false);
recordBtn.setSelection(TelemetryDataSingleton.getInstance().getLogEnabled());
logger.logInfo(
"Data recording " + (recordBtn.getSelection() ? "enabled." : "disabled."),
this.getClass());
}
});
recordBtn.setImage(
PlatformUI.getWorkbench().getSharedImages().getImage(ISharedImages.IMG_ELCL_STOP));
recordBtn.setLayoutData(new GridData(GridData.FILL_BOTH));
recordBtn.setToolTipText("Record telemetry to file.");
final Button enableBtn = new Button(buttons, SWT.TOGGLE);
enableBtn.addListener(
SWT.Selection,
new Listener() {
@Override
public void handleEvent(Event event) {
if (enableBtn.getSelection()) commandThread.setPause(true);
else commandThread.setPause(false);
recordBtn.setSelection(TelemetryDataSingleton.getInstance().getLogEnabled());
if (enableBtn.getSelection())
logger.logInfo("Command data sent enabled.", this.getClass());
else logger.logWarning("Command data sent disabled.", this.getClass());
}
});
enableBtn.setImage(
PlatformUI.getWorkbench().getSharedImages().getImage(ISharedImages.IMG_ELCL_COLLAPSEALL));
enableBtn.setLayoutData(new GridData(GridData.FILL_BOTH));
enableBtn.setToolTipText("Enable command data sent.");
canvas.setToolTipText("Pitch [left] & Roll [right] Commands.");
canvas.addPaintListener(
new PaintListener() {
@Override
public void paintControl(PaintEvent e) {
// Get the canvas for drawing and its width and height
Canvas canvas = (Canvas) e.widget;
int width = canvas.getSize().x;
int height = canvas.getSize().y - comp.getBorderWidth();
drawAttitudeControls(e.gc, width, height);
}
});
canvas.addMouseListener(
new MouseListener() {
@Override
public void mouseUp(MouseEvent e) {
enable = false;
roll = 0;
pitch = 0;
update();
}
@Override
public void mouseDown(MouseEvent e) {
enable = true;
prevX = e.x;
prevY = e.y;
}
@Override
public void mouseDoubleClick(MouseEvent e) {
if (enableDoubleClick) {
enableDoubleClick = false;
roll = 0;
pitch = 0;
update();
} else enableDoubleClick = true;
}
});
canvas.addMouseMoveListener(
new MouseMoveListener() {
private float pitchAngleStep;
private float rollAngleStep;
@Override
public void mouseMove(MouseEvent e) {
if (enable || enableDoubleClick) {
int maxRoll = Integer.valueOf(rollMax.getText());
int maxPitch = Integer.valueOf(pitchMax.getText());
// Calculate deltas and scale value
rollAngleStep = Math.abs(e.x - prevX) * 0.5f;
pitchAngleStep = Math.abs(e.y - prevY) * 1.5f;
if (roll >= maxRoll) {
roll = maxRoll;
} else if (roll <= -maxRoll) {
roll = -maxRoll;
}
if (pitch >= maxPitch) {
pitch = maxPitch;
} else if (pitch <= -maxPitch) {
pitch = -maxPitch;
}
if (e.x < prevX && !lockRoll.getSelection()) roll -= rollAngleStep;
else if (e.x > prevX && !lockRoll.getSelection()) roll += rollAngleStep;
else if (e.y < prevY && !lockPitch.getSelection()) pitch -= pitchAngleStep;
else if (e.y > prevY && !lockPitch.getSelection()) pitch += pitchAngleStep;
prevX = e.x;
prevY = e.y;
update();
}
}
});
updateFromPreferences();
}
private void update() {
commandThread.getData().setPitch(-pitch);
commandThread.getData().setRoll(-roll);
if (pitchText != null) {
pitchText.setText(String.valueOf(-pitch));
pitchText.update();
}
if (rollText != null) {
rollText.setText(String.valueOf(-roll));
rollText.update();
}
if (canvas != null) canvas.redraw();
}
/** Passing the focus request to the viewer's control. */
public void setFocus() {}
private void drawAttitudeControls(GC gc, int width, int height) {
int size = Math.min(width / 2, height);
int verticalOffset = (height - size) / 2;
gc.setLineWidth(2);
gc.setBackground(background1);
gc.fillArc(width / 2 - size, verticalOffset, size, size, 0, 360);
gc.fillArc(width / 2, verticalOffset, size, size, 0, 360);
gc.setBackground(background2);
gc.fillArc(width / 2 - size, verticalOffset, size, size, (int) pitch, -180);
gc.fillArc(width / 2, verticalOffset, size, size, (int) roll, -180);
gc.setForeground(foregroundWhite);
gc.drawArc(width / 2 - size, verticalOffset, size, size, 0, 360);
gc.drawArc(width / 2, verticalOffset, size, size, 0, 360);
String value = "";
gc.setForeground(foregroundWhite);
for (int i = 0; i < 2; i++) {
int centerX = width / 2 - i * size;
int tickSize = 20;
int step = 20;
for (int theta = 10; theta <= 360; theta += step) {
int x = (int) (size / 2 + size / 2 * Math.cos(theta * Math.PI / 180.0)) + centerX;
int y = (int) (size / 2 + size / 2 * Math.sin(theta * Math.PI / 180.0));
int xx =
(int) ((size) / 2 + (size - tickSize) / 2 * Math.cos(theta * Math.PI / 180.0))
+ centerX;
int yy = (int) ((size) / 2 + (size - tickSize) / 2 * Math.sin(theta * Math.PI / 180.0));
gc.drawLine(x, verticalOffset + y, xx, verticalOffset + yy);
if (theta < 180) {
if (theta > 90 && theta < 180) {
yy = yy - 15;
xx = xx + 2;
value = String.valueOf(theta);
} else if (theta > 45 && theta <= 90) {
yy = yy - 15;
xx = xx - 10;
value = String.valueOf(theta);
} else if (theta < 45) {
yy = yy - 15;
xx = xx - 15;
value = String.valueOf(theta);
}
gc.drawText(value, xx, verticalOffset + yy, true);
} else {
if (theta > 270) {
xx = xx - 9;
value = String.valueOf(theta - 360);
} else {
xx = xx - 3;
value = String.valueOf(theta - 360);
}
if (theta == 180) {
yy = yy - 7;
xx = xx + 10;
} else if (theta == 360) {
yy = yy - 7;
xx = xx - 3;
}
gc.drawText(value, xx, verticalOffset + yy, true);
}
}
}
}
}
