systemhealthgadgetwidget.cpp

Go to the documentation of this file.

/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#include "systemhealthgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "systemalarms.h"
#include <coreplugin/icore.h>
#include <QDebug>
#include <QWhatsThis>

/*
 * Initialize the widget
 */
SystemHealthGadgetWidget::SystemHealthGadgetWidget(QWidget *parent)
    : QGraphicsView(parent)
{
    setMinimumSize(128, 64);
    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
    setScene(new QGraphicsScene(this));

    m_renderer = new QSvgRenderer();
    background = new QGraphicsSvgItem();
    foreground = new QGraphicsSvgItem();
    nolink = new QGraphicsSvgItem();

    paint();

    // Now connect the widget to the SystemAlarms UAVObject
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

    SystemAlarms *obj = SystemAlarms::GetInstance(objManager);
    connect(obj, &UAVObject::objectUpdated, this, &SystemHealthGadgetWidget::updateAlarms);

    // Listen to autopilot connection events
    TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
    connect(telMngr, &TelemetryManager::connected, this,
            &SystemHealthGadgetWidget::onAutopilotConnect);
    connect(telMngr, &TelemetryManager::disconnected, this,
            &SystemHealthGadgetWidget::onAutopilotDisconnect);

    setToolTip(tr("Displays flight system errors. Click on an alarm for more information."));
}

void SystemHealthGadgetWidget::onAutopilotConnect()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    SystemAlarms *obj = SystemAlarms::GetInstance(objManager);

    if (obj->getIsPresentOnHardware()) {
        nolink->setVisible(false);
    } else {
        nolink->setVisible(true);
    }
}

void SystemHealthGadgetWidget::onAutopilotDisconnect()
{
    nolink->setVisible(true);
}

void SystemHealthGadgetWidget::updateAlarms(UAVObject *systemAlarm)
{
    static QList<QString> warningClean;
    // This code does not know anything about alarms beforehand, and
    // I found no efficient way to locate items inside the scene by
    // name, so it's just as simple to reset the scene:
    // And add the one with the right name.
    QGraphicsScene *m_scene = scene();
    foreach (QGraphicsItem *item, background->childItems()) {
        m_scene->removeItem(item);
        delete item; // removeItem does _not_ delete the item.
    }

    UAVObjectField *field = systemAlarm->getField("Alarm");
    Q_ASSERT(field);
    if (field == NULL)
        return;

    for (auto i = 0; i < field->getNumElements(); ++i) {
        QString element = field->getElementNames()[i];
        QString value = field->getValue(i).toString();
        if (m_renderer->elementExists(element)) {
            QMatrix blockMatrix = m_renderer->matrixForElement(element);
            qreal startX = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).x();
            qreal startY = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).y();
            QString element2 = element + "-" + value;
            if (m_renderer->elementExists(element2)) {
                QGraphicsSvgItem *ind = new QGraphicsSvgItem();
                ind->setSharedRenderer(m_renderer);
                ind->setElementId(element2);
                ind->setParentItem(background);
                QTransform matrix;
                matrix.translate(startX, startY);
                ind->setTransform(matrix, false);
            } else {
                if ((value.compare("Uninitialised") != 0) && !warningClean.contains(element2)) {
                    qDebug() << "[SystemHealth] Warning: The SystemHealth SVG does not contain a "
                                "graphical element for the "
                             << element2 << " alarm.";
                    warningClean.append(element2);
                }
            }
        } else if (!warningClean.contains(element)) {
            qDebug() << "[SystemHealth] Warning: The SystemHealth SVG does not contain a graphical "
                        "element for the "
                     << element << " alarm.";
            warningClean.append(element);
        }
    }
}

SystemHealthGadgetWidget::~SystemHealthGadgetWidget()
{
    // Do nothing
}

void SystemHealthGadgetWidget::setSystemFile(QString dfn)
{
    if (QFile::exists(dfn)) {
        m_renderer->load(dfn);
        if (m_renderer->isValid()) {
            fgenabled = false;
            background->setSharedRenderer(m_renderer);
            background->setElementId("background");

            if (m_renderer->elementExists("foreground")) {
                foreground->setSharedRenderer(m_renderer);
                foreground->setElementId("foreground");
                foreground->setZValue(99);
                fgenabled = true;
            }
            if (m_renderer->elementExists("nolink")) {
                nolink->setSharedRenderer(m_renderer);
                nolink->setElementId("nolink");
                nolink->setZValue(100);
            }

            QGraphicsScene *l_scene = scene();
            l_scene->setSceneRect(background->boundingRect());
            fitInView(background, Qt::KeepAspectRatio);

            // Check whether the autopilot is connected already, by the way:
            ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
            UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
            TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
            if (telMngr->isConnected()) {
                onAutopilotConnect();
                SystemAlarms *obj = SystemAlarms::GetInstance(objManager);
                updateAlarms(obj);
            }
        }
    } else {
        qDebug() << "SystemHealthGadget: no file";
    }
}

void SystemHealthGadgetWidget::paint()
{
    QGraphicsScene *l_scene = scene();
    l_scene->clear();
    l_scene->addItem(background);
    l_scene->addItem(foreground);
    l_scene->addItem(nolink);
    update();
}

void SystemHealthGadgetWidget::paintEvent(QPaintEvent *event)
{
    // Skip painting until the dial file is loaded
    if (!m_renderer->isValid()) {
        qDebug() << "SystemHealthGadget: System file not loaded, not rendering";
        return;
    }
    QGraphicsView::paintEvent(event);
}

// This event enables the dial to be dynamically resized
// whenever the gadget is resized, taking advantage of the vector
// nature of SVG dials.
void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
{
    Q_UNUSED(event);
    fitInView(background, Qt::KeepAspectRatio);
}

void SystemHealthGadgetWidget::mousePressEvent(QMouseEvent *event)
{
    QGraphicsScene *graphicsScene = scene();
    if (graphicsScene) {
        QPoint point = event->pos();
        bool haveAlarmItem = false;
        foreach (QGraphicsItem *sceneItem, items(point)) {
            QGraphicsSvgItem *clickedItem = dynamic_cast<QGraphicsSvgItem *>(sceneItem);

            if (clickedItem) {
                if ((clickedItem != foreground) && (clickedItem != background)) {
                    // Clicked an actual alarm. We need to set haveAlarmItem to true
                    // as two of the items in this loop will always be foreground and
                    // background. Without this flag, at some point in the loop we
                    // would always call showAllAlarmDescriptions...
                    haveAlarmItem = true;
                    QString itemId = clickedItem->elementId();
                    if (itemId.contains("OK")) {
                        // No alarm set for this item
                        showAlarmDescriptionForItemId("AlarmOK", event->globalPos());
                    } else {
                        // Warning, error or critical alarm
                        showAlarmDescriptionForItemId(itemId, event->globalPos());
                    }
                }
            }
        }
        if (!haveAlarmItem) {
            // Clicked foreground or background
            showAllAlarmDescriptions(event->globalPos());
        }
    }
}

void SystemHealthGadgetWidget::showAlarmDescriptionForItemId(const QString itemId,
                                                             const QPoint &location)
{
    QFile alarmDescription(getAlarmDescriptionFileName(itemId));
    if (alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)) {
        QTextStream textStream(&alarmDescription);
        QWhatsThis::showText(location, textStream.readAll());
    }
}

void SystemHealthGadgetWidget::showAllAlarmDescriptions(const QPoint &location)
{
    QGraphicsScene *graphicsScene = scene();
    if (graphicsScene) {
        QString alarmsText;
        // Loop through all items in the scene looking for svg items that represent alarms
        foreach (QGraphicsItem *curItem, graphicsScene->items()) {
            QGraphicsSvgItem *curSvgItem = dynamic_cast<QGraphicsSvgItem *>(curItem);
            if (curSvgItem && (curSvgItem != foreground) && (curSvgItem != background)) {
                QString elementId = curSvgItem->elementId();
                if (!elementId.contains("OK")) {
                    // Found an alarm, get its corresponding alarm html file contents
                    // and append to the cumulative string for all alarms.
                    QFile alarmDescription(getAlarmDescriptionFileName(elementId));
                    if (alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)) {
                        QTextStream textStream(&alarmDescription);
                        alarmsText.append(textStream.readAll());
                        alarmDescription.close();
                    }
                }
            }
        }
        // Show alarms text if we have any
        if (alarmsText.length() > 0) {
            QWhatsThis::showText(location, alarmsText);
        }
    }
}

QString SystemHealthGadgetWidget::getAlarmDescriptionFileName(const QString itemId)
{
    QString alarmDescriptionFileName;
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    SystemAlarms::DataFields systemAlarmsData = SystemAlarms::GetInstance(objManager)->getData();
    if (itemId.contains("SystemConfiguration-")) {
        switch (systemAlarmsData.ConfigError) {
        case SystemAlarms::CONFIGERROR_STABILIZATION:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-Stabilization.html");
            break;
        case SystemAlarms::CONFIGERROR_NAVFILTER:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-NavFilter.html");
            break;
        case SystemAlarms::CONFIGERROR_MULTIROTOR:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-Multirotor.html");
            break;
        case SystemAlarms::CONFIGERROR_AUTOTUNE:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-AutoTune.html");
            break;
        case SystemAlarms::CONFIGERROR_ALTITUDEHOLD:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-AltitudeHold.html");
            break;
        case SystemAlarms::CONFIGERROR_POSITIONHOLD:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-PositionHold.html");
            break;
        case SystemAlarms::CONFIGERROR_DUPLICATEPORTCFG:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-DuplicatePortCfg.html");
            break;
        case SystemAlarms::CONFIGERROR_PATHPLANNER:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-PathPlanner.html");
            break;
        case SystemAlarms::CONFIGERROR_UNSAFETOARM:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-UnsafeToArm.html");
            break;
        case SystemAlarms::CONFIGERROR_LQG:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Error-LQG.html");
            break;
        case SystemAlarms::CONFIGERROR_UNDEFINED:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/SystemConfiguration-Undefined.html");
            break;
        default:
            alarmDescriptionFileName = QString(":/systemhealth/html/SystemConfiguration-None.html");
            break;
        }
    } else if (itemId.contains("ManualControl-")) {
        switch (systemAlarmsData.ManualControl) {
        case SystemAlarms::MANUALCONTROL_SETTINGS:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/ManualControl-Critical-Settings.html");
            break;
        case SystemAlarms::MANUALCONTROL_NORX:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/ManualControl-Warning-NoRx.html");
            break;
        case SystemAlarms::MANUALCONTROL_ACCESSORY:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/ManualControl-Warning-Accessory.html");
            break;
        case SystemAlarms::MANUALCONTROL_ALTITUDEHOLD:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/ManualControl-Error-AltitudeHold.html");
            break;
        case SystemAlarms::MANUALCONTROL_PATHFOLLOWER:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/ManualControl-Critical-PathFollower.html");
            break;
        case SystemAlarms::MANUALCONTROL_CHANNELCONFIGURATION:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/ManualControl-Warning-ChannelConfiguration.html");
            break;
        case SystemAlarms::MANUALCONTROL_UNDEFINED:
            alarmDescriptionFileName = QString(":/systemhealth/html/ManualControl-Undefined.html");
            break;
        default:
            alarmDescriptionFileName = QString(":/systemhealth/html/ManualControl-None.html");
            break;
        }
    } else if (itemId.contains("StateEstimation-") || itemId.contains("Attitude-")) {
        switch (systemAlarmsData.StateEstimation) {
        case SystemAlarms::STATEESTIMATION_GYROQUEUENOTUPDATING:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/StateEstimation-Gyro-Queue-Not-Updating.html");
            break;
        case SystemAlarms::STATEESTIMATION_ACCELEROMETERQUEUENOTUPDATING:
            alarmDescriptionFileName = QString(
                ":/systemhealth/html/StateEstimation-Accelerometer-Queue-Not-Updating.html");
            break;
        case SystemAlarms::STATEESTIMATION_NOGPS:
            alarmDescriptionFileName = QString(":/systemhealth/html/StateEstimation-No-GPS.html");
            break;
        case SystemAlarms::STATEESTIMATION_NOMAGNETOMETER:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/StateEstimation-No-Magnetometer.html");
            break;
        case SystemAlarms::STATEESTIMATION_NOBAROMETER:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/StateEstimation-No-Barometer.html");
            break;
        case SystemAlarms::STATEESTIMATION_TOOFEWSATELLITES:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/StateEstimation-Too-Few-Satellites.html");
            break;
        case SystemAlarms::STATEESTIMATION_PDOPTOOHIGH:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/StateEstimation-PDOP-Too-High.html");
            break;
        case SystemAlarms::STATEESTIMATION_UNDEFINED:
            alarmDescriptionFileName =
                QString(":/systemhealth/html/StateEstimation-Undefined.html");
            break;
        case SystemAlarms::STATEESTIMATION_NOHOME:
            alarmDescriptionFileName = QString(":/systemhealth/html/StateEstimation-NoHome.html");
            break;
        default:
            alarmDescriptionFileName = QString(":/systemhealth/html/StateEstimation-None.html");
            break;
        }
    } else {
        alarmDescriptionFileName = QString(":/systemhealth/html/" + itemId + ".html");
    }
    return alarmDescriptionFileName;
}