diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index 1ab4651b3a5e495582d31fde03559a69d9a907ac..117e51de5cdad1286e0aba24a76177f33635261c 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -100,6 +100,7 @@ src/QmlControls/ModeSwitchDisplay.qml src/QmlControls/MissionItemIndexLabel.qml src/QmlControls/MissionItemSummary.qml + src/QmlControls/MissionItemEditor.qml src/VehicleSetup/SetupView.qml @@ -151,7 +152,7 @@ src/FlightMap/Widgets/QGCWaypointEditor.qml - src/FlightMap/MapItems/MissionMapItem.qml + src/FlightMap/MapItems/MissionItemIndicator.qml src/FlightMap/MapItems/VehicleMapItem.qml diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml index 4a139203a7b6bb2e6cc086477fd49974738c3c70..dafc57dd9e36021caedad5fff2c7e2deb310a0d0 100644 --- a/src/FlightDisplay/FlightDisplayView.qml +++ b/src/FlightDisplay/FlightDisplayView.qml @@ -95,8 +95,10 @@ Item { model: multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.missionItems : 0 delegate: - MissionMapItem { - missionItem: object + MissionItemIndicator { + label: object.sequenceNumber + isCurrentItem: object.isCurrentItem + coordinate: object.coordinate } } diff --git a/src/FlightMap/FlightMap.qml b/src/FlightMap/FlightMap.qml index bf2d7d4dadd97181aeb4bbcc5dbeceb8449d57b5..f13516ab5e17fdfbcc92b8fbbba07df4b2005cfa 100644 --- a/src/FlightMap/FlightMap.qml +++ b/src/FlightMap/FlightMap.qml @@ -76,13 +76,13 @@ Map { Menu { id: mapTypeMenu title: "Map Type..." - enabled: root.visible + enabled: _map.visible ExclusiveGroup { id: currMapType } function setCurrentMap(mapID) { for (var i = 0; i < _map.supportedMapTypes.length; i++) { if (mapID === _map.supportedMapTypes[i].name) { _map.activeMapType = _map.supportedMapTypes[i] - multiVehicleManager.saveSetting(root.mapName + "/currentMapType", mapID); + multiVehicleManager.saveSetting(_map.mapName + "/currentMapType", mapID); return; } } @@ -100,7 +100,7 @@ Map { var mapID = '' if (_map.supportedMapTypes.length > 0) mapID = _map.activeMapType.name; - mapID = multiVehicleManager.loadSetting(root.mapName + "/currentMapType", mapID); + mapID = multiVehicleManager.loadSetting(_map.mapName + "/currentMapType", mapID); for (var i = 0; i < _map.supportedMapTypes.length; i++) { var name = _map.supportedMapTypes[i].name; addMap(name, mapID === name); diff --git a/src/FlightMap/MapItems/MissionMapItem.qml b/src/FlightMap/MapItems/MissionItemIndicator.qml similarity index 90% rename from src/FlightMap/MapItems/MissionMapItem.qml rename to src/FlightMap/MapItems/MissionItemIndicator.qml index c2bdf22b403119e75138129987816a7214a4ba36..8036cb1151120a28b8bbe08fc39300ee2c26ac05 100644 --- a/src/FlightMap/MapItems/MissionMapItem.qml +++ b/src/FlightMap/MapItems/MissionItemIndicator.qml @@ -30,14 +30,14 @@ import QGroundControl.Vehicle 1.0 /// Marker for displaying a mission item on the map MapQuickItem { - property var missionItem ///< Mission Item object + property alias label: _label.label + property alias isCurrentItem: _label.isCurrentItem anchorPoint.x: sourceItem.width / 2 anchorPoint.y: sourceItem.height / 2 - coordinate: missionItem.coordinate sourceItem: MissionItemIndexLabel { - missionItemIndex: missionItem.id + id: _label } } diff --git a/src/FlightMap/qmldir b/src/FlightMap/qmldir index 31105f448d45d239307e634e1e03ec3e20046af1..5ab3544a98cdb7e42dfe495a4a00e9f95d34760a 100644 --- a/src/FlightMap/qmldir +++ b/src/FlightMap/qmldir @@ -21,4 +21,4 @@ QGCWaypointEditor 1.0 QGCWaypointEditor.qml # MapQuickItems VehicleMapItem 1.0 VehicleMapItem.qml -MissionMapItem 1.0 MissionMapItem.qml +MissionItemIndicator 1.0 MissionItemIndicator.qml diff --git a/src/MissionEditor/MissionEditor.cc b/src/MissionEditor/MissionEditor.cc index d50d572d5f9d99e45edc229551bc46c05383590d..91b2281774432f712cf99542eb05fe5a1ea00f3c 100644 --- a/src/MissionEditor/MissionEditor.cc +++ b/src/MissionEditor/MissionEditor.cc @@ -73,6 +73,10 @@ QString MissionEditor::loadSetting(const QString &name, const QString& defaultVa void MissionEditor::addMissionItem(QGeoCoordinate coordinate) { - MissionItem * newItem = new MissionItem(this, _missionItems.count(), coordinate.longitude(), coordinate.latitude()); + MissionItem * newItem = new MissionItem(this, _missionItems.count(), coordinate); + if (_missionItems.count() == 0) { + newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF); + } + qDebug() << "MissionItem" << newItem->coordinate(); _missionItems.append(newItem); } diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml index b7ebb79e87c113e909898df50ded090997514f8f..e5f0e9c842a99ea17b875aecb75a6b4b2b9024e2 100644 --- a/src/MissionEditor/MissionEditor.qml +++ b/src/MissionEditor/MissionEditor.qml @@ -21,10 +21,11 @@ This file is part of the QGROUNDCONTROL project ======================================================================*/ -import QtQuick 2.4 -import QtQuick.Controls 1.3 -import QtQuick.Controls.Styles 1.2 -import QtQuick.Dialogs 1.2 +import QtQuick 2.4 +import QtQuick.Controls 1.3 +import QtQuick.Dialogs 1.2 +import QtLocation 5.3 +import QtPositioning 5.3 import QGroundControl.FlightMap 1.0 import QGroundControl.ScreenTools 1.0 @@ -32,64 +33,83 @@ import QGroundControl.Controls 1.0 import QGroundControl.Palette 1.0 /// Mission Editor + Item { - id: root + // For some reason we can't have FlightMap as the top level control. If you do that it doesn't draw. + // So we have an Item at the top to work around that. - property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } + readonly property real _defaultLatitude: 37.803784 + readonly property real _defaultLongitude: -122.462276 + readonly property int _decimalPlaces: 7 - property var _activeVehicle: multiVehicleManager.activeVehicle + FlightMap { + id: editorMap + anchors.fill: parent + mapName: "MissionEditor" + latitude: _defaultLatitude + longitude: _defaultLongitude - readonly property real _defaultLatitude: 37.803784 - readonly property real _defaultLongitude: -122.462276 + QGCLabel { text: "WIP: Non functional"; font.pixelSize: ScreenTools.largeFontPixelSize } - FlightMap { - id: editorMap - anchors.fill: parent - mapName: "MissionEditor" - latitude: parent._defaultLatitude - longitude: parent._defaultLongitude MouseArea { anchors.fill: parent - onClicked: controller.addMissionItem(editorMap.mapItem.toCoordinate(Qt.point(mouse.x, mouse.y))) + onClicked: { + var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) + coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) + coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) + coordinate.altitude = 0 + controller.addMissionItem(coordinate) + } } - } - Column { - id: controlWidgets - anchors.margins: ScreenTools.defaultFontPixelWidth - anchors.right: parent.left - anchors.bottom: parent.top - spacing: ScreenTools.defaultFontPixelWidth / 2 - - QGCButton { - id: addMode - text: "+" - checkable: true + // Add the mission items to the map + MapItemView { + model: controller.missionItems + + delegate: + MissionItemIndicator { + label: object.sequenceNumber + isCurrentItem: object.isCurrentItem + coordinate: object.coordinate + + Component.onCompleted: console.log("Indicator", object.coordinate) + } + } + + // Mission item list + ListView { + id: missionItemSummaryList + anchors.margins: ScreenTools.defaultFontPixelHeight + anchors.top: parent.top + anchors.bottom: editorMap.mapWidgets.top + anchors.right: parent.right + width: ScreenTools.defaultFontPixelWidth * 30 + spacing: ScreenTools.defaultFontPixelHeight / 2 + orientation: ListView.Vertical + model: controller.missionItems + + property real _maxItemHeight: 0 + + delegate: + MissionItemEditor { + missionItem: object + } } - } - // Mission item list - ListView { - id: missionItemSummaryList - anchors.margins: ScreenTools.defaultFontPixelWidth - anchors.bottom: parent.bottom - width: parent.width - height: ScreenTools.defaultFontPixelHeight * 7 - spacing: ScreenTools.defaultFontPixelWidth / 2 - opacity: 0.75 - orientation: ListView.Horizontal - model: controller.missionItems - - property real _maxItemHeight: 0 - - delegate: - MissionItemSummary { - opacity: 0.75 - missionItem: object -Component.onCompleted: console.log("add", object.id) + Column { + id: controlWidgets + anchors.margins: ScreenTools.defaultFontPixelWidth + anchors.right: parent.left + anchors.bottom: parent.top + spacing: ScreenTools.defaultFontPixelWidth / 2 + + QGCButton { + id: addMode + text: "+" + checkable: true } + } } - } diff --git a/src/MissionItem.cc b/src/MissionItem.cc index d613a8244d6fedda0058588167fac3a96fb1b42b..1be08bb9257ef2932db7484d9a96d16f7589dfe2 100644 --- a/src/MissionItem.cc +++ b/src/MissionItem.cc @@ -34,41 +34,43 @@ This file is part of the QGROUNDCONTROL project #include "MissionItem.h" -MissionItem::MissionItem( - QObject *parent, - quint16 id, - double x, - double y, - double z, - double param1, - double param2, - double param3, - double param4, - bool autocontinue, - bool current, - int frame, - int action, - const QString& description - ) +const MissionItem::MavCmd2Name_t MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = { + { MAV_CMD_NAV_WAYPOINT, "Waypoint" }, + { MAV_CMD_NAV_LOITER_UNLIM, "Loiter" }, + { MAV_CMD_NAV_LOITER_TURNS, "Loiter (turns)" }, + { MAV_CMD_NAV_LOITER_TIME, "Loiter (unlimited)" }, + { MAV_CMD_NAV_RETURN_TO_LAUNCH, "Return Home" }, + { MAV_CMD_NAV_LAND, "Land" }, + { MAV_CMD_NAV_TAKEOFF, "Takeoff" }, + { MAV_CMD_CONDITION_DELAY, "Delay" }, + { MAV_CMD_DO_JUMP, "Jump To Command" }, +}; + +MissionItem::MissionItem(QObject* parent, + int sequenceNumber, + QGeoCoordinate coordinate, + double param1, + double param2, + double param3, + double param4, + bool autocontinue, + bool isCurrentItem, + int frame, + int action) : QObject(parent) - , _id(id) - , _x(x) - , _y(y) - , _z(z) + , _sequenceNumber(sequenceNumber) + , _coordinate(coordinate) , _yaw(param4) , _frame(frame) , _action(action) , _autocontinue(autocontinue) - , _current(current) + , _isCurrentItem(isCurrentItem) , _orbit(param3) , _param1(param1) , _param2(param2) - , _name(QString("WP%1").arg(id, 2, 10, QChar('0'))) - , _description(description) , _reachedTime(0) { - connect(this, &MissionItem::latitudeChanged, this, &MissionItem::coordinateChanged); - connect(this, &MissionItem::longitudeChanged, this, &MissionItem::coordinateChanged); + } MissionItem::MissionItem(const MissionItem& other) @@ -83,21 +85,18 @@ MissionItem::~MissionItem() const MissionItem& MissionItem::operator=(const MissionItem& other) { - _id = other.getId(); - _x = other.getX(); - _y = other.getY(); - _z = other.getZ(); - _yaw = other.getYaw(); - _frame = other.getFrame(); - _action = other.getAction(); - _autocontinue = other.getAutoContinue(); - _current = other.getCurrent(); - _orbit = other.getParam3(); - _param1 = other.getParam1(); - _param2 = other.getParam2(); - _name = other.getName(); - _description = other.getDescription(); - _reachedTime = other.getReachedTime(); + _sequenceNumber = other._sequenceNumber; + _isCurrentItem = other._isCurrentItem; + _coordinate = other._coordinate; + _yaw = other._yaw; + _frame = other._frame; + _action = other._action; + _autocontinue = other._autocontinue; + _orbit = other._orbit; + _param1 = other._param1; + _param2 = other._param2; + _reachedTime = other._reachedTime; + return *this; } @@ -109,43 +108,42 @@ bool MissionItem::isNavigationType() void MissionItem::save(QTextStream &saveStream) { QString position("%1\t%2\t%3"); - position = position.arg(_x, 0, 'g', 18); - position = position.arg(_y, 0, 'g', 18); - position = position.arg(_z, 0, 'g', 18); + position = position.arg(x(), 0, 'g', 18); + position = position.arg(y(), 0, 'g', 18); + position = position.arg(z(), 0, 'g', 18); QString parameters("%1\t%2\t%3\t%4"); parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yaw, 0, 'g', 18); // FORMAT: // as documented here: http://qgroundcontrol.org/waypoint_protocol - saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << parameters << "\t" << position << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n"; + saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << parameters << "\t" << position << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n"; } bool MissionItem::load(QTextStream &loadStream) { const QStringList &wpParams = loadStream.readLine().split("\t"); if (wpParams.size() == 12) { - _id = wpParams[0].toInt(); - _current = (wpParams[1].toInt() == 1 ? true : false); + setSequenceNumber(wpParams[0].toInt()); + setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false); _frame = (MAV_FRAME) wpParams[2].toInt(); _action = (MAV_CMD) wpParams[3].toInt(); _param1 = wpParams[4].toDouble(); _param2 = wpParams[5].toDouble(); _orbit = wpParams[6].toDouble(); - _yaw = wpParams[7].toDouble(); - _x = wpParams[8].toDouble(); - _y = wpParams[9].toDouble(); - _z = wpParams[10].toDouble(); + setYaw(wpParams[7].toDouble()); + setLatitude(wpParams[8].toDouble()); + setLongitude(wpParams[9].toDouble()); + setAltitude(wpParams[10].toDouble()); _autocontinue = (wpParams[11].toInt() == 1 ? true : false); - //_description = wpParams[12]; return true; } return false; } -void MissionItem::setId(quint16 id) +void MissionItem::setSequenceNumber(int sequenceNumber) { - _id = id; - _name = QString("WP%1").arg(id, 2, 10, QChar('0')); + _sequenceNumber = sequenceNumber; + emit sequenceNumberChanged(_sequenceNumber); emit changed(this); } @@ -153,8 +151,7 @@ void MissionItem::setX(double x) { if (!isinf(x) && !isnan(x) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU))) { - _x = x; - emit changed(this); + setLatitude(x); } } @@ -162,8 +159,7 @@ void MissionItem::setY(double y) { if (!isinf(y) && !isnan(y) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU))) { - _y = y; - emit changed(this); + setLongitude(y); } } @@ -171,49 +167,38 @@ void MissionItem::setZ(double z) { if (!isinf(z) && !isnan(z) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU))) { - _z = z; - emit changed(this); + setAltitude(z); } } void MissionItem::setLatitude(double lat) { - if (_x != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) + if (_coordinate.latitude() != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) { - _x = lat; + _coordinate.setLatitude(lat); emit changed(this); - emit coordinateChanged(); + emit coordinateChanged(coordinate()); } } void MissionItem::setLongitude(double lon) { - if (_y != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) + if (_coordinate.longitude() != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) { - _y = lon; + _coordinate.setLongitude(lon); emit changed(this); - emit coordinateChanged(); + emit coordinateChanged(coordinate()); } } void MissionItem::setAltitude(double altitude) { - if (_z != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) + if (_coordinate.altitude() != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) { - _z = altitude; - emit changed(this); - emit valueStringsChanged(valueStrings()); - emit coordinateChanged(); - } -} - -void MissionItem::setYaw(int yaw) -{ - if (_yaw != yaw) - { - _yaw = yaw; + _coordinate.setAltitude(altitude); emit changed(this); emit valueStringsChanged(valueStrings()); + emit coordinateChanged(coordinate()); } } @@ -222,6 +207,7 @@ void MissionItem::setYaw(double yaw) if (_yaw != yaw) { _yaw = yaw; + emit yawChanged(yaw); emit changed(this); emit valueStringsChanged(valueStrings()); } @@ -242,7 +228,7 @@ void MissionItem::setAction(int /*MAV_CMD*/ action) emit changed(this); emit commandNameChanged(commandName()); emit commandChanged((MavlinkQmlSingleton::Qml_MAV_CMD)_action); - emit hasCoordinateChanged(hasCoordinate()); + emit specifiesCoordinateChanged(specifiesCoordinate()); emit valueLabelsChanged(valueLabels()); emit valueStringsChanged(valueStrings()); } @@ -264,13 +250,11 @@ void MissionItem::setAutocontinue(bool autoContinue) } } -void MissionItem::setCurrent(bool current) +void MissionItem::setIsCurrentItem(bool isCurrentItem) { - if (_current != current) - { - _current = current; - // The current waypoint index is handled by the list - // and not part of the individual waypoint update state + if (_isCurrentItem != isCurrentItem) { + _isCurrentItem = isCurrentItem; + emit isCurrentItemChanged(isCurrentItem); } } @@ -326,8 +310,8 @@ void MissionItem::setParam4(double param4) void MissionItem::setParam5(double param5) { - if (_x != param5) { - _x = param5; + if (_coordinate.latitude() != param5) { + _coordinate.setLatitude(param5); emit changed(this); emit valueStringsChanged(valueStrings()); } @@ -335,8 +319,8 @@ void MissionItem::setParam5(double param5) void MissionItem::setParam6(double param6) { - if (_y != param6) { - _y = param6; + if (_coordinate.longitude() != param6) { + _coordinate.setLongitude(param6); emit changed(this); emit valueStringsChanged(valueStrings()); } @@ -344,8 +328,8 @@ void MissionItem::setParam6(double param6) void MissionItem::setParam7(double param7) { - if (_z != param7) { - _z = param7; + if (_coordinate.altitude() != param7) { + _coordinate.setAltitude(param7); emit valueStringsChanged(valueStrings()); emit changed(this); } @@ -387,7 +371,7 @@ void MissionItem::setTurns(int turns) } } -bool MissionItem::hasCoordinate(void) +bool MissionItem::specifiesCoordinate(void) const { switch (_action) { case MAV_CMD_NAV_WAYPOINT: @@ -402,11 +386,6 @@ bool MissionItem::hasCoordinate(void) } } -QGeoCoordinate MissionItem::coordinate(void) -{ - return QGeoCoordinate(_x, _y); -} - QString MissionItem::commandName(void) { QString type; @@ -507,7 +486,7 @@ QStringList MissionItem::valueStrings(void) switch (_action) { case MAV_CMD_NAV_WAYPOINT: - list << _oneDecimalString(_z) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1); + list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1); break; case MAV_CMD_NAV_LOITER_UNLIM: list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit); @@ -521,10 +500,10 @@ QStringList MissionItem::valueStrings(void) case MAV_CMD_NAV_RETURN_TO_LAUNCH: break; case MAV_CMD_NAV_LAND: - list << _oneDecimalString(_z) << _oneDecimalString(_yaw * (180.0 / M_PI)); + list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)); break; case MAV_CMD_NAV_TAKEOFF: - list << _oneDecimalString(_z) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param1); + list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param1); break; case MAV_CMD_CONDITION_DELAY: list << _oneDecimalString(_param1); @@ -537,4 +516,42 @@ QStringList MissionItem::valueStrings(void) } return list; -} \ No newline at end of file +} + +void MissionItem::setCoordinate(const QGeoCoordinate& coordinate) +{ + _coordinate = coordinate; + emit coordinateChanged(coordinate); + emit changed(this); +} + +QStringList MissionItem::commandNames(void) { + QStringList list; + + for (int i=0; i<_cMavCmd2Name; i++) { + list += _rgMavCmd2Name[i].name; + } + + return list; +} + +int MissionItem::commandByIndex(void) +{ + for (int i=0; i<_cMavCmd2Name; i++) { + if (_rgMavCmd2Name[i].command == _action) { + return i; + } + } + + return -1; +} + +void MissionItem::setCommandByIndex(int index) +{ + if (index < 0 || index >= _cMavCmd2Name) { + qWarning() << "Invalid index" << index; + return; + } + + setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command); +} diff --git a/src/MissionItem.h b/src/MissionItem.h index 84fb83c2cc70426ef3d2ff8c2b7b97e89781108d..300ac3d7f4da38268e3daddfc7e4e681f8e2b9d4 100644 --- a/src/MissionItem.h +++ b/src/MissionItem.h @@ -39,76 +39,84 @@ class MissionItem : public QObject Q_OBJECT public: - MissionItem( - QObject *parent = 0, - quint16 id = 0, - double x = 0.0, - double y = 0.0, - double z = 0.0, - double param1 = 0.0, - double param2 = 0.0, - double param3 = 0.0, - double param4 = 0.0, - bool autocontinue = true, - bool current = false, - int frame = MAV_FRAME_GLOBAL, - int action = MAV_CMD_NAV_WAYPOINT, - const QString& description=QString("")); + MissionItem(QObject *parent = 0, + int sequenceNumber = 0, + QGeoCoordinate coordiante = QGeoCoordinate(), + double param1 = 0.0, + double param2 = 0.0, + double param3 = 0.0, + double param4 = 0.0, + bool autocontinue = true, + bool isCurrentItem = false, + int frame = MAV_FRAME_GLOBAL, + int action = MAV_CMD_NAV_WAYPOINT); MissionItem(const MissionItem& other); ~MissionItem(); const MissionItem& operator=(const MissionItem& other); - - Q_PROPERTY(bool hasCoordinate READ hasCoordinate NOTIFY hasCoordinateChanged) - Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged) - Q_PROPERTY(QString commandName READ commandName NOTIFY commandNameChanged) - Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged) + Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged) + Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged) + Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged) + Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged) + Q_PROPERTY(double yaw READ yaw WRITE setYaw NOTIFY yawChanged) + Q_PROPERTY(QStringList commandNames READ commandNames CONSTANT) + Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged) + Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged) + Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged) + Q_PROPERTY(int commandByIndex READ commandByIndex WRITE setCommandByIndex NOTIFY commandChanged) + Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged) + + // Property accesors + + int sequenceNumber(void) const { return _sequenceNumber; } + void setSequenceNumber(int sequenceNumber); + + bool isCurrentItem(void) const { return _isCurrentItem; } + void setIsCurrentItem(bool isCurrentItem); - Q_PROPERTY(double longitude READ longitude NOTIFY longitudeChanged) - Q_PROPERTY(double latitude READ latitude NOTIFY latitudeChanged) - Q_PROPERTY(double altitude READ altitude NOTIFY altitudeChanged) - Q_PROPERTY(quint16 id READ id CONSTANT) + bool specifiesCoordinate(void) const; - Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged) - Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged) + QGeoCoordinate coordinate(void) const { return _coordinate; } + void setCoordinate(const QGeoCoordinate& coordinate); + + QStringList commandNames(void); + QString commandName(void); - double latitude() { return _x; } - double longitude() { return _y; } - double altitude() { return _z; } - quint16 id() { return _id; } + int commandByIndex(void); + void setCommandByIndex(int index); + + MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)getAction(); }; + void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); } + + QStringList valueLabels(void); + QStringList valueStrings(void); + + // C++ only methods - quint16 getId() const { - return _id; - } - double getX() const { - return _x; - } - double getY() const { - return _y; - } - double getZ() const { - return _z; - } - double getLatitude() const { - return _x; - } - double getLongitude() const { - return _y; - } - double getAltitude() const { - return _z; - } - double getYaw() const { - return _yaw; - } + double latitude(void) const { return _coordinate.latitude(); } + double longitude(void) const { return _coordinate.longitude(); } + double altitude(void) const { return _coordinate.altitude(); } + + void setLatitude(double latitude); + void setLongitude(double longitude); + void setAltitude(double altitude); + + double x(void) const { return latitude(); } + double y(void) const { return longitude(); } + double z(void) const { return altitude(); } + + void setX(double x); + void setY(double y); + void setZ(double z); + + double yaw(void) const { return _yaw; } + void setYaw(double yaw); + bool getAutoContinue() const { return _autocontinue; } - bool getCurrent() const { - return _current; - } double getLoiterOrbit() const { return _orbit; } @@ -128,16 +136,16 @@ public: return _orbit; } double getParam4() const { - return _yaw; + return yaw(); } double getParam5() const { - return _x; + return latitude(); } double getParam6() const { - return _y; + return longitude(); } double getParam7() const { - return _z; + return altitude(); } int getTurns() const { return _param1; @@ -150,13 +158,6 @@ public: int getAction() const { return _action; } - const QString& getName() const { - return _name; - } - const QString& getDescription() const { - return _description; - } - /** @brief Returns true if x, y, z contain reasonable navigation data */ bool isNavigationType(); @@ -166,47 +167,24 @@ public: void save(QTextStream &saveStream); bool load(QTextStream &loadStream); - bool hasCoordinate(void); - QGeoCoordinate coordinate(void); - QString commandName(void); +signals: + void sequenceNumberChanged(int sequenceNumber); + void specifiesCoordinateChanged(bool specifiesCoordinate); + void isCurrentItemChanged(bool isCurrentItem); + void coordinateChanged(const QGeoCoordinate& coordinate); + void yawChanged(double yaw); + + /** @brief Announces a change to the waypoint data */ + void changed(MissionItem* wp); - MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)getAction(); }; - void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); } - QStringList valueLabels(void); - QStringList valueStrings(void); + void commandNameChanged(QString type); + void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command); + void valueLabelsChanged(QStringList valueLabels); + void valueStringsChanged(QStringList valueStrings); -protected: - quint16 _id; - double _x; - double _y; - double _z; - double _yaw; - int _frame; - int _action; - bool _autocontinue; - bool _current; - double _orbit; - double _param1; - double _param2; - int _turns; - QString _name; - QString _description; - quint64 _reachedTime; - public: - void setId (quint16 _id); - void setX (double _x); - void setY (double _y); - void setZ (double _z); - void setLatitude (double lat); - void setLongitude (double lon); - void setAltitude (double alt); - /** @brief Yaw angle in COMPASS DEGREES: 0-360 */ - void setYaw (int _yaw); - /** @brief Yaw angle in COMPASS DEGREES: 0-360 */ - void setYaw (double _yaw); /** @brief Set the waypoint action */ void setAction (int _action); void setFrame (int _frame); @@ -234,22 +212,30 @@ public: emit changed(this); } -signals: - /** @brief Announces a change to the waypoint data */ - void changed(MissionItem* wp); - - void latitudeChanged (); - void longitudeChanged (); - void altitudeChanged (); - void hasCoordinateChanged(bool hasCoordinate); - void coordinateChanged(void); - void commandNameChanged(QString type); - void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command); - void valueLabelsChanged(QStringList valueLabels); - void valueStringsChanged(QStringList valueStrings); - private: QString _oneDecimalString(double value); + +private: + typedef struct { + MAV_CMD command; + const char* name; + } MavCmd2Name_t; + + int _sequenceNumber; + QGeoCoordinate _coordinate; + double _yaw; + int _frame; + int _action; + bool _autocontinue; + bool _isCurrentItem; + double _orbit; + double _param1; + double _param2; + int _turns; + quint64 _reachedTime; + + static const int _cMavCmd2Name = 9; + static const MavCmd2Name_t _rgMavCmd2Name[_cMavCmd2Name]; }; #endif diff --git a/src/QmlControls/MissionItemEditor.qml b/src/QmlControls/MissionItemEditor.qml new file mode 100644 index 0000000000000000000000000000000000000000..b6f32e61195e1fd7236f0ac96e9af5a31b22faf8 --- /dev/null +++ b/src/QmlControls/MissionItemEditor.qml @@ -0,0 +1,148 @@ +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 + +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Vehicle 1.0 + +/// Mission item edit control +Rectangle { + property var missionItem + + width: _editFieldWidth + (ScreenTools.defaultFontPixelWidth * 10) + height: _valueColumn.y + _valueColumn.height + (radius / 2) + border.width: 2 + border.color: "white" + color: "white" + radius: ScreenTools.defaultFontPixelWidth + + readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 13 + + MissionItemIndexLabel { + id: _label + anchors.top: parent.top + anchors.right: parent.right + isCurrentItem: missionItem.isCurrentItem + label: missionItem.sequenceNumber + } + + QGCComboBox { + id: _commandCombo + anchors.margins: parent.radius / 2 + anchors.left: parent.left + anchors.right: _label.left + anchors.top: parent.top + currentIndex: missionItem.commandByIndex + model: missionItem.commandNames + + onActivated: missionItem.commandByIndex = index + } + + Column { + id: _coordinateColumn + anchors.left: parent.left + anchors.right: parent.right + visible: missionItem.specifiesCoordinate + + } + + QGCTextField { + id: _latitudeField + anchors.margins: parent.radius / 2 + anchors.top: _commandCombo.bottom + anchors.right: parent.right + width: _editFieldWidth + text: missionItem.coordinate.latitude + visible: missionItem.specifiesCoordinate + + onAccepted: missionItem.coordinate.latitude = text + } + + QGCTextField { + id: _longitudeField + anchors.margins: parent.radius / 2 + anchors.top: _latitudeField.bottom + anchors.right: parent.right + width: _editFieldWidth + text: missionItem.coordinate.longitude + visible: missionItem.specifiesCoordinate + + onAccepted: missionItem.coordinate.longtitude = text + } + + QGCTextField { + id: _altitudeField + anchors.margins: parent.radius / 2 + anchors.top: _longitudeField.bottom + anchors.right: parent.right + width: _editFieldWidth + text: missionItem.coordinate.altitude + visible: missionItem.specifiesCoordinate + showUnits: true + unitsLabel: "meters" + + onAccepted: missionItem.coordinate.altitude = text + } + + QGCLabel { + anchors.margins: parent.radius / 2 + anchors.left: parent.left + anchors.baseline: _latitudeField.baseline + color: "black" + text: "Lat:" + visible: missionItem.specifiesCoordinate + } + + QGCLabel { + anchors.margins: parent.radius / 2 + anchors.left: parent.left + anchors.baseline: _longitudeField.baseline + color: "black" + text: "Long:" + visible: missionItem.specifiesCoordinate + } + + QGCLabel { + anchors.margins: parent.radius / 2 + anchors.left: parent.left + anchors.baseline: _altitudeField.baseline + color: "black" + text: "Alt:" + visible: missionItem.specifiesCoordinate + } + + Column { + id: _valueColumn + anchors.margins: parent.radius / 2 + anchors.left: parent.left + anchors.right: parent.right + anchors.top: missionItem.specifiesCoordinate ? _altitudeField.bottom : _commandCombo.bottom + + Repeater { + model: missionItem.valueLabels + + QGCLabel { + color: "black" + text: modelData + } + } + } + + Column { + anchors.margins: parent.radius / 2 + anchors.left: parent.left + anchors.right: parent.right + anchors.top: _valueColumn.top + + Repeater { + model: missionItem.valueStrings + + QGCLabel { + width: _valueColumn.width + color: "black" + text: modelData + horizontalAlignment: Text.AlignRight + } + } + } +} diff --git a/src/QmlControls/MissionItemIndexLabel.qml b/src/QmlControls/MissionItemIndexLabel.qml index cf4f496e3132869945116889d9b36745ad25f0dd..a5f9b87f024811f3560f7a4308d652974cb5ca6d 100644 --- a/src/QmlControls/MissionItemIndexLabel.qml +++ b/src/QmlControls/MissionItemIndexLabel.qml @@ -5,20 +5,21 @@ import QtQuick.Controls.Styles 1.2 import QGroundControl.ScreenTools 1.0 Rectangle { - property int missionItemIndex ///< Index to show in label + property alias label: _label.text + property bool isCurrentItem: false width: ScreenTools.defaultFontPixelHeight * 1.5 height: width radius: width / 2 border.width: 2 border.color: "white" - color: "orange" + color: isCurrentItem ? "green" : "orange" QGCLabel { + id: _label anchors.fill: parent horizontalAlignment: Text.AlignHCenter verticalAlignment: Text.AlignVCenter color: "white" - text: missionItemIndex } } diff --git a/src/QmlControls/MissionItemSummary.qml b/src/QmlControls/MissionItemSummary.qml index f8754129a6dfcceb1db3339370e14e3106c205b2..630cfb821b3999b0060fe45864091d7bee65856d 100644 --- a/src/QmlControls/MissionItemSummary.qml +++ b/src/QmlControls/MissionItemSummary.qml @@ -7,7 +7,7 @@ import QGroundControl.Vehicle 1.0 /// Mission item summary display control Rectangle { - property var missionItem ///< Mission Item object + property var missionItem ///< Mission Item object width: ScreenTools.defaultFontPixelWidth * 15 height: valueColumn.height + radius @@ -17,9 +17,11 @@ Rectangle { radius: ScreenTools.defaultFontPixelWidth MissionItemIndexLabel { + id: _indexLabel anchors.top: parent.top anchors.right: parent.right - missionItemIndex: missionItem.id + isCurrentItem: missionItem.isCurrentItem + label: missionItem.sequenceNumber } Column { diff --git a/src/QmlControls/QGroundControl.Controls.qmldir b/src/QmlControls/QGroundControl.Controls.qmldir index 511d4d9d4a32473d9c00f7e7936f85512acbad41..62674c353b4c63ca22a9d628fe133080831d8eb8 100644 --- a/src/QmlControls/QGroundControl.Controls.qmldir +++ b/src/QmlControls/QGroundControl.Controls.qmldir @@ -28,4 +28,5 @@ QGCViewMessage 1.0 QGCViewMessage.qml MissionItemIndexLabel 1.0 MissionItemIndexLabel.qml MissionItemSummary 1.0 MissionItemSummary.qml +MissionItemEditor 1.0 MissionItemEditor.qml diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 5ca6f7639580f608c42afbf5593014bf728c1b98..d692b520b3eb3f9836a3901b2a357f89de3b3e14 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -708,7 +708,7 @@ void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/) /* bool changed = false; for(int i = 0; i < _waypoints.count(); i++) { - if(_waypoints[i].getId() == wp->getId()) { + if(_waypoints[i].sequenceNumber() == wp->sequenceNumber()) { _waypoints[i] = *wp; changed = true; break; diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc index 548ca291628e0fee9e65f47310085924d368eb72..41516446f34a58ea19e3ee6f2952b06dbb85a508 100644 --- a/src/uas/UASWaypointManager.cc +++ b/src/uas/UASWaypointManager.cc @@ -116,9 +116,9 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x, Q_UNUSED(time); if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU)) { - double xdiff = x-currentWaypointEditable->getX(); - double ydiff = y-currentWaypointEditable->getY(); - double zdiff = z-currentWaypointEditable->getZ(); + double xdiff = x-currentWaypointEditable->x(); + double ydiff = y-currentWaypointEditable->y(); + double zdiff = z-currentWaypointEditable->z(); double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff); emit waypointDistanceChanged(dist); } @@ -196,37 +196,32 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ if(wp->seq == current_wp_id) { - MissionItem *lwp_vo = new MissionItem( - NULL, - wp->seq, wp->x, - wp->y, - wp->z, - wp->param1, - wp->param2, - wp->param3, - wp->param4, - wp->autocontinue, - wp->current, - (MAV_FRAME) wp->frame, - (MAV_CMD) wp->command); + MissionItem *lwp_vo = new MissionItem(NULL, + wp->seq, + QGeoCoordinate(wp->x, wp->y, wp->z), + wp->param1, + wp->param2, + wp->param3, + wp->param4, + wp->autocontinue, + wp->current, + (MAV_FRAME) wp->frame, + (MAV_CMD) wp->command); addWaypointViewOnly(lwp_vo); if (read_to_edit == true) { - MissionItem *lwp_ed = new MissionItem( - NULL, - wp->seq, - wp->x, - wp->y, - wp->z, - wp->param1, - wp->param2, - wp->param3, - wp->param4, - wp->autocontinue, - wp->current, - (MAV_FRAME) wp->frame, - (MAV_CMD) wp->command); + MissionItem *lwp_ed = new MissionItem(NULL, + wp->seq, + QGeoCoordinate(wp->x, wp->y, wp->z), + wp->param1, + wp->param2, + wp->param3, + wp->param4, + wp->autocontinue, + wp->current, + (MAV_FRAME) wp->frame, + (MAV_CMD) wp->command); addWaypointEditable(lwp_ed, false); if (wp->current == 1) currentWaypointEditable = lwp_ed; } @@ -258,20 +253,17 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ && wp->seq < waypointsViewOnly.size() && waypointsViewOnly[wp->seq]->getAction()) { // accept single sent waypoints because they can contain updates about remaining DO_JUMP repetitions // but only update view only side - MissionItem *lwp_vo = new MissionItem( - NULL, - wp->seq, - wp->x, - wp->y, - wp->z, - wp->param1, - wp->param2, - wp->param3, - wp->param4, - wp->autocontinue, - wp->current, - (MAV_FRAME) wp->frame, - (MAV_CMD) wp->command); + MissionItem *lwp_vo = new MissionItem(NULL, + wp->seq, + QGeoCoordinate(wp->x, wp->y, wp->z), + wp->param1, + wp->param2, + wp->param3, + wp->param4, + wp->autocontinue, + wp->current, + (MAV_FRAME) wp->frame, + (MAV_CMD) wp->command); waypointsViewOnly.replace(wp->seq, lwp_vo); emit waypointViewOnlyListChanged(); @@ -386,10 +378,10 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m // update the local main storage if (wpc->seq < waypointsViewOnly.size()) { for(int i = 0; i < waypointsViewOnly.size(); i++) { - if (waypointsViewOnly[i]->getId() == wpc->seq) { - waypointsViewOnly[i]->setCurrent(true); + if (waypointsViewOnly[i]->sequenceNumber() == wpc->seq) { + waypointsViewOnly[i]->setIsCurrentItem(true); } else { - waypointsViewOnly[i]->setCurrent(false); + waypointsViewOnly[i]->setIsCurrentItem(false); } } } @@ -450,10 +442,10 @@ int UASWaypointManager::setCurrentEditable(quint16 seq) if(current_state == WP_IDLE) { //update local main storage for (int i = 0; i < waypointsEditable.count(); i++) { - if (waypointsEditable[i]->getId() == seq) { - waypointsEditable[i]->setCurrent(true); + if (waypointsEditable[i]->sequenceNumber() == seq) { + waypointsEditable[i]->setIsCurrentItem(true); } else { - waypointsEditable[i]->setCurrent(false); + waypointsEditable[i]->setIsCurrentItem(false); } } @@ -490,10 +482,10 @@ void UASWaypointManager::addWaypointEditable(MissionItem *wp, bool enforceFirstA QGCMessageBox::critical(tr("MissionItem Manager"), _offlineEditingModeMessage); } - wp->setId(waypointsEditable.count()); + wp->setSequenceNumber(waypointsEditable.count()); if (enforceFirstActive && waypointsEditable.count() == 0) { - wp->setCurrent(true); + wp->setIsCurrentItem(true); currentWaypointEditable = wp; } waypointsEditable.insert(waypointsEditable.count(), wp); @@ -515,13 +507,13 @@ MissionItem* UASWaypointManager::createWaypoint(bool enforceFirstActive) } MissionItem* wp = new MissionItem(); - wp->setId(waypointsEditable.count()); + wp->setSequenceNumber(waypointsEditable.count()); wp->setFrame((MAV_FRAME)getFrameRecommendation()); wp->setAltitude(getAltitudeRecommendation()); wp->setAcceptanceRadius(getAcceptanceRadiusRecommendation()); if (enforceFirstActive && waypointsEditable.count() == 0) { - wp->setCurrent(true); + wp->setIsCurrentItem(true); currentWaypointEditable = wp; } waypointsEditable.append(wp); @@ -538,15 +530,15 @@ int UASWaypointManager::removeWaypoint(quint16 seq) { MissionItem *t = waypointsEditable[seq]; - if (t->getCurrent() == true) //trying to remove the current waypoint + if (t->isCurrentItem() == true) //trying to remove the current waypoint { if (seq+1 < waypointsEditable.count()) // setting the next waypoint as current { - waypointsEditable[seq+1]->setCurrent(true); + waypointsEditable[seq+1]->setIsCurrentItem(true); } else if (seq-1 >= 0) // if deleting the last on the list, then setting the previous waypoint as current { - waypointsEditable[seq-1]->setCurrent(true); + waypointsEditable[seq-1]->setIsCurrentItem(true); } } @@ -556,7 +548,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq) for(int i = seq; i < waypointsEditable.count(); i++) { - waypointsEditable[i]->setId(i); + waypointsEditable[i]->setSequenceNumber(i); } emit waypointEditableListChanged(); @@ -575,7 +567,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq) for (int i = cur_seq; i < new_seq; i++) { waypointsEditable[i] = waypointsEditable[i+1]; - waypointsEditable[i]->setId(i); + waypointsEditable[i]->setSequenceNumber(i); } } else @@ -583,11 +575,11 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq) for (int i = cur_seq; i > new_seq; i--) { waypointsEditable[i] = waypointsEditable[i-1]; - waypointsEditable[i]->setId(i); + waypointsEditable[i]->setSequenceNumber(i); } } waypointsEditable[new_seq] = t; - waypointsEditable[new_seq]->setId(new_seq); + waypointsEditable[new_seq]->setSequenceNumber(new_seq); emit waypointEditableListChanged(); emit waypointEditableListChanged(uasid); @@ -607,7 +599,7 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile) for (int i = 0; i < waypointsEditable.count(); i++) { - waypointsEditable[i]->setId(i); + waypointsEditable[i]->setSequenceNumber(i); waypointsEditable[i]->save(out); } file.close(); @@ -642,7 +634,7 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) { //Use the existing function to add waypoints to the map instead of doing it manually //Indeed, we should connect our waypoints to the map in order to synchronize them - //t->setId(waypointsEditable.count()); + //t->setSequenceNumber(waypointsEditable.count()); // waypointsEditable.insert(waypointsEditable.count(), t); addWaypointEditable(t, false); } @@ -956,9 +948,9 @@ void UASWaypointManager::goToWaypoint(MissionItem *wp) mission.frame = wp->getFrame(); mission.command = wp->getAction(); mission.seq = 0; // don't read out the sequence number of the waypoint class - mission.x = wp->getX(); - mission.y = wp->getY(); - mission.z = wp->getZ(); + mission.x = wp->x(); + mission.y = wp->y(); + mission.z = wp->z(); mavlink_message_t message; mission.target_system = uasid; mission.target_component = MAV_COMP_ID_MISSIONPLANNER; @@ -1001,7 +993,7 @@ void UASWaypointManager::writeWaypoints() const MissionItem *cur_s = waypointsEditable.at(i); cur_d->autocontinue = cur_s->getAutoContinue(); - cur_d->current = cur_s->getCurrent() & noCurrent; //make sure only one current waypoint is selected, the first selected will be chosen + cur_d->current = cur_s->isCurrentItem() & noCurrent; //make sure only one current waypoint is selected, the first selected will be chosen cur_d->param1 = cur_s->getParam1(); cur_d->param2 = cur_s->getParam2(); cur_d->param3 = cur_s->getParam3(); @@ -1009,11 +1001,11 @@ void UASWaypointManager::writeWaypoints() cur_d->frame = cur_s->getFrame(); cur_d->command = cur_s->getAction(); cur_d->seq = i; // don't read out the sequence number of the waypoint class - cur_d->x = cur_s->getX(); - cur_d->y = cur_s->getY(); - cur_d->z = cur_s->getZ(); + cur_d->x = cur_s->x(); + cur_d->y = cur_s->y(); + cur_d->z = cur_s->z(); - if (cur_s->getCurrent() && noCurrent) + if (cur_s->isCurrentItem() && noCurrent) noCurrent = false; if (i == (current_count - 1) && noCurrent == true) //not a single waypoint was set as "current" cur_d->current = true; // set the last waypoint as current. Or should it better be the first waypoint ? @@ -1162,7 +1154,7 @@ UAS* UASWaypointManager::getUAS() { float UASWaypointManager::getAltitudeRecommendation() { if (waypointsEditable.count() > 0) { - return waypointsEditable.last()->getAltitude(); + return waypointsEditable.last()->altitude(); } else { return HomePositionManager::instance()->getHomeAltitude() + getHomeAltitudeOffsetDefault(); } diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc index 3df5d60c19130c7abfb652b059334df78b601934..0e46b297ed5b0344121d8255a9a888fc8d2535dc 100644 --- a/src/ui/HSIDisplay.cc +++ b/src/ui/HSIDisplay.cc @@ -1313,7 +1313,7 @@ void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float widt float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f)); float acceptRadius = w->getAcceptanceRadius(); - double yawDiff = w->getYaw()/180.0*M_PI-yaw; + double yawDiff = w->yaw()/180.0*M_PI-yaw; // Draw background pen.setColor(Qt::black); @@ -1356,11 +1356,11 @@ void HSIDisplay::drawWaypoints(QPainter& painter) int frameRef = w->getFrame(); if (frameRef == MAV_FRAME_LOCAL_NED) { - in = QPointF(w->getX(), w->getY()); + in = QPointF(w->x(), w->y()); } else if (frameRef == MAV_FRAME_LOCAL_ENU) { - in = QPointF(w->getY(), w->getX()); + in = QPointF(w->y(), w->x()); } // Convert global coordinates into the local ENU frame, then display them. else if (frameRef == MAV_FRAME_GLOBAL || frameRef == MAV_FRAME_GLOBAL_RELATIVE_ALT) { @@ -1368,7 +1368,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter) // Transform the lat/lon for this waypoint into the local frame double e, n, u; - HomePositionManager::instance()->wgs84ToEnu(w->getX(), w->getY(),w->getZ(), &e, &n, &u); + HomePositionManager::instance()->wgs84ToEnu(w->x(), w->y(),w->z(), &e, &n, &u); in = QPointF(n, e); } // Otherwise we don't process this waypoint. @@ -1383,7 +1383,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter) QPointF p = metricBodyToRef(in); // Select color based on if this is the current waypoint. - if (w->getCurrent()) + if (w->isCurrentItem()) { drawWaypoint(painter, QGC::colorYellow, refLineWidthToPen(0.8f), w, p); } diff --git a/src/ui/WaypointEditableView.cc b/src/ui/WaypointEditableView.cc index 3ceb42e05de9343534e69bae8ce99dad98d83988..9974a0787e19f4f644e8426b528f181cc25d8837 100644 --- a/src/ui/WaypointEditableView.cc +++ b/src/ui/WaypointEditableView.cc @@ -320,7 +320,7 @@ void WaypointEditableView::changedCurrent(int state) { if (state == 0) { - if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current + if (wp->isCurrentItem() == true) //User clicked on the waypoint, that is already current { m_ui->selectedBox->setChecked(true); m_ui->selectedBox->setCheckState(Qt::Checked); @@ -333,10 +333,10 @@ void WaypointEditableView::changedCurrent(int state) } else { - wp->setCurrent(true); + wp->setIsCurrentItem(true); // At this point we do not consider this signal // to be valid / the edit check boxes should not change the view state - //emit changeCurrentWaypoint(wp->getId()); + //emit changeCurrentWaypoint(wp->sequenceNumber()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false } } @@ -451,11 +451,11 @@ void WaypointEditableView::updateValues() emit param7Broadcast(wp->getParam7()); - if (m_ui->selectedBox->isChecked() != wp->getCurrent()) + if (m_ui->selectedBox->isChecked() != wp->isCurrentItem()) { // This is never a reason to emit a changed signal m_ui->selectedBox->blockSignals(true); - m_ui->selectedBox->setChecked(wp->getCurrent()); + m_ui->selectedBox->setChecked(wp->isCurrentItem()); m_ui->selectedBox->blockSignals(false); } if (m_ui->autoContinue->isChecked() != wp->getAutoContinue()) @@ -463,11 +463,11 @@ void WaypointEditableView::updateValues() m_ui->autoContinue->setChecked(wp->getAutoContinue()); } - m_ui->idLabel->setText(QString::number(wp->getId())); + m_ui->idLabel->setText(QString::number(wp->sequenceNumber())); // Style alternating rows of Missions as lighter/darker. static int lastId = -1; - int currId = wp->getId() % 2; + int currId = wp->sequenceNumber() % 2; if (currId != lastId) { if (currId == 1) diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc index c7f7a9a3b7e9ce2d5251927aebdfb2a8e716779f..fe13b9f453be46b83b8db3126743bc01248bccbf 100644 --- a/src/ui/WaypointList.cc +++ b/src/ui/WaypointList.cc @@ -272,13 +272,13 @@ void WaypointList::addEditable(bool onCurrentPosition) wp->setFrame(frame); if (frame == MAV_FRAME_GLOBAL || frame == MAV_FRAME_GLOBAL_RELATIVE_ALT) { - wp->setLatitude(last->getLatitude()); - wp->setLongitude(last->getLongitude()); - wp->setAltitude(last->getAltitude()); + wp->setLatitude(last->latitude()); + wp->setLongitude(last->longitude()); + wp->setAltitude(last->altitude()); } else { - wp->setX(last->getX()); - wp->setY(last->getY()); - wp->setZ(last->getZ()); + wp->setX(last->x()); + wp->setY(last->y()); + wp->setZ(last->z()); } wp->setParam1(last->getParam1()); wp->setParam2(last->getParam2()); @@ -304,7 +304,9 @@ void WaypointList::addEditable(bool onCurrentPosition) } else { updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint.")); } - wp = new MissionItem(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); + wp = new MissionItem(NULL, 0, + QGeoCoordinate(uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL()), + 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); WPM->addWaypointEditable(wp); } else { @@ -314,9 +316,9 @@ void WaypointList::addEditable(bool onCurrentPosition) } else { updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint.")); } - wp = new MissionItem(0, HomePositionManager::instance()->getHomeLatitude(), - HomePositionManager::instance()->getHomeLongitude(), - WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); + wp = new MissionItem(NULL, 0, + QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()), + 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); WPM->addWaypointEditable(wp); } } @@ -325,11 +327,15 @@ void WaypointList::addEditable(bool onCurrentPosition) if (onCurrentPosition) { updateStatusLabel(tr("Added default LOCAL (NED) waypoint.")); - wp = new MissionItem(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); + wp = new MissionItem(NULL, 0, + QGeoCoordinate(uas->getLocalX(), uas->getLocalY(), uas->getLocalZ()), + 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); WPM->addWaypointEditable(wp); } else { updateStatusLabel(tr("Added default LOCAL (NED) waypoint.")); - wp = new MissionItem(0, 0, 0, -0.50, 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); + wp = new MissionItem(0, 0, + QGeoCoordinate(0, 0, -0.50), + 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); WPM->addWaypointEditable(wp); } } @@ -337,9 +343,9 @@ void WaypointList::addEditable(bool onCurrentPosition) { // MAV connected, but position unknown, add default waypoint updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint")); - wp = new MissionItem(0, HomePositionManager::instance()->getHomeLatitude(), - HomePositionManager::instance()->getHomeLongitude(), - WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); + wp = new MissionItem(NULL, 0, + QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()), + 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); WPM->addWaypointEditable(wp); } } @@ -347,9 +353,9 @@ void WaypointList::addEditable(bool onCurrentPosition) { //Since no UAV available, create first default waypoint. updateStatusLabel(tr("No UAV connected. Adding default GLOBAL (NED) waypoint")); - wp = new MissionItem(0, HomePositionManager::instance()->getHomeLatitude(), - HomePositionManager::instance()->getHomeLongitude(), - WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); + wp = new MissionItem(NULL, 0, + QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()), + 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT); WPM->addWaypointEditable(wp); } } @@ -389,7 +395,7 @@ void WaypointList::currentWaypointEditableChanged(quint16 seq) WaypointEditableView* widget = wpEditableViews.value(waypoints[i], NULL); if (widget) { - if (waypoints[i]->getId() == seq) + if (waypoints[i]->sequenceNumber() == seq) { widget->setCurrent(true); } @@ -417,7 +423,7 @@ void WaypointList::currentWaypointViewOnlyChanged(quint16 seq) WaypointViewOnlyView* widget = wpViewOnlyViews.value(waypoints[i], NULL); if (widget) { - if (waypoints[i]->getId() == seq) + if (waypoints[i]->sequenceNumber() == seq) { widget->setCurrent(true); } @@ -600,7 +606,7 @@ void WaypointList::moveDown(MissionItem* wp) void WaypointList::removeWaypoint(MissionItem* wp) { - WPM->removeWaypoint(wp->getId()); + WPM->removeWaypoint(wp->sequenceNumber()); } void WaypointList::changeEvent(QEvent *e) diff --git a/src/ui/WaypointViewOnlyView.cc b/src/ui/WaypointViewOnlyView.cc index 2beb63be10ead32c04498613254b4b058f8f3ff9..b3319e7daca14bcb6bd40a66dc9670229078e07f 100644 --- a/src/ui/WaypointViewOnlyView.cc +++ b/src/ui/WaypointViewOnlyView.cc @@ -24,19 +24,19 @@ void WaypointViewOnlyView::changedAutoContinue(int state) new_value = true; } wp->setAutocontinue(new_value); - emit changeAutoContinue(wp->getId(),new_value); + emit changeAutoContinue(wp->sequenceNumber(),new_value); } void WaypointViewOnlyView::changedCurrent(int state) //This is a slot receiving signals from QCheckBox m_ui->current. The state given here is whatever the user has clicked and not the true "current" value onboard. { Q_UNUSED(state); - //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId(); + //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->sequenceNumber(); m_ui->current->blockSignals(true); if (m_ui->current->isChecked() == false) { - if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current. Box stays checked + if (wp->isCurrentItem() == true) //User clicked on the waypoint, that is already current. Box stays checked { m_ui->current->setCheckState(Qt::Checked); //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Rechecked true. stay true " << m_ui->current->isChecked(); @@ -51,7 +51,7 @@ void WaypointViewOnlyView::changedCurrent(int state) { m_ui->current->setCheckState(Qt::Unchecked); //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Checked new. Sending set_current request to Manager " << m_ui->current->isChecked(); - emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false + emit changeCurrentWaypoint(wp->sequenceNumber()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false } m_ui->current->blockSignals(false); @@ -67,12 +67,12 @@ void WaypointViewOnlyView::setCurrent(bool state) m_ui->current->blockSignals(true); if (state == true) { - wp->setCurrent(true); + wp->setIsCurrentItem(true); m_ui->current->setCheckState(Qt::Checked); } else { - wp->setCurrent(false); + wp->setIsCurrentItem(false); m_ui->current->setCheckState(Qt::Unchecked); } m_ui->current->blockSignals(false); @@ -90,7 +90,7 @@ void WaypointViewOnlyView::updateValues() // Style alternating rows of Missions as lighter/darker. static int lastId = -1; - int currId = wp->getId() % 2; + int currId = wp->sequenceNumber() % 2; if (currId != lastId) { if (currId == 1) @@ -107,7 +107,7 @@ void WaypointViewOnlyView::updateValues() // update frame - m_ui->idLabel->setText(QString("%1").arg(wp->getId())); + m_ui->idLabel->setText(QString("%1").arg(wp->sequenceNumber())); switch (wp->getFrame()) { case MAV_FRAME_GLOBAL: @@ -142,10 +142,10 @@ void WaypointViewOnlyView::updateValues() } } - if (m_ui->current->isChecked() != wp->getCurrent()) + if (m_ui->current->isChecked() != wp->isCurrentItem()) { m_ui->current->blockSignals(true); - m_ui->current->setChecked(wp->getCurrent()); + m_ui->current->setChecked(wp->isCurrentItem()); m_ui->current->blockSignals(false); } if (m_ui->autoContinue->isChecked() != wp->getAutoContinue()) @@ -166,11 +166,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam1()>0) { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); } else { - m_ui->displayBar->setText(QString("Go to (lat %1o,lon %2o,alt %3); yaw: %4; rad: %5").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()).arg(wp->getParam2())); + m_ui->displayBar->setText(QString("Go to (lat %1o,lon %2o,alt %3); yaw: %4; rad: %5").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam4()).arg(wp->getParam2())); } break; } @@ -179,11 +179,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam1()>0) { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); } else { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3); yaw: %4; rad: %5").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()).arg(wp->getParam2())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3); yaw: %4; rad: %5").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f', 2).arg(wp->getParam4()).arg(wp->getParam2())); } break; } @@ -199,11 +199,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam3()>=0) { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there indefinitely (clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam3())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there indefinitely (clockwise); rad: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam3())); } else { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(-wp->getParam3())); } break; } @@ -212,11 +212,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam3()>=0) { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there indefinitely (clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam3())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there indefinitely (clockwise); rad: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f',2).arg(wp->getParam3())); } else { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f', 2).arg(-wp->getParam3())); } break; } @@ -232,11 +232,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam3()>=0) { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5 turns (clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5 turns (clockwise); rad: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam3()).arg(wp->getParam1())); } else { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); } break; } @@ -245,11 +245,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam3()>=0) { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5 turns (clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5 turns (clockwise); rad: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f',2).arg(wp->getParam3()).arg(wp->getParam1())); } else { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); } break; } @@ -265,11 +265,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam3()>=0) { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5s (clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5s (clockwise); rad: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam3()).arg(wp->getParam1())); } else { - m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (lat %1o, lon %2o, alt %3) and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); } break; } @@ -278,11 +278,11 @@ void WaypointViewOnlyView::updateValues() { if (wp->getParam3()>=0) { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5s (clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5s (clockwise); rad: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f',2).arg(wp->getParam3()).arg(wp->getParam1())); } else { - m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); + m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1())); } break; } @@ -301,13 +301,13 @@ void WaypointViewOnlyView::updateValues() case MAV_FRAME_GLOBAL_RELATIVE_ALT: case MAV_FRAME_GLOBAL: { - m_ui->displayBar->setText(QString("LAND. Go to (lat %1o, lon %2o, alt %3) and descent; yaw: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4())); + m_ui->displayBar->setText(QString("LAND. Go to (lat %1o, lon %2o, alt %3) and descent; yaw: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam4())); break; } case MAV_FRAME_LOCAL_NED: default: { - m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4())); + m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f', 2).arg(wp->getParam4())); break; } } //end Frame switch @@ -320,13 +320,13 @@ void WaypointViewOnlyView::updateValues() case MAV_FRAME_GLOBAL_RELATIVE_ALT: case MAV_FRAME_GLOBAL: { - m_ui->displayBar->setText(QString("TAKEOFF. Go to (lat %1o, lon %2o, alt %3); yaw: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4())); + m_ui->displayBar->setText(QString("TAKEOFF. Go to (lat %1o, lon %2o, alt %3); yaw: %4").arg(wp->x(),0, 'f', 7).arg(wp->y(),0, 'f', 7).arg(wp->z(),0, 'f', 2).arg(wp->getParam4())); break; } case MAV_FRAME_LOCAL_NED: default: { - m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4())); + m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->x(),0, 'f', 2).arg(wp->y(),0, 'f', 2).arg(wp->z(),0, 'f', 2).arg(wp->getParam4())); break; } } //end Frame switch diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc index d331fcac43f73725c169417f6efa1cb1fc0b0fc1..58659c175cefb10dce7b3a925f7d58e755b1b113 100644 --- a/src/ui/map/QGCMapWidget.cc +++ b/src/ui/map/QGCMapWidget.cc @@ -646,7 +646,7 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint) // internals::PointLatLng coord = waypoint->Coord(); // QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6); // qDebug() << "MAP WP COORD (MAP):" << coord_str << __FILE__ << __LINE__; -// QString wp_str = QString::number(wp->getLatitude(), 'f', 6) + " " + QString::number(wp->getLongitude(), 'f', 6); +// QString wp_str = QString::number(wp->getLatitude(), 'f', 6) + " " + QString::number(wp->longitude(), 'f', 6); // qDebug() << "MAP WP COORD (WP):" << wp_str << __FILE__ << __LINE__; // Protect from vicious double update cycle @@ -748,9 +748,9 @@ void QGCMapWidget::updateWaypoint(int uas, MissionItem* wp) else { // Use safe standard interfaces for non MissionItem-class based wps - icon->SetCoord(internals::PointLatLng(wp->getLatitude(), wp->getLongitude())); - icon->SetAltitude(wp->getAltitude()); - icon->SetHeading(wp->getYaw()); + icon->SetCoord(internals::PointLatLng(wp->latitude(), wp->longitude())); + icon->SetAltitude(wp->altitude()); + icon->SetHeading(wp->yaw()); icon->SetNumber(wpindex); } // Re-enable signals again @@ -827,7 +827,7 @@ void QGCMapWidget::updateWaypointList(int uas) // Update all potentially new waypoints foreach (MissionItem* wp, wps) { - qDebug() << "UPDATING NEW WP" << wp->getId(); + qDebug() << "UPDATING NEW WP" << wp->sequenceNumber(); // Update / add only if new if (!waypointsToIcons.contains(wp)) updateWaypoint(uas, wp); } diff --git a/src/ui/map/Waypoint2DIcon.cc b/src/ui/map/Waypoint2DIcon.cc index 5d416597f71b5ccff8696a440913115520b1565b..29f6809f644c091b247eaa4b798e9f39a7ce155a 100644 --- a/src/ui/map/Waypoint2DIcon.cc +++ b/src/ui/map/Waypoint2DIcon.cc @@ -3,8 +3,8 @@ #include "opmapcontrol.h" #include "QGC.h" -Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name, QString description, int radius) - : mapcontrol::WayPointItem(internals::PointLatLng(latitude, longitude), altitude, description, map), +Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name, int radius) + : mapcontrol::WayPointItem(internals::PointLatLng(latitude, longitude), altitude, QString(), map), parent(parent), waypoint(), radius(radius), @@ -25,7 +25,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa } Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, MissionItem* wp, const QColor& color, int listindex, int radius) - : mapcontrol::WayPointItem(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()), wp->getAltitude(), wp->getDescription(), map), + : mapcontrol::WayPointItem(internals::PointLatLng(wp->latitude(), wp->longitude()), wp->altitude(), QString(), map), parent(parent), waypoint(wp), radius(radius), @@ -33,7 +33,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa showOrbit(false), color(color) { - SetHeading(wp->getYaw()); + SetHeading(wp->yaw()); SetNumber(listindex); this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true); picture = QPixmap(radius+1, radius+1); @@ -59,13 +59,12 @@ void Waypoint2DIcon::updateWaypoint() // Store old size static QRectF oldSize; - SetHeading(waypoint->getYaw()); - SetCoord(internals::PointLatLng(waypoint->getLatitude(), waypoint->getLongitude())); + SetHeading(waypoint->yaw()); + SetCoord(internals::PointLatLng(waypoint->latitude(), waypoint->longitude())); - // qDebug() << "UPDATING WP:" << waypoint->getId() << "LAT:" << waypoint->getLatitude() << "LON:" << waypoint->getLongitude(); + // qDebug() << "UPDATING WP:" << waypoint->sequenceNumber() << "LAT:" << waypoint->latitude() << "LON:" << waypoint->longitude(); - SetDescription(waypoint->getDescription()); - SetAltitude(waypoint->getAltitude()); + SetAltitude(waypoint->altitude()); // FIXME Add SetNumber (currently needs a separate call) drawIcon(); QRectF newSize = boundingRect(); diff --git a/src/ui/map/Waypoint2DIcon.h b/src/ui/map/Waypoint2DIcon.h index 66f2f2b3336045982eec7e2a5d6e71d28ffca6dc..8d23fc3b887399eb361a8a5abed0cc30c90ed7a8 100644 --- a/src/ui/map/Waypoint2DIcon.h +++ b/src/ui/map/Waypoint2DIcon.h @@ -15,7 +15,7 @@ public: * @param longitude * @param name name of the circle point */ - Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), QString description = QString(), int radius=30); + Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), int radius=30); /** *