WaypointViewOnlyView.cc 16 KB
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#include <QDebug>
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#include "MainWindow.h"
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#include "WaypointViewOnlyView.h"
#include "ui_WaypointViewOnlyView.h"

WaypointViewOnlyView::WaypointViewOnlyView(Waypoint* wp, QWidget *parent) :
    QWidget(parent),
    m_ui(new Ui::WaypointViewOnlyView)
{
    m_ui->setupUi(this);
    this->wp = wp;
    updateValues();

    connect(m_ui->current, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)),this, SLOT(changedAutoContinue(int)));
}

void WaypointViewOnlyView::changedAutoContinue(int state)
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{    
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    bool new_value = false;
    if (state != 0)
    {
        new_value = true;
    }
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    wp->setAutocontinue(new_value);    
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    emit changeAutoContinue(wp->getId(),new_value);
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}
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void WaypointViewOnlyView::changedCurrent(int state)
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//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.
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{
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    Q_UNUSED(state);
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    //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
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    m_ui->current->blockSignals(true);    
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    if (m_ui->current->isChecked() == false)
    {
        if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current. Box stays checked
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        {
            m_ui->current->setCheckState(Qt::Checked);
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            //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Rechecked true. stay true " << m_ui->current->isChecked();
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        }
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        else // Strange case, unchecking the box which was not checked to start with
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        {
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            m_ui->current->setCheckState(Qt::Unchecked);
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            //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Unchecked false. set false " << m_ui->current->isChecked();
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        }
    }
    else
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    {
        m_ui->current->setCheckState(Qt::Unchecked);
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        //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Checked new. Sending set_current request to Manager " << m_ui->current->isChecked();
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        emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
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    }
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    m_ui->current->blockSignals(false);
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}

void WaypointViewOnlyView::setCurrent(bool state)
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//This is a slot receiving signals from UASWaypointManager. The state given here is the true representation of what the "current" waypoint on UAV is.
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{
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    m_ui->current->blockSignals(true);    
    if (state == true)
    {
        wp->setCurrent(true);
        m_ui->current->setCheckState(Qt::Checked);
    }
    else
    {
        wp->setCurrent(false);
        m_ui->current->setCheckState(Qt::Unchecked);
    }
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    m_ui->current->blockSignals(false);
}

void WaypointViewOnlyView::updateValues()
{
    qDebug() << "Trof: WaypointViewOnlyView::updateValues() ID:" << wp->getId();
    // Check if we just lost the wp, delete the widget
    // accordingly
    if (!wp)
    {
        deleteLater();
        return;
    }
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    // Style alternating rows of Missions as lighter/darker.
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    static int lastId = -1;
    int currId = wp->getId() % 2;
    if (currId != lastId)
    {
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        QString backGroundColor;
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        if (currId == 1)
        {
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            if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
            {
                backGroundColor = "#999";
            }
            else
            {
                backGroundColor = "#333";
            }
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        }
        else
        {
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            if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
            {
                backGroundColor = "#CCC";
            }
            else
            {
                backGroundColor = "#555";
            }
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        }

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        QString newStyle = QString("WaypointViewOnlyView {background-color: %1}").arg(backGroundColor);
        this->setStyleSheet(newStyle);
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        lastId = currId;
    }

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    // update frame

    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
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    switch (wp->getFrame())
    {
    case MAV_FRAME_GLOBAL:
    {
        m_ui->frameLabel->setText(QString("GAA"));
        break;
    }
    case MAV_FRAME_LOCAL_NED:
    {
        m_ui->frameLabel->setText(QString("NED"));
        break;
    }
    case MAV_FRAME_MISSION:
    {
        m_ui->frameLabel->setText(QString("MIS"));
        break;
    }
    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
    {
        m_ui->frameLabel->setText(QString("GRA"));
        break;
    }
    case MAV_FRAME_LOCAL_ENU:
    {
        m_ui->frameLabel->setText(QString("ENU"));
        break;
    }
    default:
    {
        m_ui->frameLabel->setText(QString(""));
        break;
    }
    }

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    if (m_ui->current->isChecked() != wp->getCurrent())
    {
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        m_ui->current->blockSignals(true);
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        m_ui->current->setChecked(wp->getCurrent());        
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        m_ui->current->blockSignals(false);
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    }
    if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
    {
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        m_ui->autoContinue->blockSignals(true);
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        m_ui->autoContinue->setChecked(wp->getAutoContinue());
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        m_ui->autoContinue->blockSignals(false);
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    }

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    switch (wp->getAction())
    {
    case MAV_CMD_NAV_WAYPOINT:
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    {
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        switch (wp->getFrame())
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        {
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        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
            if (wp->getParam1()>0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>,lon <b>%2<sup>o</sup></b>,alt <b>%3)</b>; 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()));
            }
            break;
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        }
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        case MAV_FRAME_LOCAL_NED:
        default:
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        {
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            if (wp->getParam1()>0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b>; 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()));
            }
            break;
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        }
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        } //end Frame switch
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        break;
    }
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    case MAV_CMD_NAV_LOITER_UNLIM:
    {
        switch (wp->getFrame())
        {
        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
            if (wp->getParam3()>=0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            break;
        }
        case MAV_FRAME_LOCAL_NED:
        default:
        {
            if (wp->getParam3()>=0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            break;
        }
        } //end Frame switch
        break;
    }
    case MAV_CMD_NAV_LOITER_TURNS:
    {
        switch (wp->getFrame())
        {
        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
            if (wp->getParam3()>=0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            break;
        }
        case MAV_FRAME_LOCAL_NED:
        default:
        {
            if (wp->getParam3()>=0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            break;
        }
        } //end Frame switch
        break;
    }
    case MAV_CMD_NAV_LOITER_TIME:
    {
        switch (wp->getFrame())
        {
        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
            if (wp->getParam3()>=0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            }
            break;
        }
        case MAV_FRAME_LOCAL_NED:
        default:
        {
            if (wp->getParam3()>=0)
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            else
            {
                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> 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()));
            }
            break;
        }
        } //end Frame switch
        break;
    }
    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
    {
        m_ui->displayBar->setText(QString("Return to launch location"));
        break;
    }
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    case MAV_CMD_NAV_LAND:
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    {        
        switch (wp->getFrame())
        {
        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
            m_ui->displayBar->setText(QString("LAND. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> 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()));
            break;
        }
        case MAV_FRAME_LOCAL_NED:
        default:
        {
            m_ui->displayBar->setText(QString("LAND. Go to <b>(%1, %2, %3)</b> 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()));
            break;
        }
        } //end Frame switch
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        break;
    }
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    case MAV_CMD_NAV_TAKEOFF:
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    {        
        switch (wp->getFrame())
        {
        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
            m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b>; yaw: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()));
            break;
        }
        case MAV_FRAME_LOCAL_NED:
        default:
        {
            m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(%1, %2, %3)</b>; yaw: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()));
            break;
        }
        } //end Frame switch
        break;
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        break;
    }
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    case MAV_CMD_DO_JUMP:
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    {
        if (wp->getParam2()>0)
        {
            m_ui->displayBar->setText(QString("Jump to waypoint %1. Jumps left: %2").arg(wp->getParam1()).arg(wp->getParam2()));
        }
        else
        {
            m_ui->displayBar->setText(QString("No jumps left. Proceed to next waypoint."));
        }
        break;
    }
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    case MAV_CMD_CONDITION_DELAY:
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    {
        m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1()));
        break;
    }
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#ifdef MAVLINK_ENABLED_PIXHAWK
    case MAV_CMD_DO_START_SEARCH:
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    {
        m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2()));
        break;
    }
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    case MAV_CMD_DO_FINISH_SEARCH:
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    {
        m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2.  Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()));
        break;
    }
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    case MAV_CMD_NAV_SWEEP:
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    {
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        switch (wp->getFrame())
        {
        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
        case MAV_FRAME_GLOBAL:
        {
        m_ui->displayBar->setText(QString("Sweep. Corners: <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup>)</b> and <b>(</b>lat <b>%3<sup>o</sup></b>, lon <b>%4<sup>o</sup>)</b>; alt: <b>%5</b>; scan radius: %6").arg(wp->getParam3(),0, 'f', 7).arg(wp->getParam4(),0, 'f', 7).arg(wp->getParam5(),0, 'f', 7).arg(wp->getParam6(),0, 'f', 7).arg(wp->getParam7(),0, 'f', 2).arg(wp->getParam1()));
            break;
        }
        case MAV_FRAME_LOCAL_NED:
        default:
        {
        m_ui->displayBar->setText(QString("Sweep. Corners: <b>(%1, %2)</b> and <b>(%3, %4)</b>; z: <b>%5</b>; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1()));
            break;
        }
        } //end Frame switch
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        break;
    }
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#endif
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    default:
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    {
        m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()));
        break;
    }
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    }
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}

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WaypointViewOnlyView::~WaypointViewOnlyView()
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{
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    delete m_ui;
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}

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void WaypointViewOnlyView::changeEvent(QEvent *e)
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{
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    switch (e->type()) {
    case QEvent::LanguageChange:
        m_ui->retranslateUi(this);
        break;
    default:
        break;
    }
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}
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/**
 * Implement paintEvent() so that stylesheets work for our custom widget.
 */
void WaypointViewOnlyView::paintEvent(QPaintEvent *)
 {
     QStyleOption opt;
     opt.init(this);
     QPainter p(this);
     style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this);
 }