WaypointList.cc 14.9 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29
/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    PIXHAWK is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Waypoint list widget
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *   @author Benjamin Knecht <mavteam@student.ethz.ch>
30
 *   @author Petri Tanskanen <mavteam@student.ethz.ch>
pixhawk's avatar
pixhawk committed
31 32 33 34 35 36 37 38 39
 *
 */

#include "WaypointList.h"
#include "ui_WaypointList.h"
#include <UASInterface.h>
#include <UASManager.h>
#include <QDebug>
#include <QFileDialog>
40
#include <QMessageBox>
41
#include <QMouseEvent>
pixhawk's avatar
pixhawk committed
42 43 44 45

WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
        QWidget(parent),
        uas(NULL),
46 47 48 49
        mavX(0.0),
        mavY(0.0),
        mavZ(0.0),
        mavYaw(0.0),
pixhawk's avatar
pixhawk committed
50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
        m_ui(new Ui::WaypointList)
{
    m_ui->setupUi(this);

    listLayout = new QVBoxLayout(m_ui->listWidget);
    listLayout->setSpacing(6);
    listLayout->setMargin(0);
    listLayout->setAlignment(Qt::AlignTop);
    m_ui->listWidget->setLayout(listLayout);

    this->uas = NULL;

    // ADD WAYPOINT
    // Connect add action, set right button icon and connect action to this class
    connect(m_ui->addButton, SIGNAL(clicked()), m_ui->actionAddWaypoint, SIGNAL(triggered()));
    connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(add()));

67 68 69
    // ADD WAYPOINT AT CURRENT POSITION
    connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositonWaypoint()));

pixhawk's avatar
pixhawk committed
70 71 72
    // SEND WAYPOINTS
    connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(transmit()));

73
    // REQUEST WAYPOINTS
74
    connect(m_ui->readButton, SIGNAL(clicked()), this, SLOT(read()));
75

pixhawk's avatar
pixhawk committed
76 77 78 79 80 81
    // SAVE/LOAD WAYPOINTS
    connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(saveWaypoints()));
    connect(m_ui->loadButton, SIGNAL(clicked()), this, SLOT(loadWaypoints()));

    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));

82 83


pixhawk's avatar
pixhawk committed
84 85
    // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
    setUAS(uas);
86 87 88

    // STATUS LABEL
    updateStatusLabel("");
89 90

    this->setVisible(false);
91
    loadFileGlobalWP = false;
92
    readGlobalWP = false;
93 94 95
    centerMapCoordinate.setX(0.0);
    centerMapCoordinate.setY(0.0);

pixhawk's avatar
pixhawk committed
96 97 98 99 100 101 102
}

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

103
void WaypointList::updatePosition(UASInterface* uas, double x, double y, double z, quint64 usec)
104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120
{
    Q_UNUSED(uas);
    Q_UNUSED(usec);
    mavX = x;
    mavY = y;
    mavZ = z;
}

void WaypointList::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec)
{
    Q_UNUSED(uas);
    Q_UNUSED(usec);
    Q_UNUSED(roll);
    Q_UNUSED(pitch);
    mavYaw = yaw;
}

pixhawk's avatar
pixhawk committed
121 122 123 124 125
void WaypointList::setUAS(UASInterface* uas)
{
    if (this->uas == NULL && uas != NULL)
    {
        this->uas = uas;
pixhawk's avatar
pixhawk committed
126

127
        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
128
        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
pixhawk's avatar
pixhawk committed
129

130 131 132
        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
        connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
        connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
133
        connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
134 135
        connect(&uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));

pixhawk's avatar
pixhawk committed
136 137 138
    }
}

pixhawk's avatar
pixhawk committed
139 140 141 142 143
void WaypointList::saveWaypoints()
{
    if (uas)
    {
        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
144
        uas->getWaypointManager().saveWaypoints(fileName);
pixhawk's avatar
pixhawk committed
145 146 147 148 149 150 151
    }
}

void WaypointList::loadWaypoints()
{
    if (uas)
    {
152 153


pixhawk's avatar
pixhawk committed
154
        QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
155
        uas->getWaypointManager().loadWaypoints(fileName);
156
     }
pixhawk's avatar
pixhawk committed
157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178
}

void WaypointList::transmit()
{
    if (uas)
    {
        uas->getWaypointManager().writeWaypoints();
    }
}

void WaypointList::read()
{
    if (uas)
    {
        uas->getWaypointManager().readWaypoints();
    }
}

void WaypointList::add()
{
    if (uas)
    {
Alejandro's avatar
Alejandro committed
179
                const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
180 181 182
            Waypoint *wp;


183 184
            if (waypoints.size() > 0)
            {
185
                // Create waypoint with last frame
186
                Waypoint *last = waypoints.at(waypoints.size()-1);
187
                wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
188 189
                                            last->getHoldTime(), last->getFrame(), last->getAction());
                uas->getWaypointManager().addWaypoint(wp);
190 191 192
            }
            else
            {
193 194
                    // Create global frame waypoint per default
                    wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(),
195
                                                0.0, true, true, 0.15, 2000);
196
                    uas->getWaypointManager().addWaypoint(wp);
197
            }
198 199 200 201
            if (wp->getFrame() == MAV_FRAME_GLOBAL)
            {
                emit createWaypointAtMap(QPointF(wp->getX(), wp->getY()));
            }
Alejandro's avatar
Alejandro committed
202

pixhawk's avatar
pixhawk committed
203 204 205 206
    }
}

void WaypointList::addCurrentPositonWaypoint()
pixhawk's avatar
pixhawk committed
207
{
208
    /* TODO: implement with new waypoint structure
pixhawk's avatar
pixhawk committed
209
    if (uas)
pixhawk's avatar
pixhawk committed
210
    {
211
        // For Global Waypoints
212 213 214 215 216
        //if(isGlobalWP)
        //{
            //isLocalWP = false;
        //}
        //else
pixhawk's avatar
pixhawk committed
217
        {
218 219 220 221 222
            const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
            if (waypoints.size() > 0)
            {
                Waypoint *last = waypoints.at(waypoints.size()-1);
                Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
223
                uas->getWaypointManager().addWaypoint(wp);
224 225 226 227
            }
            else
            {
                Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
228
                uas->getWaypointManager().addWaypoint(wp);
229 230
            }

231
             //isLocalWP = true;
pixhawk's avatar
pixhawk committed
232
        }
pixhawk's avatar
pixhawk committed
233
    }
234
    */
pixhawk's avatar
pixhawk committed
235 236
}

pixhawk's avatar
pixhawk committed
237 238 239
void WaypointList::updateStatusLabel(const QString &string)
{
    m_ui->statusLabel->setText(string);
240 241


pixhawk's avatar
pixhawk committed
242 243
}

244
void WaypointList::changeCurrentWaypoint(quint16 seq)
pixhawk's avatar
pixhawk committed
245
{
pixhawk's avatar
pixhawk committed
246
    if (uas)
247
    {
248
        uas->getWaypointManager().setCurrentWaypoint(seq);
249
    }
pixhawk's avatar
pixhawk committed
250 251
}

252
void WaypointList::currentWaypointChanged(quint16 seq)
253
{
pixhawk's avatar
pixhawk committed
254
    if (uas)
255
    {
256
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276

        if (seq < waypoints.size())
        {
            for(int i = 0; i < waypoints.size(); i++)
            {
                WaypointView* widget = wpViews.find(waypoints[i]).value();

                if (waypoints[i]->getId() == seq)
                {
                    widget->setCurrent(true);
                }
                else
                {
                    widget->setCurrent(false);
                }
            }
        }
    }
}

277
void WaypointList::waypointListChanged()
pixhawk's avatar
pixhawk committed
278
{
pixhawk's avatar
pixhawk committed
279
    if (uas)
pixhawk's avatar
pixhawk committed
280
    {
281
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
pixhawk's avatar
pixhawk committed
282

Alejandro's avatar
Alejandro committed
283
        // for local Waypoints
284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329
                // first remove all views of non existing waypoints
                if (!wpViews.empty())
                {
                    QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
                    viewIt.toFront();
                    while(viewIt.hasNext())
                    {
                        viewIt.next();
                        Waypoint *cur = viewIt.key();
                        int i;
                        for (i = 0; i < waypoints.size(); i++)
                        {
                            if (waypoints[i] == cur)
                            {
                                break;
                            }
                        }
                        if (i == waypoints.size())
                        {
                            WaypointView* widget = wpViews.find(cur).value();
                            widget->hide();
                            listLayout->removeWidget(widget);
                            wpViews.remove(cur);
                        }
                    }
                }

                // then add/update the views for each waypoint in the list
                for(int i = 0; i < waypoints.size(); i++)
                {
                    Waypoint *wp = waypoints[i];
                    if (!wpViews.contains(wp))
                    {
                        WaypointView* wpview = new WaypointView(wp, this);
                        wpViews.insert(wp, wpview);
                        connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)),    this, SLOT(moveDown(Waypoint*)));
                        connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)),      this, SLOT(moveUp(Waypoint*)));
                        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)),      this, SLOT(removeWaypoint(Waypoint*)));
                        connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
                        connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
                    }
                WaypointView *wpv = wpViews.value(wp);
                wpv->updateValues();    // update the values of the ui elements in the view
                listLayout->addWidget(wpv);

            }
330

331

332
            loadFileGlobalWP = false;
Alejandro's avatar
Alejandro committed
333
            //emit changePointList();
pixhawk's avatar
pixhawk committed
334
        }
335 336


pixhawk's avatar
pixhawk committed
337 338
}

339
void WaypointList::moveUp(Waypoint* wp)
pixhawk's avatar
pixhawk committed
340
{
341
    if (uas)
pixhawk's avatar
pixhawk committed
342
    {
343 344 345 346 347
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();

        //get the current position of wp in the local storage
        int i;
        for (i = 0; i < waypoints.size(); i++)
348
        {
349 350
            if (waypoints[i] == wp)
                break;
351 352
        }

353 354
        // if wp was found and its not the first entry, move it
        if (i < waypoints.size() && i > 0)
pixhawk's avatar
pixhawk committed
355
        {
356
            uas->getWaypointManager().moveWaypoint(i, i-1);
pixhawk's avatar
pixhawk committed
357 358
        }
    }
Alejandro's avatar
Alejandro committed
359 360 361

    //emitir seal de cambio orden en la lista,
    //la debe capturar el mapwidget para volver a dibujar la ruta
pixhawk's avatar
pixhawk committed
362 363
}

364
void WaypointList::moveDown(Waypoint* wp)
pixhawk's avatar
pixhawk committed
365
{
366
    if (uas)
pixhawk's avatar
pixhawk committed
367
    {
368
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
369

370 371 372
        //get the current position of wp in the local storage
        int i;
        for (i = 0; i < waypoints.size(); i++)
pixhawk's avatar
pixhawk committed
373
        {
374 375
            if (waypoints[i] == wp)
                break;
pixhawk's avatar
pixhawk committed
376 377
        }

378 379
        // if wp was found and its not the last entry, move it
        if (i < waypoints.size()-1)
pixhawk's avatar
pixhawk committed
380
        {
381
            uas->getWaypointManager().moveWaypoint(i, i+1);
pixhawk's avatar
pixhawk committed
382 383 384 385 386 387
        }
    }
}

void WaypointList::removeWaypoint(Waypoint* wp)
{
388
    if (uas)
pixhawk's avatar
pixhawk committed
389
    {
390
        uas->getWaypointManager().removeWaypoint(wp->getId());
pixhawk's avatar
pixhawk committed
391 392 393 394 395 396 397 398 399 400 401 402 403 404
    }
}

void WaypointList::changeEvent(QEvent *e)
{
    switch (e->type()) {
    case QEvent::LanguageChange:
        m_ui->retranslateUi(this);
        break;
    default:
        break;
    }
}

405 406 407 408


void WaypointList::on_clearWPListButton_clicked()
{
409

tecnosapiens's avatar
tecnosapiens committed
410

411 412
    if (uas)
    {
tecnosapiens's avatar
tecnosapiens committed
413
           emit clearPathclicked();
414
          const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
415 416 417 418
            while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
            {
                WaypointView* widget = wpViews.find(waypoints[0]).value();
                widget->remove();
419
        }
420
    }
421 422 423 424 425 426 427 428 429 430 431 432
}

/** @brief Add a waypoint by mouse click over the map */
void WaypointList::addWaypointMouse(QPointF coordinate)
{
    if (uas)
    {
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
        if (waypoints.size() > 0)
        {
            Waypoint *last = waypoints.at(waypoints.size()-1);
            Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
433
            uas->getWaypointManager().addWaypoint(wp);
434 435 436 437
        }
        else
        {
            Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
438
            uas->getWaypointManager().addWaypoint(wp);
439
        }
440 441


442 443
    }

444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459
}

/** @brief The MapWidget informs that a waypoint global was changed on the map */

void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
{
    if (uas)
    {
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
        if (waypoints.size() > 0)
        {
            Waypoint *temp = waypoints.at(indexWP);

            temp->setX(coordinate.x());
            temp->setY(coordinate.y());

460 461
            //WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
            //widget->updateValues();
462 463 464 465 466 467
        }
    }


}

468 469 470 471 472 473 474 475 476 477 478 479 480
///** @brief The MapWidget informs that a waypoint global was changed on the map */

//void WaypointList::waypointGlobalPositionChanged(Waypoint* wp)
//{
//    QPointF coordinate;
//    coordinate.setX(wp->getX());
//    coordinate.setY(wp->getY());

//   emit ChangeWaypointGlobalPosition(wp->getId(), coordinate);


//}

481
void WaypointList::clearWPWidget()
482 483 484 485 486 487 488 489 490 491
{
  if (uas)
  {
    const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
      while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
      {
          WaypointView* widget = wpViews.find(waypoints[0]).value();
          widget->remove();
      }
  }
492
    //emit changePositionWPBySpinBox(wp->getId(), wp->getY(), wp->getX());
493
}
494 495 496 497 498

void WaypointList::setIsLoadFileWP()
{
    loadFileGlobalWP = true;
}
499 500 501

void WaypointList::setIsReadGlobalWP(bool value)
{
pixhawk's avatar
pixhawk committed
502 503 504
    // FIXME James Check this
    Q_UNUSED(value);
    // readGlobalWP = value;
505
}