WaypointList.h 4.24 KB
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/*=====================================================================

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QGroundControl Open Source Ground Control Station
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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    QGROUNDCONTROL is free software: you can redistribute it and/or modify
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    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.

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    QGROUNDCONTROL is distributed in the hope that it will be useful,
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    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
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    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/

/**
 * @file
 *   @brief Definition of list of waypoints widget
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *   @author Benjamin Knecht <mavteam@student.ethz.ch>
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 *   @author Petri Tanskanen <mavteam@student.ethz.ch>
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 *
 */

#ifndef WAYPOINTLIST_H
#define WAYPOINTLIST_H

#include <QtGui/QWidget>
#include <QMap>
#include <QVBoxLayout>
#include <QTimer>
#include "Waypoint.h"
#include "UASInterface.h"
#include "WaypointView.h"
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#include "WaypointGlobalView.h"
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namespace Ui {
    class WaypointList;
}

class WaypointList : public QWidget {
    Q_OBJECT
    Q_DISABLE_COPY(WaypointList)
        public:
            WaypointList(QWidget* parent = NULL, UASInterface* uas = NULL);
    virtual ~WaypointList();

public slots:
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    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
    void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);

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    void setUAS(UASInterface* uas);
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    //Waypoint list operations
    /** @brief Save the local waypoint list to a file */
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    void saveWaypoints();
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    /** @brief Load a waypoint list from a file */
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    void    loadWaypoints();
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    /** @brief Transmit the local waypoint list to the UAS */
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    void transmit();
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    /** @brief Read the remote waypoint list */
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    void read();
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    /** @brief Add a waypoint */
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    void add();
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    /** @brief Add a waypoint at the current MAV position */
    void addCurrentPositonWaypoint();
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    /** @brief Add a waypoint by mouse click over the map */
    void addWaypointMouse(QPointF coordinate);
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    /** @brief it notifies that a global waypoint goes to do created */
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    void setIsWPGlobal(bool value, QPointF centerCoordinate);
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    //Update events
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    /** @brief sets statusLabel string */
    void updateStatusLabel(const QString &string);
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    /** @brief The user wants to change the current waypoint */
    void changeCurrentWaypoint(quint16 seq);
    /** @brief The waypoint planner changed the current waypoint */
    void currentWaypointChanged(quint16 seq);
    /** @brief The waypoint manager informs that the waypoint list was changed */
    void waypointListChanged(void);

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    /** @brief The MapWidget informs that a waypoint global was changed on the map */
    void waypointGlobalChanged(const QPointF coordinate, const int indexWP);

    void clearLocalWPWidget();

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    void changeWPPositionBySpinBox(Waypoint* wp);

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    // Waypoint operations
    void moveUp(Waypoint* wp);
    void moveDown(Waypoint* wp);
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    void removeWaypoint(Waypoint* wp);
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    void setIsLoadFileWP();
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    void setIsReadGlobalWP(bool value);
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signals:
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  void clearPathclicked();
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  void createWaypointAtMap(const QPointF coordinate);
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 // void ChangeWaypointGlobalPosition(int index, QPointF coord);
  void changePositionWPGlobalBySpinBox(int indexWP, float lat, float lon);
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protected:
    virtual void changeEvent(QEvent *e);
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protected:
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    QMap<Waypoint*, WaypointView*> wpViews;
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    QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
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    QVBoxLayout* listLayout;
    UASInterface* uas;
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    double mavX;
    double mavY;
    double mavZ;
    double mavYaw;
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    bool isGlobalWP;
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    bool isLocalWP;
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    QPointF centerMapCoordinate;
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    bool loadFileGlobalWP;
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    bool readGlobalWP;
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private:
    Ui::WaypointList *m_ui;
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private slots:
    void on_clearWPListButton_clicked();
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};

#endif // WAYPOINTLIST_H