WaypointView.cc 24 KB
Newer Older
pixhawk's avatar
pixhawk committed
1
/*===================================================================
pixhawk's avatar
pixhawk committed
2 3 4 5 6 7 8 9
======================================================================*/

/**
 * @file
 *   @brief Displays one waypoint
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *   @author Benjamin Knecht <mavteam@student.ethz.ch>
10
 *   @author Petri Tanskanen <mavteam@student.ethz.ch>
pixhawk's avatar
pixhawk committed
11 12 13 14 15 16
 *
 */

#include <QDoubleSpinBox>
#include <QDebug>

17 18
#include <cmath>
#include <qmath.h>
pixhawk's avatar
pixhawk committed
19

pixhawk's avatar
pixhawk committed
20 21
#include "WaypointView.h"
#include "ui_WaypointView.h"
22
#include "ui_QGCCustomWaypointAction.h"
pixhawk's avatar
pixhawk committed
23 24

WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
25 26 27 28
    QWidget(parent),
    customCommand(new Ui_QGCCustomWaypointAction),
    viewMode(QGC_WAYPOINTVIEW_MODE_NAV),
    m_ui(new Ui::WaypointView)
pixhawk's avatar
pixhawk committed
29 30 31 32
{
    m_ui->setupUi(this);

    this->wp = wp;
pixhawk's avatar
pixhawk committed
33
    connect(wp, SIGNAL(destroyed(QObject*)), this, SLOT(deleted(QObject*)));
34

35 36 37
    // CUSTOM COMMAND WIDGET
    customCommand->setupUi(m_ui->customActionWidget);

38
    // add actions
39 40 41 42 43 44 45
    m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
    m_ui->comboBox_action->addItem(tr("NAV: TakeOff"),MAV_CMD_NAV_TAKEOFF);
    m_ui->comboBox_action->addItem(tr("NAV: Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
    m_ui->comboBox_action->addItem(tr("NAV: Loiter Time"),MAV_CMD_NAV_LOITER_TIME);
    m_ui->comboBox_action->addItem(tr("NAV: Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
    m_ui->comboBox_action->addItem(tr("NAV: Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
    m_ui->comboBox_action->addItem(tr("NAV: Land"),MAV_CMD_NAV_LAND);
lm's avatar
lm committed
46 47 48 49
//    m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
    //m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
    //m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
    //m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);
50
    m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
51

52
    // add frames
53 54
    m_ui->comboBox_frame->addItem("Abs. Alt/Global",MAV_FRAME_GLOBAL);
    m_ui->comboBox_frame->addItem("Rel. Alt/Global", MAV_FRAME_GLOBAL_RELATIVE_ALT);
55
    m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL_NED);
56 57 58 59 60
    m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION);

    // Initialize view correctly
    updateActionView(wp->getAction());
    updateFrameView(wp->getFrame());
61

pixhawk's avatar
pixhawk committed
62
    // Read values and set user interface
63
    updateValues();
pixhawk's avatar
pixhawk committed
64

65
    // Check for mission frame
66
    if (wp->getFrame() == MAV_FRAME_MISSION) {
67 68 69
        m_ui->comboBox_action->setCurrentIndex(m_ui->comboBox_action->count()-1);
    }

70 71 72 73
    connect(m_ui->posNSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
    connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
    connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));

74 75 76
    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setLatitude(double)));
    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setLongitude(double)));
    connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setAltitude(double)));
lm's avatar
lm committed
77
    connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setYaw(int)));
pixhawk's avatar
pixhawk committed
78 79 80 81 82

    connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
    connect(m_ui->downButton, SIGNAL(clicked()), this, SLOT(moveDown()));
    connect(m_ui->removeButton, SIGNAL(clicked()), this, SLOT(remove()));

pixhawk's avatar
pixhawk committed
83 84
    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
    connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
85 86
    connect(m_ui->comboBox_action, SIGNAL(activated(int)), this, SLOT(changedAction(int)));
    connect(m_ui->comboBox_frame, SIGNAL(activated(int)), this, SLOT(changedFrame(int)));
pixhawk's avatar
pixhawk committed
87

88 89
    connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setLoiterOrbit(double)));
    connect(m_ui->acceptanceSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setAcceptanceRadius(double)));
lm's avatar
lm committed
90
    connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setHoldTime(double)));
91
    connect(m_ui->turnsSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setTurns(int)));
92
    connect(m_ui->takeOffAngleSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam1(double)));
93 94 95 96 97 98 99

    // Connect actions
    connect(customCommand->commandSpinBox, SIGNAL(valueChanged(int)),   wp, SLOT(setAction(int)));
    connect(customCommand->param1SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam1(double)));
    connect(customCommand->param2SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam2(double)));
    connect(customCommand->param3SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam3(double)));
    connect(customCommand->param4SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam4(double)));
100 101
    connect(customCommand->param5SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam5(double)));
    connect(customCommand->param6SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam6(double)));
lm's avatar
lm committed
102
    connect(customCommand->param7SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam7(double)));
pixhawk's avatar
pixhawk committed
103 104
}

pixhawk's avatar
pixhawk committed
105 106 107 108 109 110 111 112 113 114
void WaypointView::moveUp()
{
    emit moveUpWaypoint(wp);
}

void WaypointView::moveDown()
{
    emit moveDownWaypoint(wp);
}

Alejandro's avatar
Alejandro committed
115

pixhawk's avatar
pixhawk committed
116 117 118
void WaypointView::remove()
{
    emit removeWaypoint(wp);
119
    deleteLater();
pixhawk's avatar
pixhawk committed
120 121
}

pixhawk's avatar
pixhawk committed
122
void WaypointView::changedAutoContinue(int state)
pixhawk's avatar
pixhawk committed
123 124
{
    if (state == 0)
125
        wp->setAutocontinue(false);
pixhawk's avatar
pixhawk committed
126
    else
127
        wp->setAutocontinue(true);
pixhawk's avatar
pixhawk committed
128 129
}

130
void WaypointView::updateActionView(int action)
131
{
132 133
    // Remove stretch item at index 17 (m_ui->removeSpacer)
    m_ui->horizontalLayout->takeAt(17);
134
    // expose ui based on action
135

136
    switch(action) {
137
    case MAV_CMD_NAV_TAKEOFF:
138 139 140 141 142 143 144
        m_ui->orbitSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->turnsSpinBox->hide();
        m_ui->autoContinue->hide();
        m_ui->holdTimeSpinBox->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->customActionWidget->hide();
145
        m_ui->horizontalLayout->insertStretch(17, 82);
146 147
        m_ui->takeOffAngleSpinBox->show();
        break;
148
    case MAV_CMD_NAV_LAND:
149 150 151 152 153 154 155 156
        m_ui->orbitSpinBox->hide();
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->turnsSpinBox->hide();
        m_ui->autoContinue->hide();
        m_ui->holdTimeSpinBox->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->customActionWidget->hide();
157
        m_ui->horizontalLayout->insertStretch(17, 26);
158
        break;
159
    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
160 161 162 163 164 165 166 167
        m_ui->orbitSpinBox->hide();
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->turnsSpinBox->hide();
        m_ui->autoContinue->hide();
        m_ui->holdTimeSpinBox->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->customActionWidget->hide();
168
        m_ui->horizontalLayout->insertStretch(17, 26);
169
        break;
170
    case MAV_CMD_NAV_WAYPOINT:
171 172 173
        m_ui->orbitSpinBox->hide();
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->turnsSpinBox->hide();
lm's avatar
lm committed
174
        m_ui->holdTimeSpinBox->show();
175
        m_ui->customActionWidget->hide();
176
        m_ui->horizontalLayout->insertStretch(17, 1);
177

178
        m_ui->autoContinue->show();
179 180
        m_ui->acceptanceSpinBox->show();
        m_ui->yawSpinBox->show();
181
        break;
182
    case MAV_CMD_NAV_LOITER_UNLIM:
183 184 185 186 187 188 189
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->turnsSpinBox->hide();
        m_ui->autoContinue->hide();
        m_ui->holdTimeSpinBox->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->customActionWidget->hide();
190
        m_ui->horizontalLayout->insertStretch(17, 25);
191 192
        m_ui->orbitSpinBox->show();
        break;
193
    case MAV_CMD_NAV_LOITER_TURNS:
194 195 196 197 198 199
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->autoContinue->hide();
        m_ui->holdTimeSpinBox->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->customActionWidget->hide();
200
        m_ui->horizontalLayout->insertStretch(17, 20);
201 202 203
        m_ui->orbitSpinBox->show();
        m_ui->turnsSpinBox->show();
        break;
204
    case MAV_CMD_NAV_LOITER_TIME:
205 206 207 208 209 210
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->turnsSpinBox->hide();
        m_ui->autoContinue->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->customActionWidget->hide();
211
        m_ui->horizontalLayout->insertStretch(17, 20);
212 213 214
        m_ui->orbitSpinBox->show();
        m_ui->holdTimeSpinBox->show();
        break;
LM's avatar
LM committed
215 216 217 218 219 220 221 222 223 224 225
//    case MAV_CMD_NAV_ORIENTATION_TARGET:
//        m_ui->orbitSpinBox->hide();
//        m_ui->takeOffAngleSpinBox->hide();
//        m_ui->turnsSpinBox->hide();
//        m_ui->holdTimeSpinBox->show();
//        m_ui->customActionWidget->hide();

//        m_ui->autoContinue->show();
//        m_ui->acceptanceSpinBox->hide();
//        m_ui->yawSpinBox->hide();
//        break;
226
    default:
227
        break;
228 229 230
    }
}

231 232 233 234
/**
 * @param index The index of the combo box of the action entry, NOT the action ID
 */
void WaypointView::changedAction(int index)
235 236
{
    // set waypoint action
237
    int actionIndex = m_ui->comboBox_action->itemData(index).toUInt();
238
    if (actionIndex < MAV_CMD_ENUM_END && actionIndex >= 0) {
239
        MAV_CMD action = (MAV_CMD) actionIndex;
240 241 242 243 244 245 246
        wp->setAction(action);
    }

    // Expose ui based on action
    // Change to mission frame
    // if action is unknown

247
    switch(actionIndex) {
248 249 250 251 252 253 254
    case MAV_CMD_NAV_TAKEOFF:
    case MAV_CMD_NAV_LAND:
    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
    case MAV_CMD_NAV_WAYPOINT:
    case MAV_CMD_NAV_LOITER_UNLIM:
    case MAV_CMD_NAV_LOITER_TURNS:
    case MAV_CMD_NAV_LOITER_TIME:
255 256 257
        changeViewMode(QGC_WAYPOINTVIEW_MODE_NAV);
        // Update frame view
        updateFrameView(m_ui->comboBox_frame->currentIndex());
258 259
        // Update view
        updateActionView(actionIndex);
260
        break;
261
    case MAV_CMD_ENUM_END:
262 263
    default:
        // Switch to mission frame
264
        changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING);
265 266 267
        break;
    }
}
268

269
void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
270
{
lm's avatar
lm committed
271
    viewMode = mode;
272
    switch (mode) {
273
    case QGC_WAYPOINTVIEW_MODE_NAV:
274 275 276 277
    case QGC_WAYPOINTVIEW_MODE_CONDITION:
        // Hide everything, show condition widget
        // TODO
    case QGC_WAYPOINTVIEW_MODE_DO:
278

279
        break;
280
    case QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING:
281 282 283 284 285 286 287 288 289 290 291 292 293 294
        // Hide almost everything
        m_ui->orbitSpinBox->hide();
        m_ui->takeOffAngleSpinBox->hide();
        m_ui->yawSpinBox->hide();
        m_ui->turnsSpinBox->hide();
        m_ui->holdTimeSpinBox->hide();
        m_ui->acceptanceSpinBox->hide();
        m_ui->posDSpinBox->hide();
        m_ui->posESpinBox->hide();
        m_ui->posNSpinBox->hide();
        m_ui->latSpinBox->hide();
        m_ui->lonSpinBox->hide();
        m_ui->altSpinBox->hide();

lm's avatar
lm committed
295 296 297
        int action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END);
        m_ui->comboBox_action->setCurrentIndex(action_index);

298
        // Show action widget
299
        if (!m_ui->customActionWidget->isVisible()) {
300 301
            m_ui->customActionWidget->show();
        }
302
        if (!m_ui->autoContinue->isVisible()) {
303 304
            m_ui->autoContinue->show();
        }
305
        break;
306
    }
lm's avatar
lm committed
307

308 309 310 311
}

void WaypointView::updateFrameView(int frame)
{
312
    switch(frame) {
313
    case MAV_FRAME_GLOBAL:
314
    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
315 316 317 318 319 320 321 322 323 324
        m_ui->posNSpinBox->hide();
        m_ui->posESpinBox->hide();
        m_ui->posDSpinBox->hide();
        m_ui->lonSpinBox->show();
        m_ui->latSpinBox->show();
        m_ui->altSpinBox->show();
        // Coordinate frame
        m_ui->comboBox_frame->show();
        m_ui->customActionWidget->hide();
        break;
325
    case MAV_FRAME_LOCAL_NED:
326 327 328 329 330 331 332 333 334 335
        m_ui->lonSpinBox->hide();
        m_ui->latSpinBox->hide();
        m_ui->altSpinBox->hide();
        m_ui->posNSpinBox->show();
        m_ui->posESpinBox->show();
        m_ui->posDSpinBox->show();
        // Coordinate frame
        m_ui->comboBox_frame->show();
        m_ui->customActionWidget->hide();
        break;
336 337 338 339 340
    default:
        std::cerr << "unknown frame" << std::endl;
    }
}

pixhawk's avatar
pixhawk committed
341 342
void WaypointView::deleted(QObject* waypoint)
{
343
    Q_UNUSED(waypoint);
lm's avatar
lm committed
344 345 346 347
//    if (waypoint == this->wp)
//    {
//        deleteLater();
//    }
pixhawk's avatar
pixhawk committed
348 349
}

350 351 352 353 354 355 356 357 358
void WaypointView::changedFrame(int index)
{
    // set waypoint action
    MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
    wp->setFrame(frame);

    updateFrameView(frame);
}

pixhawk's avatar
pixhawk committed
359
void WaypointView::changedCurrent(int state)
pixhawk's avatar
pixhawk committed
360
{
361
    if (state == 0) {
pixhawk's avatar
pixhawk committed
362 363
        m_ui->selectedBox->setChecked(true);
        m_ui->selectedBox->setCheckState(Qt::Checked);
364
        //wp->setCurrent(false); //FIXME: Is this line needed?
365
    } else {
pixhawk's avatar
pixhawk committed
366
        wp->setCurrent(true);
367
        emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
pixhawk's avatar
pixhawk committed
368
    }
pixhawk's avatar
pixhawk committed
369 370
}

371 372
void WaypointView::updateValues()
{
pixhawk's avatar
pixhawk committed
373 374
    // Check if we just lost the wp, delete the widget
    // accordingly
375
    if (!wp) {
pixhawk's avatar
pixhawk committed
376 377 378
        deleteLater();
        return;
    }
379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445

    //wp->blockSignals(true);

    // Deactivate all QDoubleSpinBox signals due to
    // unwanted rounding effects
    for (int j = 0; j  < children().size(); ++j)
    {
        // Store only QGCToolWidgetItems
        QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(children().at(j));
        if (spin)
        {
            //qDebug() << "DEACTIVATED SPINBOX #" << j;
            spin->blockSignals(true);
        }
        else
        {
            // Store only QGCToolWidgetItems
            QWidget* item = dynamic_cast<QWidget*>(children().at(j));
            if (item)
            {
                //qDebug() << "FOUND WIDGET BOX";
                for (int k = 0; k  < item->children().size(); ++k)
                {
                    // Store only QGCToolWidgetItems
                    QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(item->children().at(k));
                    if (spin)
                    {
                        //qDebug() << "DEACTIVATED SPINBOX #" << k;
                        spin->blockSignals(true);
                    }
                }
            }
        }
    }

    // Block all custom action widget actions
    for (int j = 0; j  < m_ui->customActionWidget->children().size(); ++j)
    {
        // Store only QGCToolWidgetItems
        QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(m_ui->customActionWidget->children().at(j));
        if (spin)
        {
            //qDebug() << "DEACTIVATED SPINBOX #" << j;
            spin->blockSignals(true);
        }
        else
        {
            // Store only QGCToolWidgetItems
            QWidget* item = dynamic_cast<QWidget*>(m_ui->customActionWidget->children().at(j));
            if (item)
            {
                //qDebug() << "CUSTOM ACTIONS FOUND WIDGET BOX";
                for (int k = 0; k  < item->children().size(); ++k)
                {
                    // Store only QGCToolWidgetItems
                    QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(item->children().at(k));
                    if (spin)
                    {
                        //qDebug() << "DEACTIVATED SPINBOX #" << k;
                        spin->blockSignals(true);
                    }
                }
            }
        }
    }


446 447
    // update frame
    MAV_FRAME frame = wp->getFrame();
448
    int frame_index = m_ui->comboBox_frame->findData(frame);
449
    if (m_ui->comboBox_frame->currentIndex() != frame_index) {
450
        m_ui->comboBox_frame->setCurrentIndex(frame_index);
451
        updateFrameView(frame);
452
    }
453
    switch(frame) {
454
    case MAV_FRAME_LOCAL_NED: {
455 456
        if (m_ui->posNSpinBox->value() != wp->getX()) {
            m_ui->posNSpinBox->setValue(wp->getX());
pixhawk's avatar
pixhawk committed
457
        }
458 459 460 461 462 463 464 465
        if (m_ui->posESpinBox->value() != wp->getY()) {
            m_ui->posESpinBox->setValue(wp->getY());
        }
        if (m_ui->posDSpinBox->value() != wp->getZ()) {
            m_ui->posDSpinBox->setValue(wp->getZ());
        }
    }
    break;
466
    case MAV_FRAME_GLOBAL:
467
    case MAV_FRAME_GLOBAL_RELATIVE_ALT: {
468 469 470 471
        if (m_ui->latSpinBox->value() != wp->getLatitude()) {
            // Rounding might occur, prevent spin box from
            // firing back changes
            m_ui->latSpinBox->setValue(wp->getLatitude());
pixhawk's avatar
pixhawk committed
472
        }
473 474 475 476
        if (m_ui->lonSpinBox->value() != wp->getLongitude()) {
            // Rounding might occur, prevent spin box from
            // firing back changes
            m_ui->lonSpinBox->setValue(wp->getLongitude());
477
        }
478 479 480 481
        if (m_ui->altSpinBox->value() != wp->getAltitude()) {
            // Rounding might occur, prevent spin box from
            // firing back changes
            m_ui->altSpinBox->setValue(wp->getAltitude());
482 483 484
        }
    }
    break;
485 486
    default:
        // Do nothing
487
        break;
488 489
    }

490
    // Update action
491
    MAV_CMD action = wp->getAction();
492
    int action_index = m_ui->comboBox_action->findData(action);
493
    // Set to "Other" action if it was -1
494 495
    if (action_index == -1)
    {
496
        action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END);
497 498
    }
    // Only update if changed
499 500
    if (m_ui->comboBox_action->currentIndex() != action_index)
    {
501
        // If action is unknown, set direct editing mode
502 503
        if (wp->getAction() < 0 || wp->getAction() > MAV_CMD_NAV_TAKEOFF)
        {
504
            changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING);
505 506 507 508 509
        }
        else
        {
            if (viewMode != QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING)
            {
lm's avatar
lm committed
510 511 512 513
                // Action ID known, update
                m_ui->comboBox_action->setCurrentIndex(action_index);
                updateActionView(action);
            }
514
        }
pixhawk's avatar
pixhawk committed
515
    }
516

517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532
//    // Do something on actions - currently unused
////    switch(action) {
////    case MAV_CMD_NAV_TAKEOFF:
////        break;
////    case MAV_CMD_NAV_LAND:
////        break;
////    case MAV_CMD_NAV_WAYPOINT:
////        break;
////    case MAV_CMD_NAV_LOITER_UNLIM:
////        break;
////    default:
////        std::cerr << "unknown action" << std::endl;
////    }

    if (m_ui->yawSpinBox->value() != wp->getYaw())
    {
lm's avatar
lm committed
533
        m_ui->yawSpinBox->setValue(wp->getYaw());
pixhawk's avatar
pixhawk committed
534
    }
535 536
    if (m_ui->selectedBox->isChecked() != wp->getCurrent())
    {
pixhawk's avatar
pixhawk committed
537 538
        m_ui->selectedBox->setChecked(wp->getCurrent());
    }
539 540
    if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
    {
pixhawk's avatar
pixhawk committed
541 542
        m_ui->autoContinue->setChecked(wp->getAutoContinue());
    }
pixhawk's avatar
pixhawk committed
543
    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
544 545
    if (m_ui->orbitSpinBox->value() != wp->getLoiterOrbit())
    {
546 547
        m_ui->orbitSpinBox->setValue(wp->getLoiterOrbit());
    }
548 549
    if (m_ui->acceptanceSpinBox->value() != wp->getAcceptanceRadius())
    {
550
        m_ui->acceptanceSpinBox->setValue(wp->getAcceptanceRadius());
pixhawk's avatar
pixhawk committed
551
    }
552 553
    if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime())
    {
pixhawk's avatar
pixhawk committed
554 555
        m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
    }
556 557
    if (m_ui->turnsSpinBox->value() != wp->getTurns())
    {
558 559
        m_ui->turnsSpinBox->setValue(wp->getTurns());
    }
560 561
    if (m_ui->takeOffAngleSpinBox->value() != wp->getParam1())
    {
562 563
        m_ui->takeOffAngleSpinBox->setValue(wp->getParam1());
    }
564

565
//    // UPDATE CUSTOM ACTION WIDGET
566

567 568
    if (customCommand->commandSpinBox->value() != wp->getAction())
    {
569
        customCommand->commandSpinBox->setValue(wp->getAction());
570
        // qDebug() << "Changed action";
571 572
    }
    // Param 1
573
    if (customCommand->param1SpinBox->value() != wp->getParam1()) {
574 575 576
        customCommand->param1SpinBox->setValue(wp->getParam1());
    }
    // Param 2
577
    if (customCommand->param2SpinBox->value() != wp->getParam2()) {
578 579 580
        customCommand->param2SpinBox->setValue(wp->getParam2());
    }
    // Param 3
581
    if (customCommand->param3SpinBox->value() != wp->getParam3()) {
582 583 584
        customCommand->param3SpinBox->setValue(wp->getParam3());
    }
    // Param 4
585
    if (customCommand->param4SpinBox->value() != wp->getParam4()) {
586 587
        customCommand->param4SpinBox->setValue(wp->getParam4());
    }
588
    // Param 5
589
    if (customCommand->param5SpinBox->value() != wp->getParam5()) {
590 591 592
        customCommand->param5SpinBox->setValue(wp->getParam5());
    }
    // Param 6
593
    if (customCommand->param6SpinBox->value() != wp->getParam6()) {
594 595
        customCommand->param6SpinBox->setValue(wp->getParam6());
    }
lm's avatar
lm committed
596
    // Param 7
597
    if (customCommand->param7SpinBox->value() != wp->getParam7()) {
lm's avatar
lm committed
598 599
        customCommand->param7SpinBox->setValue(wp->getParam7());
    }
600

601 602 603 604 605 606 607 608
    QColor backGroundColor = QGC::colorBackground;

    static int lastId = -1;
    int currId = wp->getId() % 2;

    if (currId != lastId)
    {

609
        // qDebug() << "COLOR ID: " << currId;
610 611 612 613 614 615 616 617 618
        if (currId == 1)
        {
            //backGroundColor = backGroundColor.lighter(150);
            backGroundColor = QColor("#252528").lighter(150);
        }
        else
        {
            backGroundColor = QColor("#252528").lighter(250);
        }
619
        // qDebug() << "COLOR:" << backGroundColor.name();
620 621 622 623 624 625 626 627 628 629 630 631

        // Update color based on id
        QString groupBoxStyle = QString("QGroupBox {padding: 0px; margin: 0px; border: 0px; background-color: %1; }").arg(backGroundColor.name());
        QString labelStyle = QString("QWidget {background-color: %1; color: #DDDDDF; border-color: #EEEEEE; }").arg(backGroundColor.name());
        QString checkBoxStyle = QString("QCheckBox {background-color: %1; color: #454545; border-color: #EEEEEE; }").arg(backGroundColor.name());

        m_ui->autoContinue->setStyleSheet(checkBoxStyle);
        m_ui->selectedBox->setStyleSheet(checkBoxStyle);
        m_ui->idLabel->setStyleSheet(labelStyle);
        m_ui->groupBox->setStyleSheet(groupBoxStyle);
        lastId = currId;
    }
632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696

    // Activate all QDoubleSpinBox signals due to
    // unwanted rounding effects
    for (int j = 0; j  < children().size(); ++j)
    {
        // Store only QGCToolWidgetItems
        QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(children().at(j));
        if (spin)
        {
            //qDebug() << "ACTIVATED SPINBOX #" << j;
            spin->blockSignals(false);
        }
        else
        {
            // Store only QGCToolWidgetItems
            QGroupBox* item = dynamic_cast<QGroupBox*>(children().at(j));
            if (item)
            {
                //qDebug() << "FOUND GROUP BOX";
                for (int k = 0; k  < item->children().size(); ++k)
                {
                    // Store only QGCToolWidgetItems
                    QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(item->children().at(k));
                    if (spin)
                    {
                        //qDebug() << "ACTIVATED SPINBOX #" << k;
                        spin->blockSignals(false);
                    }
                }
            }
        }
    }

    // Unblock all custom action widget actions
    for (int j = 0; j  < m_ui->customActionWidget->children().size(); ++j)
    {
        // Store only QGCToolWidgetItems
        QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(m_ui->customActionWidget->children().at(j));
        if (spin)
        {
            //qDebug() << "ACTIVATED SPINBOX #" << j;
            spin->blockSignals(false);
        }
        else
        {
            // Store only QGCToolWidgetItems
            QWidget* item = dynamic_cast<QWidget*>(m_ui->customActionWidget->children().at(j));
            if (item)
            {
                //qDebug() << "FOUND WIDGET BOX";
                for (int k = 0; k  < item->children().size(); ++k)
                {
                    // Store only QGCToolWidgetItems
                    QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(item->children().at(k));
                    if (spin)
                    {
                       //qDebug() << "ACTIVATED SPINBOX #" << k;
                        spin->blockSignals(false);
                    }
                }
            }
        }
    }

//    wp->blockSignals(false);
697 698
}

pixhawk's avatar
pixhawk committed
699
void WaypointView::setCurrent(bool state)
pixhawk's avatar
pixhawk committed
700
{
701
    m_ui->selectedBox->blockSignals(true);
702
    m_ui->selectedBox->setChecked(state);
703
    m_ui->selectedBox->blockSignals(false);
pixhawk's avatar
pixhawk committed
704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720
}

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

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