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/*=====================================================================
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>
* @author Petri Tanskanen <mavteam@student.ethz.ch>
*
*/
#include "WaypointList.h"
#include "ui_WaypointList.h"
#include <UASInterface.h>
#include <UASManager.h>
#include <QDebug>
#include <QFileDialog>
#include <QMessageBox>
#include <QMouseEvent>
WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
QWidget(parent),
uas(NULL),
mavX(0.0),
mavY(0.0),
mavZ(0.0),
mavYaw(0.0),
showOfflineWarning(false),
m_ui(new Ui::WaypointList)
{
m_ui->setupUi(this);
//EDIT TAB
editableListLayout = new QVBoxLayout(m_ui->editableListWidget);
editableListLayout->setSpacing(0);
editableListLayout->setMargin(0);
editableListLayout->setAlignment(Qt::AlignTop);
m_ui->editableListWidget->setLayout(editableListLayout);
// 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(addEditable()));
// ADD WAYPOINT AT CURRENT POSITION
connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositionWaypoint()));
// SEND WAYPOINTS
connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(transmit()));
// DELETE ALL WAYPOINTS
connect(m_ui->clearWPListButton, SIGNAL(clicked()), this, SLOT(clearWPWidget()));
// REQUEST WAYPOINTS
connect(m_ui->readButton, SIGNAL(clicked()), this, SLOT(read()));
// 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*)));
//VIEW TAB
viewOnlyListLayout = new QVBoxLayout(m_ui->viewOnlyListWidget);
viewOnlyListLayout->setSpacing(0);
viewOnlyListLayout->setMargin(0);
viewOnlyListLayout->setAlignment(Qt::AlignTop);
m_ui->viewOnlyListWidget->setLayout(viewOnlyListLayout);
// REFRESH VIEW TAB
connect(m_ui->refreshButton, SIGNAL(clicked()), this, SLOT(refresh()));
// SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
if (uas)
{
WPM = uas->getWaypointManager();
//setUAS(uas);
}
else
{
// Hide buttons, which don't make sense without valid UAS
m_ui->positionAddButton->hide();
m_ui->transmitButton->hide();
m_ui->readButton->hide();
m_ui->refreshButton->hide();
//FIXME: The whole "Onboard Waypoints"-tab should be hidden, instead of "refresh" button
UnconnectedUASInfoWidget* inf = new UnconnectedUASInfoWidget(this);
viewOnlyListLayout->insertWidget(0, inf); //insert a "NO UAV" info into the Onboard Tab
showOfflineWarning = true;
WPM = new UASWaypointManager(NULL);
}
setUAS(uas);
// STATUS LABEL
updateStatusLabel("");
this->setVisible(false);
loadFileGlobalWP = false;
readGlobalWP = false;
centerMapCoordinate.setX(0.0);
centerMapCoordinate.setY(0.0);
}
WaypointList::~WaypointList()
{
delete m_ui;
}
void WaypointList::updatePosition(UASInterface* uas, double x, double y, double z, quint64 usec)
{
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;
}
void WaypointList::setUAS(UASInterface* uas)
{
//if (this->uas == NULL && uas != NULL)
if (this->uas == NULL)
{
this->uas = uas;
<<<<<<< HEAD
=======
if(uas != NULL)
{
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
}
>>>>>>> 25e35803a3bef8d831e710769b2c1eb3ee2f967e
connect(WPM, SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(WPM, SIGNAL(waypointEditableListChanged(void)), this, SLOT(waypointEditableListChanged(void)));
connect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
connect(WPM, SIGNAL(waypointViewOnlyListChanged(void)), this, SLOT(waypointViewOnlyListChanged(void)));
connect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
connect(WPM, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointViewOnlyChanged(quint16)));
if (uas != NULL)
{
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
}
//connect(WPM,SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
//connect(WPM,SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
}
}
void WaypointList::saveWaypoints()
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
WPM->saveWaypoints(fileName);
}
void WaypointList::loadWaypoints()
{
//create a popup notifying the user about the limitations of offline editing
if (showOfflineWarning == true)
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Warning);
msgBox.setText("Offline editor!");
msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
int ret = msgBox.exec();
showOfflineWarning = false;
}
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
WPM->loadWaypoints(fileName);
}
void WaypointList::transmit()
{
if (uas)
{
WPM->writeWaypoints();
}
}
void WaypointList::read()
{
if (uas)
{
WPM->readWaypoints(true);
}
}
void WaypointList::refresh()
{
if (uas)
{
WPM->readWaypoints(false);
}
}
void WaypointList::addEditable()
{
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
Waypoint *wp;
if (waypoints.size() > 0)
{
// Create waypoint with last frame
Waypoint *last = waypoints.at(waypoints.size()-1);
wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(),
last->getAutoContinue(), false, last->getFrame(), last->getAction());
WPM->addWaypointEditable(wp);
}
else
{
if (uas)
{
// Create first waypoint at current MAV position
addCurrentPositionWaypoint();
}
else
{
//Since no UAV available, create first default waypoint.
updateStatusLabel(tr("No UAV. Added default LOCAL (NED) waypoint"));
wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
WPM->addWaypointEditable(wp);
//create a popup notifying the user about the limitations of offline editing
if (showOfflineWarning == true)
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Warning);
msgBox.setText("Offline editor!");
msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
int ret = msgBox.exec();
showOfflineWarning = false;
}
}
}
}
void WaypointList::addCurrentPositionWaypoint()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
Waypoint *wp;
Waypoint *last = 0;
if (waypoints.size() > 0)
{
last = waypoints.at(waypoints.size()-1);
}
if (uas->globalPositionKnown())
{
float acceptanceRadiusGlobal = 10.0f;
float holdTime = 0.0f;
float yawGlobal = 0.0f;
if (last)
{
acceptanceRadiusGlobal = last->getAcceptanceRadius();
holdTime = last->getHoldTime();
yawGlobal = last->getYaw();
}
// Create global frame waypoint per default
wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
WPM->addWaypointEditable(wp);
updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
}
else if (uas->localPositionKnown())
{
float acceptanceRadiusLocal = 0.2f;
float holdTime = 0.5f;
if (last)
{
acceptanceRadiusLocal = last->getAcceptanceRadius();
holdTime = last->getHoldTime();
}
// Create local frame waypoint as second option
wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, false, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
WPM->addWaypointEditable(wp);
updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
}
else
{
// Do nothing
updateStatusLabel(tr("Not adding waypoint, no position of MAV known yet."));
}
}
}
void WaypointList::updateStatusLabel(const QString &string)
{
// Status label in write widget
m_ui->statusLabel->setText(string);
// Status label in read only widget
m_ui->viewStatusLabel->setText(string);
}
// Request UASWaypointManager to send the SET_CURRENT message to UAV
void WaypointList::changeCurrentWaypoint(quint16 seq)
{
if (uas)
{
WPM->setCurrentWaypoint(seq);
}
}
// Request UASWaypointManager to set the new "current" and make sure all other waypoints are not "current"
void WaypointList::currentWaypointEditableChanged(quint16 seq)
{
WPM->setCurrentEditable(seq);
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
if (seq < waypoints.size())
{
for(int i = 0; i < waypoints.size(); i++)
{
WaypointEditableView* widget = wpEditableViews.find(waypoints[i]).value();
if (waypoints[i]->getId() == seq)
{
widget->setCurrent(true);
}
else
{
widget->setCurrent(false);
}
}
}
}
// Update waypointViews to correctly indicate the new current waypoint
void WaypointList::currentWaypointViewOnlyChanged(quint16 seq)
{
const QVector<Waypoint *> &waypoints = WPM->getWaypointViewOnlyList();
if (seq < waypoints.size())
{
for(int i = 0; i < waypoints.size(); i++)
{
WaypointViewOnlyView* widget = wpViewOnlyViews.find(waypoints[i]).value();
if (waypoints[i]->getId() == seq)
{
widget->setCurrent(true);
}
else
{
widget->setCurrent(false);
}
}
}
}
void WaypointList::updateWaypointEditable(int uas, Waypoint* wp)
{
Q_UNUSED(uas);
WaypointEditableView *wpv = wpEditableViews.value(wp);
wpv->updateValues();
}
void WaypointList::updateWaypointViewOnly(int uas, Waypoint* wp)
{
Q_UNUSED(uas);
WaypointViewOnlyView *wpv = wpViewOnlyViews.value(wp);
wpv->updateValues();
}
void WaypointList::waypointViewOnlyListChanged()
{
// Prevent updates to prevent visual flicker
this->setUpdatesEnabled(false);
const QVector<Waypoint *> &waypoints = WPM->getWaypointViewOnlyList();
if (!wpViewOnlyViews.empty()) {
QMapIterator<Waypoint*,WaypointViewOnlyView*> viewIt(wpViewOnlyViews);
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()) {
WaypointViewOnlyView* widget = wpViewOnlyViews.find(cur).value();
widget->hide();
viewOnlyListLayout->removeWidget(widget);
wpViewOnlyViews.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 (!wpViewOnlyViews.contains(wp)) {
WaypointViewOnlyView* wpview = new WaypointViewOnlyView(wp, this);
wpViewOnlyViews.insert(wp, wpview);
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
viewOnlyListLayout->insertWidget(i, wpview);
}
WaypointViewOnlyView *wpv = wpViewOnlyViews.value(wp);
//check if ordering has changed
if(viewOnlyListLayout->itemAt(i)->widget() != wpv) {
viewOnlyListLayout->removeWidget(wpv);
viewOnlyListLayout->insertWidget(i, wpv);
}
wpv->updateValues(); // update the values of the ui elements in the view
}
this->setUpdatesEnabled(true);
loadFileGlobalWP = false;
}
void WaypointList::waypointEditableListChanged()
{
// Prevent updates to prevent visual flicker
this->setUpdatesEnabled(false);
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
if (!wpEditableViews.empty()) {
QMapIterator<Waypoint*,WaypointEditableView*> viewIt(wpEditableViews);
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()) {
WaypointEditableView* widget = wpEditableViews.find(cur).value();
widget->hide();
editableListLayout->removeWidget(widget);
wpEditableViews.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 (!wpEditableViews.contains(wp)) {
WaypointEditableView* wpview = new WaypointEditableView(wp, this);
wpEditableViews.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(currentWaypointEditableChanged(quint16)));
editableListLayout->insertWidget(i, wpview);
}
WaypointEditableView *wpv = wpEditableViews.value(wp);
//check if ordering has changed
if(editableListLayout->itemAt(i)->widget() != wpv) {
editableListLayout->removeWidget(wpv);
editableListLayout->insertWidget(i, wpv);
}
wpv->updateValues(); // update the values of the ui elements in the view
}
this->setUpdatesEnabled(true);
loadFileGlobalWP = false;
}
void WaypointList::moveUp(Waypoint* wp)
{
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
//get the current position of wp in the local storage
int i;
for (i = 0; i < waypoints.size(); i++) {
if (waypoints[i] == wp)
break;
}
// if wp was found and its not the first entry, move it
if (i < waypoints.size() && i > 0) {
WPM->moveWaypoint(i, i-1);
}
}
void WaypointList::moveDown(Waypoint* wp)
{
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
//get the current position of wp in the local storage
int i;
for (i = 0; i < waypoints.size(); i++) {
if (waypoints[i] == wp)
break;
}
// if wp was found and its not the last entry, move it
if (i < waypoints.size()-1) {
WPM->moveWaypoint(i, i+1);
}
}
void WaypointList::removeWaypoint(Waypoint* wp)
{
WPM->removeWaypoint(wp->getId());
}
void WaypointList::changeEvent(QEvent *e)
{
switch (e->type()) {
case QEvent::LanguageChange:
m_ui->retranslateUi(this);
break;
default:
break;
}
}
void WaypointList::on_clearWPListButton_clicked()
{
if (uas) {
emit clearPathclicked();
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value();
widget->remove();
}
} else {
// if(isGlobalWP)
// {
// emit clearPathclicked();
// }
}
}
///** @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 = WPM->getWaypointEditableList();
// if (waypoints.size() > 0)
// {
// Waypoint *temp = waypoints.at(indexWP);
// temp->setX(coordinate.x());
// temp->setY(coordinate.y());
// //WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
// //widget->updateValues();
// }
// }
//}
///** @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);
//}
void WaypointList::clearWPWidget()
{
const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value();
widget->remove();
}
}
//void WaypointList::setIsLoadFileWP()
//{
// loadFileGlobalWP = true;
//}
//void WaypointList::setIsReadGlobalWP(bool value)
//{
// // FIXME James Check this
// Q_UNUSED(value);
// // readGlobalWP = value;
//}