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Commit 1215c545 authored by pixhawk's avatar pixhawk
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Added right-click option to select MAV, ensured that waypoints get updated... 

Added right-click option to select MAV, ensured that waypoints get updated properly on switching MAV
parent 78cbb8e9
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Showing with 99 additions and 56 deletions
src/comm/MAVLinkSimulationLink.cc
View file @ 1215c545
......@@ -632,7 +632,7 @@ void MAVLinkSimulationLink::mainloop()
// HEARTBEAT VEHICLE 2
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA);
messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_HELICOPTER, MAV_AUTOPILOT_ARDUPILOTMEGA);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
......
src/comm/MAVLinkSimulationMAV.cc
View file @ 1215c545
......@@ -50,6 +50,13 @@ void MAVLinkSimulationMAV::mainloop()
// double xNew = // (nextSPX - previousSPX)
if (flying)
{
sys_state = MAV_STATE_ACTIVE;
sys_mode = MAV_MODE_AUTO;
nav_mode = MAV_NAV_WAYPOINT;
}
// 1 Hz execution
if (timer1Hz <= 0)
{
......@@ -76,17 +83,6 @@ void MAVLinkSimulationMAV::mainloop()
//float trueyaw = atan2f(xm, ym);
float newYaw = atan2f(xm, ym);
// Choose shortest direction
// if (yaw - newYaw < -180.0f)
// {
// yaw = newYaw + 180.0f;
// }
// if (yaw - newYaw > 180.0f)
// {
// yaw = newYaw - 180.0f;
// }
if (fabs(yaw - newYaw) < 90)
{
......@@ -152,6 +148,7 @@ void MAVLinkSimulationMAV::mainloop()
status.status = sys_state;
mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
link->sendMAVLinkMessage(&msg);
timer10Hz = 5;
}
......
src/ui/MapWidget.cc
View file @ 1215c545
......@@ -157,8 +157,8 @@ MapWidget::MapWidget(QWidget *parent) :
zoomout->setStyleSheet(buttonStyle);
createPath = new QPushButton(QIcon(":/images/actions/go-bottom.svg"), "", this);
createPath->setStyleSheet(buttonStyle);
clearTracking = new QPushButton(QIcon(""), "", this);
clearTracking->setStyleSheet(buttonStyle);
// clearTracking = new QPushButton(QIcon(""), "", this);
// clearTracking->setStyleSheet(buttonStyle);
followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
followgps->setStyleSheet(buttonStyle);
QPushButton* goToButton = new QPushButton(QIcon(""), "T", this);
......@@ -167,7 +167,7 @@ MapWidget::MapWidget(QWidget *parent) :
zoomin->setMaximumWidth(30);
zoomout->setMaximumWidth(30);
createPath->setMaximumWidth(30);
clearTracking->setMaximumWidth(30);
// clearTracking->setMaximumWidth(30);
followgps->setMaximumWidth(30);
goToButton->setMaximumWidth(30);
......@@ -185,7 +185,7 @@ MapWidget::MapWidget(QWidget *parent) :
innerlayout->addWidget(zoomout, 1, 0);
innerlayout->addWidget(followgps, 2, 0);
innerlayout->addWidget(createPath, 3, 0);
innerlayout->addWidget(clearTracking, 4, 0);
//innerlayout->addWidget(clearTracking, 4, 0);
// Add spacers to compress buttons on the top left
innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 0, 1, 0, 7);
......@@ -692,7 +692,7 @@ void MapWidget::redoWaypoints(int uas)
// Get waypoint list for this MAV
// Clear all waypoints
clearWaypoints();
//clearWaypoints();
// Re-add the updated waypoints
// }
......@@ -714,16 +714,17 @@ void MapWidget::activeUASSet(UASInterface* uas)
if (uas)
{
mav = uas;
QColor color = mav->getColor().lighter(100);
color.setAlphaF(0.6);
QColor color = mav->getColor();
color.setAlphaF(0.9);
QPen* pen = new QPen(color);
pen->setWidth(2.0);
pen->setWidth(3.0);
mavPens.insert(mav->getUASID(), pen);
// FIXME Remove after refactoring
waypointPath->setPen(pen);
// Delete all waypoints and add waypoint from new system
redoWaypoints();
//redoWaypoints();
updateWaypointList(uas->getUASID());
// Connect the waypoint manager / data storage to the UI
connect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
......@@ -731,6 +732,7 @@ void MapWidget::activeUASSet(UASInterface* uas)
connect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
updateSelectedSystem(mav->getUASID());
mc->updateRequest(waypointPath->boundingBox().toRect());
}
}
......
src/ui/map/MAV2DIcon.cc
View file @ 1215c545
......@@ -90,28 +90,25 @@ void MAV2DIcon::drawIcon(QPen* pen)
// QPen selPen(color);
// int width = 5;
// selPen.setWidth(width);
painter.setPen(Qt::yellow);
QPen pen(Qt::yellow);
pen.setWidth(2);
painter.setPen(pen);
painter.drawEllipse(QPoint(0, 0), radius/2-1, radius/2-1);
//qDebug() << "Painting ellipse" << radius/2-width << width;
//selPen->deleteLater();
}
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f+180.0f;
painter.rotate(yawRotate);
if (this->name() == "1") qDebug() << "uas icon" << name() << "yaw in:" << yaw << "rotate:" << yawRotate;
switch (type)
{
case MAV_ICON_GENERIC:
case MAV_ICON_AIRPLANE:
case MAV_ICON_QUADROTOR:
case MAV_ICON_ROTARY_WING:
default:
{
// DRAW AIRPLANE
// Rotate 180 degs more since the icon is oriented downwards
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f+180.0f;
painter.rotate(yawRotate);
//qDebug() << "ICON SIZE:" << radius;
float iconSize = radius*0.9f;
......@@ -141,30 +138,70 @@ void MAV2DIcon::drawIcon(QPen* pen)
poly.replace(22, QPointF(-0.031250f*iconSize, -0.262500f*iconSize));
poly.replace(23, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
//pen.setColor(color);
// if (pen)
// {
// pen->setWidthF(2);
// painter.setPen(*pen);
// }
// else
// {
// QPen pen2(Qt::red);
// pen2.setWidth(0);
// painter.setPen(pen2);
// }
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
}
break;
case MAV_ICON_QUADROTOR:
{
// QUADROTOR
float iconSize = radius*0.9f;
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f;
painter.rotate(yawRotate);
//qDebug() << "ICON SIZE:" << radius;
QPointF front(0, 0.2);
front = front *iconSize;
QPointF left(-0.2, 0);
left = left * iconSize;
QPointF right(0.2, 0.0);
right *= iconSize;
QPointF back(0, -0.2);
back *= iconSize;
QPolygonF poly(0);
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
painter.drawEllipse(left, radius/4/2, radius/4/2);
painter.drawEllipse(right, radius/4/2, radius/4/2);
painter.drawEllipse(back, radius/4/2, radius/4/2);
painter.setBrush(Qt::red);
painter.drawEllipse(front, radius/4/2, radius/4/2);
}
break;
case MAV_ICON_ROTARY_WING:
case MAV_ICON_GENERIC:
default:
{
// GENERIC
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f;
painter.rotate(yawRotate);
//qDebug() << "ICON SIZE:" << radius;
float iconSize = radius*0.9f;
QPolygonF poly(3);
poly.replace(0, QPointF(0.0f*iconSize, 0.3f*iconSize));
poly.replace(1, QPointF(-0.2f*iconSize, -0.2f*iconSize));
poly.replace(2, QPointF(0.2f*iconSize, -0.2f*iconSize));
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
......
src/ui/uas/UASView.cc
View file @ 1215c545
......@@ -66,6 +66,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
localFrame(false),
removeAction(new QAction("Delete this system", this)),
renameAction(new QAction("Rename..", this)),
selectAction(new QAction("Select this system", this )),
m_ui(new Ui::UASView)
{
m_ui->setupUi(this);
......@@ -102,6 +103,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
// Allow to delete this widget
connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
// Name changes
......@@ -135,6 +137,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
UASView::~UASView()
{
delete m_ui;
delete removeAction;
delete renameAction;
delete selectAction;
}
void UASView::heartbeatTimeout()
......@@ -413,6 +418,7 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
{
menu.addAction(removeAction);
}
menu.addAction(selectAction);
menu.exec(event->globalPos());
}
......
src/ui/uas/UASView.h
View file @ 1215c545
......@@ -110,6 +110,7 @@ protected:
bool localFrame;
QAction* removeAction;
QAction* renameAction;
QAction* selectAction;
static const int updateInterval = 300;
......
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