Merge branch 'master' of git://github.com/tecnosapiens/qgroundcontrol into mergeRemote

src/Waypoint.cc

@@ -75,6 +75,7 @@ bool Waypoint::load(QTextStream &loadStream)
     return false;
 }
 
+
 void Waypoint::setId(quint16 id)
 {
     this->id = id;

src/Waypoint.h

@@ -59,6 +59,7 @@ public:
     bool load(QTextStream &loadStream);
 
 
+
 protected:
     quint16 id;
     float x;

src/uas/SlugsMAV.cc

@@ -80,7 +80,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_RAW_IMU:
         mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
-      break;
+            break;
 
 #ifdef MAVLINK_ENABLED_SLUGS
 
@@ -97,21 +97,21 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_GPS_RAW:
         mavlink_msg_gps_raw_decode(&message, &mlGpsData);
-      break;
+            break;
 
       case MAVLINK_MSG_ID_ACTION_ACK:      // 62
         mavlink_msg_action_ack_decode(&message,&mlActionAck);
-      break;
+            break;
 
 
 
       case MAVLINK_MSG_ID_CPU_LOAD:       //170
         mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
-      break;
+            break;
 
       case MAVLINK_MSG_ID_AIR_DATA:       //171
         mavlink_msg_air_data_decode(&message,&mlAirData);
-      break;
+            break;
 
       case MAVLINK_MSG_ID_SENSOR_BIAS:    //172
         mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
@@ -123,7 +123,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_PILOT_CONSOLE:  //174
         mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
-      break;
+            break;
 
       case MAVLINK_MSG_ID_PWM_COMMANDS:   //175
         mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
@@ -131,7 +131,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
         mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
-      break;
+            break;
 
       case MAVLINK_MSG_ID_DATA_LOG:       //177
         mavlink_msg_data_log_decode(&message,&mlDataLog);
@@ -143,7 +143,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_GPS_DATE_TIME:    //179
         mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
-      break;
+            break;
 
       case MAVLINK_MSG_ID_MID_LVL_CMDS:     //180
 
@@ -151,7 +151,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
 
-      break;
+            break;
 
       case MAVLINK_MSG_ID_PID:              //182
 
@@ -165,8 +165,8 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       default:
 //        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
-      break;
-    }
+            break;
+        }
 }
 
 
@@ -197,13 +197,13 @@ void SlugsMAV::emitSignals (void){
     case 5:
       emit slugsFilteredData(uasId,mlFilteredData);
       emit slugsGPSDateTime(uasId, mlGpsDateTime);
-    break;
+            break;
 
     case 6:
       emit slugsActionAck(uasId,mlActionAck);
       emit emitGpsSignals();
     break;
-  }
+        }
 
   emit slugsAttitude(uasId, mlAttitude);
   emit attitudeChanged(this,
@@ -238,7 +238,7 @@ void SlugsMAV::emitGpsSignals (void){
     } else {
       emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
     }
-  }
+    }
 }
 
 #endif // MAVLINK_ENABLED_SLUGS

src/uas/SlugsMAV.h

@@ -105,6 +105,8 @@ protected:
 
    mavlink_slugs_action_t		mlAction;
 
+
+   // Standart messages MAVLINK used by SLUGS
 private:
 
 

src/uas/UASWaypointManager.cc

@@ -383,9 +383,12 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
     }
     file.close();
 
+    emit loadWPFile();
     emit waypointListChanged();
+
 }
 
+
 void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
 {
 

src/uas/UASWaypointManager.h

@@ -91,6 +91,7 @@ public:
     void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
     void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
     void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+
     /*@}*/
 
     /** @name Global waypoint list operations */
@@ -120,6 +121,8 @@ signals:
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
 
+    void loadWPFile();                                ///< emits signal that a file wp has been load
+
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
     quint32 current_retries;                        ///< The current number of retries left

src/ui/MainWindow.cc

@@ -401,6 +401,9 @@ void MainWindow::connectActions()
     // Slugs View
     connect(ui.actionShow_Slugs_View, SIGNAL(triggered()), this, SLOT(loadSlugsView()));
 
+    //GlobalOperatorView
+   // connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
+
 }
 
 void MainWindow::showHelp()
@@ -918,6 +921,7 @@ void MainWindow::loadGlobalOperatorView()
     {
         addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
         waypointsDockWidget->show();
+
     }
 
     // Slugs Data View

src/ui/MapWidget.cc

@@ -396,7 +396,17 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
     str = QString("%1").arg(path->numberOfPoints());
 
     // create the WP and set everything in the LineString to display the path
-    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    Waypoint2DIcon* tempCirclePoint;
+
+    if (mav)
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+    }
+    else
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+    }
     mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
     Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);

src/ui/SlugsDataSensorView.cc

@@ -10,21 +10,21 @@ SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::SlugsDataSensorView)
 {
-  ui->setupUi(this);
+    ui->setupUi(this);
 
-  activeUAS = NULL;
+    activeUAS = NULL;
 
-  this->setVisible(false);
+    this->setVisible(false);
 }
 
 SlugsDataSensorView::~SlugsDataSensorView()
 {
-  delete ui;
+    delete ui;
 }
 
 void SlugsDataSensorView::addUAS(UASInterface* uas)
 {
-  SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
 
   if (slugsMav != NULL) {
 
@@ -32,15 +32,15 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
 
     #ifdef MAVLINK_ENABLED_SLUGS
 
-    //connect standar messages
+        //connect standar messages
     connect(slugsMav, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChanged(UASInterface*,double,double,double,quint64)));
-    connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
-    connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
-    connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
+        connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
+        connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
+        connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
 
 
 
-    //connect slugs especial messages
+        //connect slugs especial messages
     connect(slugsMav, SIGNAL(slugsSensorBias(int,const mavlink_sensor_bias_t&)), this, SLOT(slugsSensorBiasChanged(int,const mavlink_sensor_bias_t&)));
     connect(slugsMav, SIGNAL(slugsDiagnostic(int,const mavlink_diagnostic_t&)), this, SLOT(slugsDiagnosticMessageChanged(int,const mavlink_diagnostic_t&)));
     connect(slugsMav, SIGNAL(slugsCPULoad(int,const mavlink_cpu_load_t&)), this, SLOT(slugsCpuLoadChanged(int,const mavlink_cpu_load_t&)));
@@ -51,13 +51,12 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
     connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
 
     #endif // MAVLINK_ENABLED_SLUGS
-
-    // Set this UAS as active if it is the first one
+        // Set this UAS as active if it is the first one
     if(activeUAS == 0) {
-      activeUAS = uas;
-    }
+            activeUAS = uas;
+        }
 
-  }
+    }
 }
 
 void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t &rawData){
@@ -107,7 +106,7 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
                                                         double vy,
                                                         double vz,
                                                         quint64 time) {
-  Q_UNUSED( uas);
+    Q_UNUSED( uas);
   Q_UNUSED(time);
 
   ui->ed_vx->setPlainText(QString::number(vx));
@@ -134,7 +133,7 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
 
 void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
                                                  const mavlink_sensor_bias_t& sensorBias){
-  Q_UNUSED( systemId);
+     Q_UNUSED( systemId);
 
   ui->m_AxBiases->setText(QString::number(sensorBias.axBias));
   ui->m_AyBiases->setText(QString::number(sensorBias.ayBias));
@@ -147,12 +146,12 @@ void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
 
 void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
                                                         const mavlink_diagnostic_t& diagnostic){
-  Q_UNUSED(systemId);
+    Q_UNUSED(systemId);
 
   ui->m_Fl1->setText(QString::number(diagnostic.diagFl1));
   ui->m_Fl2->setText(QString::number(diagnostic.diagFl2));
   ui->m_Fl3->setText(QString::number(diagnostic.diagFl2));
-                                               
+
   ui->m_Sh1->setText(QString::number(diagnostic.diagSh1));
   ui->m_Sh2->setText(QString::number(diagnostic.diagSh2));
   ui->m_Sh3->setText(QString::number(diagnostic.diagSh3));
@@ -161,7 +160,7 @@ void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
 
 void SlugsDataSensorView::slugsCpuLoadChanged(int systemId,
                                               const mavlink_cpu_load_t& cpuLoad){
-  Q_UNUSED(systemId);
+     Q_UNUSED(systemId);
   ui->ed_sens->setText(QString::number(cpuLoad.sensLoad));
   ui->ed_control->setText(QString::number(cpuLoad.ctrlLoad));
   ui->ed_batvolt->setText(QString::number(cpuLoad.batVolt));
@@ -169,7 +168,7 @@ void SlugsDataSensorView::slugsCpuLoadChanged(int systemId,
 
 void SlugsDataSensorView::slugsNavegationChanged(int systemId,
                                                  const mavlink_slugs_navigation_t& slugsNavigation){
-  Q_UNUSED(systemId);
+     Q_UNUSED(systemId);
   ui->m_Um->setText(QString::number(slugsNavigation.u_m));
   ui->m_PhiC->setText(QString::number(slugsNavigation.phi_c));
   ui->m_PitchC->setText(QString::number(slugsNavigation.theta_c));
@@ -185,7 +184,7 @@ void SlugsDataSensorView::slugsNavegationChanged(int systemId,
 
 void SlugsDataSensorView::slugsDataLogChanged(int systemId,
                                               const mavlink_data_log_t& dataLog){
-  Q_UNUSED(systemId);
+     Q_UNUSED(systemId);
   ui->m_logFl1->setText(QString::number(dataLog.fl_1));
   ui->m_logFl2->setText(QString::number(dataLog.fl_2));
   ui->m_logFl3->setText(QString::number(dataLog.fl_3));
@@ -196,7 +195,7 @@ void SlugsDataSensorView::slugsDataLogChanged(int systemId,
 
 void SlugsDataSensorView::slugsPWMChanged(int systemId,
                                           const mavlink_pwm_commands_t& pwmCommands){
-  Q_UNUSED(systemId);
+       Q_UNUSED(systemId);
   ui->m_pwmThro->setText(QString::number(pwmCommands.dt_c));
   ui->m_pwmAile->setText(QString::number(pwmCommands.dla_c));
   ui->m_pwmElev->setText(QString::number(pwmCommands.dle_c));
@@ -211,7 +210,7 @@ void SlugsDataSensorView::slugsPWMChanged(int systemId,
 
 void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
                                                    const mavlink_filtered_data_t& filteredData){
-  Q_UNUSED(systemId);
+    Q_UNUSED(systemId);
   ui->m_Axf->setText(QString::number(filteredData.aX));
   ui->m_Ayf->setText(QString::number(filteredData.aY));
   ui->m_Azf->setText(QString::number(filteredData.aZ));
@@ -225,7 +224,7 @@ void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
 
 void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
                                                   const mavlink_gps_date_time_t& gpsDateTime){
-  Q_UNUSED(systemId);
+    Q_UNUSED(systemId);
   ui->m_GpsDate->setText(QString::number(gpsDateTime.month) + "/" +
                          QString::number(gpsDateTime.day) + "/" +
                          QString::number(gpsDateTime.year));

src/ui/SlugsPIDControl.cpp

@@ -162,7 +162,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
   if (slugsMav != NULL)
   {
 
-   //create the packet
+    //create the packet
     pidMessage.target = activeUAS->getUASID();
     pidMessage.idx = 0;
     pidMessage.pVal = ui->dT_P_set->text().toFloat();
@@ -174,7 +174,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
     mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
     slugsMav->sendMessage(msg);
 
-     ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
+    ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
   }
 }
 

src/ui/WaypointList.cc

@@ -91,6 +91,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     this->setVisible(false);
     isGlobalWP = false;
     isLocalWP = false;
+    loadFileGlobalWP = false;
     centerMapCoordinate.setX(0.0);
     centerMapCoordinate.setY(0.0);
 
@@ -131,6 +132,7 @@ void WaypointList::setUAS(UASInterface* uas)
         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)));
+        connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
     }
 }
 
@@ -147,9 +149,12 @@ void WaypointList::loadWaypoints()
 {
     if (uas)
     {
+
+
         QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
         uas->getWaypointManager().localLoadWaypoints(fileName);
-    }
+
+     }
 }
 
 void WaypointList::transmit()
@@ -336,6 +341,11 @@ void WaypointList::waypointListChanged()
                 WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
                 wpgv->updateValues();
                 listLayout->addWidget(wpgv);
+                if(loadFileGlobalWP)
+                {
+                    emit createWaypointAtMap(QPointF(wp->getX(),wp->getY()));
+                    qDebug()<<"Emitiendo Pos: "<<wp->getX()<<" - "<<wp->getY();
+                }
             }
 
             }
@@ -391,7 +401,7 @@ void WaypointList::waypointListChanged()
             }
 
 
-
+            loadFileGlobalWP = false;
         }
 
 
@@ -622,3 +632,8 @@ void WaypointList::changeWPPositionBySpinBox(Waypoint *wp)
 
     emit changePositionWPGlobalBySpinBox(wp->getId(), wp->getY(), wp->getX());
 }
+
+void WaypointList::setIsLoadFileWP()
+{
+    loadFileGlobalWP = true;
+}

src/ui/WaypointList.h

@@ -65,7 +65,7 @@ public slots:
     /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
     /** @brief Load a waypoint list from a file */
-    void loadWaypoints();    
+    void    loadWaypoints();
     /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
     /** @brief Read the remote waypoint list */
@@ -102,6 +102,8 @@ public slots:
     void moveDown(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
 
+    void setIsLoadFileWP();
+
 
 
 
@@ -128,6 +130,7 @@ protected:
     bool isGlobalWP;
     bool isLocalWP;
     QPointF centerMapCoordinate;
+    bool loadFileGlobalWP;
 
 private:
     Ui::WaypointList *m_ui;