Merge branch 'experimental' of git://github.com/amolinap/qgroundcontrol into experimental

src/ui/MapWidget.cc

@@ -115,6 +115,11 @@ void MapWidget::init()
         lastZoom = settings.value("LAST_ZOOM", lastZoom).toInt();
         settings.endGroup();
 
+        settings.beginGroup("QGC_HOMEPOSITION");
+        homeCoordinate.setY(settings.value("HOME_LATITUDE", homeCoordinate.y()).toDouble());
+        homeCoordinate.setX(settings.value("HOME_LONGITUDE", homeCoordinate.x()).toDouble());
+        settings.endGroup();
+
         // SET INITIAL POSITION AND ZOOM
         // Set default zoom level
         mc->setZoom(lastZoom);
@@ -140,6 +145,14 @@ void MapWidget::init()
         connect(mapproviderGroup, SIGNAL(triggered(QAction*)),
                 this, SLOT(mapproviderSelected(QAction*)));
 
+
+        //mapSettings.beginGroup("Map_Widget");
+        //QAction *act = new QAction(mapSettings.value("QAction").toString(), this);
+        //mapproviderSelected(act);
+        //mapSettings.endGroup();
+
+
+
         // Overlay seems currently broken
         //    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
         //    yahooActionOverlay->setCheckable(true);
@@ -230,17 +243,6 @@ void MapWidget::init()
         waypointPath = new qmapcontrol::LineString (wps, "Waypoint path", pointPen);
         mc->layer("Waypoints")->addGeometry(waypointPath);
 
-        //Camera Control
-        // CAMERA INDICATOR LAYER
-        // create a layer with the mapadapter and type GeometryLayer (for camera indicator)
-        //camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
-        //mc->addLayer(camLayer);
-
-        //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
-
-        drawCamBorder = false;
-        radioCamera = 10;
-
         // Done set state
         initialized = true;
 
@@ -288,10 +290,49 @@ void MapWidget::init()
         connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
                 this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
 
+        connect(homePosition, SIGNAL(geometryClicked(Geometry*,QPoint)),
+                this, SLOT(captureGeometryClick(Geometry*, QPoint)));
+
+        connect(homePosition, SIGNAL(geometryDragged(Geometry*, QPointF)),
+                this, SLOT(captureGeometryDragHome(Geometry*, QPointF)));
+
+        connect(homePosition, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
+                this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
+
+        this->loadSettingsMap(settings);
+        this->createHomePosition(homeCoordinate);
+
         qDebug() << "CHECK END";
     }
 }
 
+void MapWidget::loadSettingsMap(QSettings &settings)
+{
+    index = 0;
+    settings.beginGroup("QGC_MAPINDEX");
+    index = settings.value("MAP_INDEX", index).toInt();
+    settings.endGroup();
+
+    switch(index)
+    {
+    case 0:
+        mapproviderSelected(osmAction);
+        break;
+    case 1:
+        mapproviderSelected(yahooActionMap);
+        break;
+    case 2:
+        mapproviderSelected(yahooActionSatellite);
+        break;
+    case 3:
+        mapproviderSelected(googleActionMap);
+        break;
+    case 4:
+        mapproviderSelected(googleSatAction);
+        break;
+    }
+}
+
 void MapWidget::goTo()
 {
     bool ok;
@@ -332,6 +373,8 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::OSMMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
+            homePosition->setMapAdapter(mapadapter);
+            index = 0;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -348,6 +391,8 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::YahooMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
+            homePosition->setMapAdapter(mapadapter);
+            index = 1;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -364,6 +409,8 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
+            homePosition->setMapAdapter(mapadapter);
+            index = 2;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -377,6 +424,8 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::GoogleMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
+            homePosition->setMapAdapter(mapadapter);
+            index = 3;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -391,6 +440,8 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::GoogleSatMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
+            homePosition->setMapAdapter(mapadapter);
+            index = 4;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -706,6 +757,38 @@ void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
         mc->setMouseMode(qmapcontrol::MapControl::Panning);
     }
 
+    if (!setHome->isChecked())
+    {
+        mc->setMouseMode(qmapcontrol::MapControl::Panning);
+
+        if(mav)
+        {
+            // Update homePosition
+            UASManager::instance()->setHomePosition(
+                                static_cast<double>(homeCoordinate.x()),
+                                static_cast<double>(homeCoordinate.y()), 0);
+        }
+    }
+
+}
+
+void MapWidget::captureGeometryDragHome(Geometry *geom, QPointF coordinate)
+{
+    if (isVisible()) mc->updateRequest(geom->boundingBox().toRect());
+
+    Waypoint2DIcon* point2Find = dynamic_cast <Waypoint2DIcon*> (geom);
+
+    if (point2Find)// && wps.count() > index)
+    {
+        // Update visual
+        point2Find->setCoordinate(coordinate);
+        homeCoordinate.setX(coordinate.x());
+        homeCoordinate.setY(coordinate.y());
+
+        qmapcontrol::Point* tempPoint = new qmapcontrol::Point(homeCoordinate.x(), homeCoordinate.y(),"g");
+
+        if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
+    }
 }
 
 MapWidget::~MapWidget()
@@ -1010,7 +1093,7 @@ void MapWidget::wheelEvent(QWheelEvent *event)
         detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
 
         // visual field of camera
-        updateCameraPosition(20*newZoom,0,"no");
+        //updateCameraPosition(20*newZoom,0,"no");
     }
 }
 
@@ -1077,7 +1160,19 @@ void MapWidget::hideEvent(QHideEvent* event)
         settings.setValue("LAST_LONGITUDE", currentPos.x());
         settings.setValue("LAST_ZOOM", mc->currentZoom());
         settings.endGroup();
+
+        settings.beginGroup("QGC_MAPINDEX");
+        settings.setValue("MAP_INDEX", index);
+        settings.endGroup();
+
+        settings.beginGroup("QGC_HOMEPOSITION");
+        settings.setValue("HOME_LATITUDE", homeCoordinate.y());
+        settings.setValue("HOME_LONGITUDE", homeCoordinate.x());
+        settings.endGroup();
+
         settings.sync();
+
+
     }
 }
 
@@ -1146,88 +1241,25 @@ void MapWidget::clearPath(int uas)
     }
 }
 
-void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
+void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
 {
-    Q_UNUSED(dir);
-    Q_UNUSED(bearing);
-    if (mc)
-    {
-        // FIXME Mariano
-        //camPoints.clear();
-        QPointF currentPos = mc->currentCoordinate();
-        //    QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
-
-        //    qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
-        //    qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
-
-        //    camPoints.append(tempPoint1);
-        //    camPoints.append(tempPoint2);
-
-        //    camLine->setPoints(camPoints);
-
-        QPen* camBorderPen = new QPen(QColor(255,0,0));
-        camBorderPen->setWidth(2);
-
-        //radio = mc->currentZoom()
-
-        if(drawCamBorder)
-        {
-            //clear camera borders
-            mc->layer("Camera")->clearGeometries();
-
-            //create a camera borders
-            qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
-
-            //camBorder->setCoordinate(currentPos);
-
-            mc->layer("Camera")->addGeometry(camBorder);
-            // mc->layer("Camera")->addGeometry(camLine);
-            if (isVisible()) mc->updateRequestNew();
-
-        }
-        else
+    if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
     {
-            //clear camera borders
-            mc->layer("Camera")->clearGeometries();
-            if (isVisible()) mc->updateRequestNew();
-
-        }
+        this->createHomePosition(coordinate);
     }
 }
 
-void MapWidget::drawBorderCamAtMap(bool status)
+void MapWidget::createHomePosition(const QPointF coordinate)
 {
-    drawCamBorder = status;
-    updateCameraPosition(20,0,"no");
-
-}
-
-QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance)
-{
-    QPointF temp;
-
-    double rad = M_PI/180;
-
-    bearing = bearing*rad;
-    temp.setX((lon1 + ((distance/60) * (sin(bearing)))));
-    temp.setY((lat1 + ((distance/60) * (cos(bearing)))));
-
-    return temp;
-}
-
-void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
-{
-    if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
-    {
     homeCoordinate= coordinate;
     Waypoint2DIcon* tempCirclePoint;
 
-        double latitud = homeCoordinate.x();
-        double longitud = homeCoordinate.y();
+    double latitude = homeCoordinate.y();
+    double longitude = homeCoordinate.x();
 
     tempCirclePoint = new Waypoint2DIcon(
-                 latitud,
-                 longitud,
+             longitude,
+             latitude,
              20, "g", qmapcontrol::Point::Middle);
 
     QPen* pencil = new QPen(Qt::blue);
@@ -1236,13 +1268,12 @@ void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coord
     mc->layer("Station")->clearGeometries();
     mc->layer("Station")->addGeometry(tempCirclePoint);
 
-        qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitud, longitud,"g");
+    qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitude, longitude,"g");
 
     if (isVisible())
     {
         mc->updateRequest(tempPoint->boundingBox().toRect());
     }
-    }
 }
 
 void MapWidget::createHomePositionClick(bool click)
@@ -1250,11 +1281,15 @@ void MapWidget::createHomePositionClick(bool click)
     Q_UNUSED(click);
 
     if (!setHome->isChecked())
+    {
+        if(mav)
         {
             UASManager::instance()->setHomePosition(
-                    static_cast<double>(homeCoordinate.x()),
-                    static_cast<double>(homeCoordinate.y()), 0);
+                    static_cast<double>(homeCoordinate.y()),
+                    static_cast<double>(homeCoordinate.x()), 0);
+
 
-        qDebug()<<"Set home position "<<homeCoordinate.x()<<" "<<homeCoordinate.y();
+            qDebug()<<"Set home position "<<homeCoordinate.y()<<" "<<homeCoordinate.x();
+        }
     }
 }

src/ui/MapWidget.h

@@ -40,8 +40,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QPointF"
 
 #include <qmath.h>
-
-
+#include <QSettings>
 
 class QMenu;
 class Waypoint;
@@ -76,8 +75,8 @@ public slots:
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
-    void updateCameraPosition(double distance, double bearing, QString dir);
-    QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
+    //void updateCameraPosition(double distance, double bearing, QString dir);
+    //QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
 
     /** @brief Clear the waypoints overlay layer */
     void clearWaypoints(int uas=0);
@@ -93,7 +92,7 @@ public slots:
     void updateWaypoint(int uas, Waypoint* wp);
     void updateWaypoint(int uas, Waypoint* wp, bool updateView);
 
-    void drawBorderCamAtMap(bool status);
+    //void drawBorderCamAtMap(bool status);
     /** @brief Bring up dialog to go to a specific location */
     void goTo();
 
@@ -130,8 +129,6 @@ protected:
     qmapcontrol::Layer* tracks;             ///< Layer for UAV tracks
     qmapcontrol::GeometryLayer* geomLayer;  ///< Layer for waypoints
     qmapcontrol::GeometryLayer* homePosition;       ///< Layer for station control
-    //only for experiment
-    //qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
 
     int zoomLevel;
     int detailZoom; ///< Steps zoomed in further than qMapControl allows
@@ -143,8 +140,6 @@ protected:
     QMap<int, qmapcontrol::Point*> uasIcons;
     QMap<int, qmapcontrol::LineString*> uasTrails;
     QMap<int, QPen*> mavPens;
-    //QMap<int, QList<qmapcontrol::Point*> > mavWps;
-    //QMap<int, qmapcontrol::LineString*> waypointPaths;
     UASInterface* mav;
     quint64 lastUpdate;
     bool initialized;
@@ -158,6 +153,8 @@ protected:
     void captureGeometryDrag(Geometry* geom, QPointF coordinate);
     void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
 
+    void captureGeometryDragHome(Geometry* geom, QPointF coordinate);
+
     void createPathButtonClicked(bool checked);
 
     /** @brief Create the graphic representation of the waypoint */
@@ -165,16 +162,14 @@ protected:
     void mapproviderSelected(QAction* action);
 
     void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
+    void createHomePosition(const QPointF coordinate);
     void createHomePositionClick(bool click);
+    void loadSettingsMap(QSettings &);
 
   signals:
-    //void movePoint(QPointF newCoord);
-    //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
-    //void createGlobalWP(bool value, QPointF centerCoordinate);
     void waypointCreated(Waypoint* wp);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
-
 private:
     Ui::MapWidget *m_ui;
     QList<qmapcontrol::Point*> wps;
@@ -184,15 +179,8 @@ private:
     QPen* pointPen;
     int wpExists(const QPointF coordinate);
     bool waypointIsDrag;
-
-
-    qmapcontrol::LineString* camLine;
-    QList<qmapcontrol::Point*> camPoints;
-    QPointF lastCamBorderPos;
-    bool drawCamBorder;
-    int radioCamera;
-
     QPointF homeCoordinate;
+    int8_t index;
 };
 
 #endif // MAPWIDGET_H

src/ui/SlugsPadCameraControl.ui

@@ -41,7 +41,7 @@
       <bool>true</bool>
      </property>
      <property name="styleSheet">
-      <string notr="true">background-color: rgba(255, 0, 0,50%);</string>
+      <string notr="true">background-color: rgb(135, 206, 235);</string>
      </property>
      <property name="frameShape">
       <enum>QFrame::StyledPanel</enum>
@@ -67,6 +67,9 @@
        <layout class="QHBoxLayout" name="horizontalLayout">
         <item>
          <widget class="QLabel" name="lbPixel">
+          <property name="styleSheet">
+           <string notr="true">font-color:rgb(0, 0, 0);</string>
+          </property>
           <property name="text">
            <string>----</string>
           </property>

src/ui/uas/UASControlParameters.cpp

@@ -80,11 +80,11 @@ void UASControlParameters::changedMode(int mode)
 
     if(modeTemp != this->mode)
     {
-        ui->lbMode->setStyleSheet("background-color: rgb(255, 0, 0)");
+        ui->lbMode->setStyleSheet("background-color: rgb(165, 42, 42)");
     }
     else
     {
-        ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
+        ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)");
     }
 }
 
@@ -104,12 +104,17 @@ void UASControlParameters::activeUasSet(UASInterface *uas)
 
 void UASControlParameters::updateGlobalPosition(UASInterface * a, double b, double c, double aa, quint64 ab)
 {
-    //ui->sbHeight->setValue(aa);
+    Q_UNUSED(a);
+    Q_UNUSED(b);
+    Q_UNUSED(c);
+    Q_UNUSED(ab);
     this->altitude=aa;
 }
 
 void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy, double vz, quint64 time)
 {
+    Q_UNUSED(time);
+    Q_UNUSED(uas);
     this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0));
     //ui->sbAirSpeed->setValue(speed);
 }
@@ -117,6 +122,8 @@ void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy,
 void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double pitch, double yaw, quint64 time)
 {
     Q_UNUSED(uas);
+    Q_UNUSED(pitch);
+    Q_UNUSED(yaw);
     Q_UNUSED(time);
     //ui->sbTurnRate->setValue(roll);
     this->roll = roll;
@@ -194,7 +201,7 @@ void UASControlParameters::updateMode(int uas,QString mode,QString description)
     this->mode = mode;
     ui->lbMode->setText(this->mode);
 
-    ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
+    ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)");
 }
 
 void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)