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Commit 2bb0b1e6 authored by QGroundControl's avatar QGroundControl
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Merge pull request #101 from Trof/offline-wplist 

Offline wplist
parents 2f7de027 aa5d5043
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Showing with 694 additions and 61 deletions
src/Waypoint.cc
View file @ 2bb0b1e6
......@@ -55,8 +55,7 @@ Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1,
}
Waypoint::~Waypoint()
{
{
}
bool Waypoint::isNavigationType()
......
src/Waypoint.h
View file @ 2bb0b1e6
......@@ -188,7 +188,7 @@ public slots:
signals:
/** @brief Announces a change to the waypoint data */
void changed(Waypoint* wp);
void changed(Waypoint* wp);
};
#endif // WAYPOINT_H
src/uas/UASWaypointManager.cc
View file @ 2bb0b1e6
......@@ -133,11 +133,20 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
// // qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
//Clear the old edit-list before receiving the new one
if (read_to_edit == true){
while(waypointsEditable.size()>0) {
Waypoint *t = waypointsEditable[0];
waypointsEditable.remove(0);
delete t;
}
emit waypointEditableListChanged();
}
if (count > 0) {
current_count = count;
current_wp_id = 0;
current_state = WP_GETLIST_GETWPS;
sendWaypointRequest(current_wp_id);
} else {
protocol_timer.stop();
......@@ -149,6 +158,8 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
current_partner_systemid = 0;
current_partner_compid = 0;
}
} else {
qDebug("Rejecting message, check mismatch: current_state: %d == %d, system id %d == %d, comp id %d == %d", current_state, WP_GETLIST, current_partner_systemid, systemId, current_partner_compid, compId);
}
......@@ -766,20 +777,25 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
emit readGlobalWPFromUAS(true);
if(current_state == WP_IDLE) {
//Clear the old view-list before receiving the new one
while(waypointsViewOnly.size()>0) {
delete waypointsViewOnly.back();
waypointsViewOnly.pop_back();
Waypoint *t = waypointsViewOnly[0];
waypointsViewOnly.remove(0);
delete t;
}
emit waypointViewOnlyListChanged();
/* THIS PART WAS MOVED TO handleWaypointCount. THE EDIT-LIST SHOULD NOT BE CLEARED UNLESS THERE IS A RESPONSE FROM UAV.
//Clear the old edit-list before receiving the new one
if (read_to_edit == true){
while(waypointsEditable.size()>0) {
delete waypointsEditable.back();
waypointsEditable.pop_back();
Waypoint *t = waypointsEditable[0];
waypointsEditable.remove(0);
delete t;
}
emit waypointEditableListChanged();
}
*/
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
......
src/ui/WaypointEditableView.cc
View file @ 2bb0b1e6
......@@ -20,10 +20,12 @@
#include "WaypointEditableView.h"
#include "ui_WaypointEditableView.h"
#include "ui_QGCCustomWaypointAction.h"
#include "ui_QGCMissionDoWidget.h"
WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
QWidget(parent),
customCommand(new Ui_QGCCustomWaypointAction),
doCommand(new Ui_QGCMissionDoWidget),
viewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV),
m_ui(new Ui::WaypointEditableView)
{
......@@ -34,6 +36,9 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
// CUSTOM COMMAND WIDGET
customCommand->setupUi(m_ui->customActionWidget);
// DO COMMAND WIDGET
//doCommand->setupUi(m_ui->customActionWidget);
// add actions
m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
......@@ -43,7 +48,7 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
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);
// m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
//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);
......@@ -143,6 +148,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 82);
m_ui->takeOffAngleSpinBox->show();
break;
......@@ -155,6 +162,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 26);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
......@@ -166,6 +175,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 26);
break;
case MAV_CMD_NAV_WAYPOINT:
......@@ -174,6 +185,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->turnsSpinBox->hide();
m_ui->holdTimeSpinBox->show();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 1);
m_ui->autoContinue->show();
......@@ -188,6 +201,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 25);
m_ui->orbitSpinBox->show();
break;
......@@ -198,6 +213,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 20);
m_ui->orbitSpinBox->show();
m_ui->turnsSpinBox->show();
......@@ -209,6 +226,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->autoContinue->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 20);
m_ui->orbitSpinBox->show();
m_ui->holdTimeSpinBox->show();
......@@ -219,7 +238,8 @@ void WaypointEditableView::updateActionView(int action)
// m_ui->turnsSpinBox->hide();
// m_ui->holdTimeSpinBox->show();
// m_ui->customActionWidget->hide();
// m_ui->missionDoWidgetSlot->hide();
// m_ui->missionConditionWidgetSlot->hide();
// m_ui->autoContinue->show();
// m_ui->acceptanceSpinBox->hide();
// m_ui->yawSpinBox->hide();
......@@ -260,6 +280,11 @@ void WaypointEditableView::changedAction(int index)
// Update view
updateActionView(actionIndex);
break;
case MAV_CMD_DO_JUMP:
{
changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DO);
break;
}
case MAV_CMD_ENUM_END:
default:
// Switch to mission frame
......@@ -276,9 +301,32 @@ void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode)
case QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION:
// Hide everything, show condition widget
// TODO
break;
case QGC_WAYPOINTEDITABLEVIEW_MODE_DO:
{
// 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();
// Show action widget
if (!m_ui->missionDoWidgetSlot->isVisible()) {
m_ui->missionDoWidgetSlot->show();
}
if (!m_ui->autoContinue->isVisible()) {
m_ui->autoContinue->show();
}
break;
}
case QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING:
// Hide almost everything
m_ui->orbitSpinBox->hide();
......@@ -325,6 +373,8 @@ void WaypointEditableView::updateFrameView(int frame)
// Coordinate frame
m_ui->comboBox_frame->show();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
}
else // do not hide customActionWidget if Command is set to "Other"
{
......@@ -343,6 +393,8 @@ void WaypointEditableView::updateFrameView(int frame)
// Coordinate frame
m_ui->comboBox_frame->show();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
}
else // do not hide customActionWidget if Command is set to "Other"
{
......@@ -493,7 +545,7 @@ void WaypointEditableView::updateValues()
if (m_ui->posDSpinBox->value() != wp->getZ()) {
m_ui->posDSpinBox->setValue(wp->getZ());
}
}
}
break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT: {
......
src/ui/WaypointEditableView.h
View file @ 2bb0b1e6
......@@ -49,7 +49,7 @@ namespace Ui
class WaypointEditableView;
}
class Ui_QGCCustomWaypointAction;
class Ui_QGCMissionDoWidget;
class WaypointEditableView : public QWidget
{
Q_OBJECT
......@@ -84,6 +84,7 @@ protected:
// Special widgets extendending the
// waypoint view to mission capabilities
Ui_QGCCustomWaypointAction* customCommand;
Ui_QGCMissionDoWidget* doCommand;
QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
private:
......
src/ui/WaypointEditableView.ui
View file @ 2bb0b1e6
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>2208</width>
<height>39</height>
<height>37</height>
</rect>
</property>
<property name="sizePolicy">
......@@ -96,7 +96,7 @@ QPushButton:pressed {
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="5,5,5,5,50,50,50,50,50,50,5,20,20,5,10,10,10,20,5,5,5,5">
<layout class="QHBoxLayout" name="horizontalLayout" stretch="5,5,5,5,50,50,50,50,50,50,5,20,20,5,10,10,0,0,0,20,5,5,5,5">
<property name="spacing">
<number>2</number>
</property>
......@@ -121,10 +121,10 @@ QPushButton:pressed {
<enum>Qt::TabFocus</enum>
</property>
<property name="toolTip">
<string>Currently selected waypoint</string>
<string>Mission Start</string>
</property>
<property name="statusTip">
<string>Currently selected waypoint</string>
<string>Mission Start</string>
</property>
<property name="text">
<string/>
......@@ -465,16 +465,16 @@ QPushButton:pressed {
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Loiter radius</string>
<string>Loiter radius. Negative for counter-clockwise</string>
</property>
<property name="statusTip">
<string>Loiter radius</string>
<string>Loiter radius. Negative for counter-clockwise</string>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.050000000000000</double>
<double>-5000.000000000000000</double>
</property>
<property name="maximum">
<double>5000.000000000000000</double>
......@@ -519,11 +519,10 @@ where to accept this waypoint as reached</string>
</sizepolicy>
</property>
<property name="toolTip">
<string>Rotaty wing and ground vehicles only:
Time to stay at this position before advancing</string>
<string>Time to stay/loiter at this position before advancing</string>
</property>
<property name="statusTip">
<string>Rotaty wing and ground vehicles only: Time to stay at this position before advancing</string>
<string>Time to stay/loiter at this position before advancing</string>
</property>
<property name="suffix">
<string> s</string>
......@@ -595,7 +594,33 @@ Time to stay at this position before advancing</string>
<item>
<widget class="QWidget" name="customActionWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QWidget" name="missionDoWidgetSlot" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QWidget" name="missionConditionWidgetSlot" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
......
src/ui/WaypointViewOnlyView.cc
View file @ 2bb0b1e6
This diff is collapsed.
src/ui/WaypointViewOnlyView.h
View file @ 2bb0b1e6
......@@ -31,6 +31,7 @@ protected:
Waypoint* wp;
private:
void hightlightDesiredCurrent(bool hightlight_on);
Ui::WaypointViewOnlyView *m_ui;
};
......
src/ui/WaypointViewOnlyView.ui
View file @ 2bb0b1e6
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