Runtime issues resolved, quick application startup and good runtime stats:...

Runtime issues resolved, quick application startup and good runtime stats: 0.3% load in idle mode, 15% load showing map and UAS list. Map has a zooming issue, but should be resolvable

src/ui/DebugConsole.cc

@@ -58,7 +58,7 @@ DebugConsole::DebugConsole(QWidget *parent) :
     snapShotBytes(0),
     dataRate(0.0f),
     lowpassDataRate(0.0f),
-    dataRateThreshold(500),
+    dataRateThreshold(400),
     commandIndex(0),
     m_ui(new Ui::DebugConsole)
 {
@@ -121,10 +121,10 @@ DebugConsole::DebugConsole(QWidget *parent) :
 
     loadSettings();
 
-    // Warn user about not activated hold
-    if (!m_ui->holdCheckBox->isChecked()) {
-        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>\n").arg(QColor(Qt::red).name(), tr("WARNING: You have NOT enabled auto-hold (stops updating the console is huge amounts of serial data arrive). Updating the console consumes significant CPU load, so if you receive more than about 5 KB/s of serial data, make sure to enable auto-hold if not using the console.")));
-    }
+//    // Warn user about not activated hold
+//    if (!m_ui->holdCheckBox->isChecked()) {
+//        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>\n").arg(QColor(Qt::red).name(), tr("WARNING: You have NOT enabled auto-hold (stops updating the console if huge amounts of serial data arrive). Updating the console consumes significant CPU load, so if you receive more than about 5 KB/s of serial data, make sure to enable auto-hold if not using the console.")));
+//    }
 }
 
 void DebugConsole::hideEvent(QHideEvent* event)
@@ -245,6 +245,17 @@ void DebugConsole::setAutoHold(bool hold)
     if (m_ui->holdCheckBox->isChecked() != hold) {
         m_ui->holdCheckBox->setChecked(hold);
     }
+
+    if (!hold)
+    {
+        // Warn user about not activated hold
+        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>\n").arg(QColor(Qt::red).name(), tr("WARNING: You have NOT enabled auto-hold (stops updating the console if huge amounts of serial data arrive). Updating the console consumes significant CPU load, so if you receive more than about 5 KB/s of serial data, make sure to enable auto-hold if not using the console.")));
+    }
+    else
+    {
+        m_ui->receiveText->clear();
+    }
+
     // Set new state
     autoHold = hold;
 }
@@ -280,6 +291,8 @@ void DebugConsole::receiveTextMessage(int id, int component, int severity, QStri
         }
 
         m_ui->receiveText->appendHtml(QString("<font color=\"%1\">(%2:%3) %4</font>\n").arg(UASManager::instance()->getUASForId(id)->getColor().name(), name, comp, text));
+        // Ensure text area scrolls correctly
+        m_ui->receiveText->ensureCursorVisible();
     }
 }
 

src/ui/MainWindow.cc

@@ -106,19 +106,6 @@ MainWindow::MainWindow(QWidget *parent):
 
     loadStyle(currentStyle);
 
-//    // Set the application style (not the same as a style sheet)
-//    // Set the style to Plastique
-//    qApp->setStyle("plastique");
-
-//    // Set style sheet as last step
-//    QFile* styleSheet = new QFile(":/images/style-mission.css");
-//    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
-//    {
-//        QString style = QString(styleSheet->readAll());
-//        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
-//        qApp->setStyleSheet(style);
-//    }
-
     // Create actions
     connectCommonActions();
 
@@ -287,19 +274,27 @@ void MainWindow::buildCustomWidget()
 
         for(int i = 0; i < widgets.size(); ++i) {
             // Check if this widget already has a parent, do not create it in this case
-            QDockWidget* dock = dynamic_cast<QDockWidget*>(widgets.at(i)->parentWidget());
+            QGCToolWidget* tool = widgets.at(i);
+            QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
             if (!dock) {
-                QDockWidget* dock = new QDockWidget(widgets.at(i)->windowTitle(), this);
-                dock->setObjectName(widgets.at(i)->objectName()+"_DOCK");
-                dock->setWidget(widgets.at(i));
-                connect(widgets.at(i), SIGNAL(destroyed()), dock, SLOT(deleteLater()));
+                QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
+                dock->setObjectName(tool->objectName()+"_DOCK");
+                dock->setWidget(tool);
+                connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
                 QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
                 showAction->setCheckable(true);
                 connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
                 connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
                 widgets.at(i)->setMainMenuAction(showAction);
                 ui.menuTools->addAction(showAction);
-                addDockWidget(Qt::BottomDockWidgetArea, dock);
+
+                // Load visibility for view (default is off)
+                dock->setVisible(tool->isVisible(currentView));
+
+                // Load dock widget location (default is bottom)
+                Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));
+
+                addDockWidget(location, dock);
             }
         }
     }

src/ui/WaypointView.ui

@@ -524,10 +524,10 @@ QProgressBar::chunk#thrustBar {
          <double>0.050000000000000</double>
         </property>
         <property name="maximum">
-         <double>100.000000000000000</double>
+         <double>5000.000000000000000</double>
         </property>
         <property name="singleStep">
-         <double>0.050000000000000</double>
+         <double>1.000000000000000</double>
         </property>
         <property name="value">
          <double>20.000000000000000</double>
@@ -579,6 +579,9 @@ Time to stay at this position before advancing</string>
         <property name="suffix">
          <string> turns</string>
         </property>
+        <property name="maximum">
+         <number>99</number>
+        </property>
        </widget>
       </item>
       <item>

src/ui/map/QGCMapWidget.cc

@@ -12,6 +12,20 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
         firingWaypointChange(NULL),
         maxUpdateInterval(2) // 2 seconds
 {
+    // Widget is inactive until shown
+}
+
+QGCMapWidget::~QGCMapWidget()
+{
+    SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
+    SetShowUAV(false);	//   "          "
+}
+
+void QGCMapWidget::showEvent(QShowEvent* event)
+{
+    // Pass on to parent widget
+    OPMapWidget::showEvent(event);
+
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));
     foreach (UASInterface* uas, UASManager::instance()->getUASList())
@@ -94,14 +108,66 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     // Start timer
     connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateGlobalPosition()));
     updateTimer.start(maxUpdateInterval*1000);
+    updateGlobalPosition();
+    QTimer::singleShot(300, this, SLOT(loadSettings()));
 }
 
-QGCMapWidget::~QGCMapWidget()
+void QGCMapWidget::hideEvent(QHideEvent* event)
 {
-    SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
-    SetShowUAV(false);	//   "          "
+    storeSettings();
+    OPMapWidget::hideEvent(event);
 }
 
+void QGCMapWidget::loadSettings()
+{
+    // Atlantic Ocean near Africa, coordinate origin
+    double lastZoom = 1;
+    double lastLat = 0;
+    double lastLon = 0;
+
+    QSettings settings;
+    settings.beginGroup("QGC_MAPWIDGET");
+    lastLat = settings.value("LAST_LATITUDE", lastLat).toDouble();
+    lastLon = settings.value("LAST_LONGITUDE", lastLon).toDouble();
+    lastZoom = settings.value("LAST_ZOOM", lastZoom).toDouble();
+    settings.endGroup();
+
+    // SET INITIAL POSITION AND ZOOM
+    SetZoom(lastZoom); // set map zoom level
+    internals::PointLatLng pos_lat_lon = internals::PointLatLng(lastLat, lastLon);
+    SetCurrentPosition(pos_lat_lon);        // set the map position
+}
+
+void QGCMapWidget::storeSettings()
+{
+    QSettings settings;
+    settings.beginGroup("QGC_MAPWIDGET");
+    internals::PointLatLng pos = CurrentPosition();
+    settings.setValue("LAST_LATITUDE", pos.Lat());
+    settings.setValue("LAST_LONGITUDE", pos.Lng());
+    settings.setValue("LAST_ZOOM", ZoomReal());
+    settings.endGroup();
+    settings.sync();
+}
+
+void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
+{
+    OPMapWidget::mouseDoubleClickEvent(event);
+    if (currEditMode == EDIT_MODE_WAYPOINTS)
+    {
+        // If a waypoint manager is available
+        if (currWPManager)
+        {
+            // Create new waypoint
+            internals::PointLatLng pos = this->currentMousePosition();
+            Waypoint* wp = currWPManager->createWaypoint();
+            wp->setLatitude(pos.Lat());
+            wp->setLongitude(pos.Lng());
+        }
+    }
+}
+
+
 /**
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
@@ -424,8 +490,7 @@ void QGCMapWidget::updateWaypointList(int uas)
         {
             waypointsToIcons.remove(wp);
             iconsToWaypoints.remove(icon);
-            delete icon;
-            icon = NULL;
+            WPDelete(icon);
         }
     }
 

src/ui/map/QGCMapWidget.h

@@ -52,6 +52,9 @@ public slots:
     /** @brief Set update rate limit */
     void setUpdateRateLimit(float seconds);
 
+    void loadSettings();
+    void storeSettings();
+
 protected slots:
     /** @brief Convert a map edit into a QGC waypoint event */
     void handleMapWaypointEdit(WayPointItem* waypoint);
@@ -59,7 +62,10 @@ protected slots:
 protected:
     /** @brief Update the highlighting of the currently controlled system */
     void updateSelectedSystem(int uas);
-    /** @brief Set the current mouse position on the map as new home position */
+    /** @brief Initialize */
+    void showEvent(QShowEvent* event);
+    void hideEvent(QHideEvent* event);
+    void mouseDoubleClickEvent(QMouseEvent* event);
 
     UASWaypointManager* currWPManager; ///< The current waypoint manager
     QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
@@ -67,15 +73,17 @@ protected:
     Waypoint* firingWaypointChange;
     QTimer updateTimer;
     float maxUpdateInterval;
-//    enum editMode {
-//        NONE,
-//        WAYPOINTS,
-//        SWEEP,
-//        UAVS,
-//        HOME,
-//        SAFE_AREA
-//    };
-    //editMode currEditMode;            ///< The current edit mode on the map
+    enum editMode {
+        EDIT_MODE_NONE,
+        EDIT_MODE_WAYPOINTS,
+        EDIT_MODE_SWEEP,
+        EDIT_MODE_UAVS,
+        EDIT_MODE_HOME,
+        EDIT_MODE_SAFE_AREA,
+        EDIT_MODE_CACHING
+    };
+    editMode currEditMode;            ///< The current edit mode on the map
+
 
 };
 

src/ui/map/Waypoint2DIcon.cc

@@ -58,13 +58,36 @@ void Waypoint2DIcon::SetHeading(float heading)
 void Waypoint2DIcon::updateWaypoint()
 {
     if (waypoint) {
+        // Store old size
+        static QRectF oldSize;
+
         SetHeading(waypoint->getYaw());
         SetCoord(internals::PointLatLng(waypoint->getLatitude(), waypoint->getLongitude()));
         SetDescription(waypoint->getDescription());
         SetAltitude(waypoint->getAltitude());
         // FIXME Add SetNumber (currently needs a separate call)
         drawIcon();
-        this->update();
+        QRectF newSize = boundingRect();
+
+        qDebug() << "WIDTH" << newSize.width() << "<" << oldSize.width();
+
+        // If new size is smaller than old size, update surrounding
+        if ((newSize.width() <= oldSize.width()) || (newSize.height() <= oldSize.height()))
+        {
+            // If the symbol size was reduced, enforce an update of the environment
+//            update(oldSize);
+            int oldWidth = oldSize.width() + 20;
+            int oldHeight = oldSize.height() + 20;
+            map->update(this->x()-10, this->y()-10, oldWidth, oldHeight);
+            qDebug() << "UPDATING DUE TO SMALLER SIZE";
+            qDebug() << "X:" << this->x()-1 << "Y:" << this->y()-1 << "WIDTH:" << oldWidth << "HEIGHT:" << oldHeight;
+        }
+        else
+        {
+            // Symbol size stayed constant or increased, use new size for update
+            this->update();
+        }
+        oldSize = boundingRect();
         qDebug() << "UPDATING WP";
     }
 }
@@ -89,6 +112,20 @@ QRectF Waypoint2DIcon::boundingRect() const
     return QRectF(-width,-height,2*width,2*height);
 }
 
+void Waypoint2DIcon::SetReached(const bool &value)
+{
+    // DO NOTHING
+    Q_UNUSED(value);
+//    reached=value;
+//    emit WPValuesChanged(this);
+//    if(value)
+//        picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png"));
+//    else
+//        picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+//    this->update();
+
+}
+
 void Waypoint2DIcon::drawIcon()
 {
     picture.fill(Qt::transparent);
@@ -139,8 +176,8 @@ void Waypoint2DIcon::drawIcon()
             (waypoint->getAction() != (int)MAV_CMD_NAV_TAKEOFF) &&
             (waypoint->getAction() != (int)MAV_CMD_NAV_LAND) &&
             (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_UNLIM) &&
-            (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) &&
-            (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)
+            (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TIME) &&
+            (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TURNS)
             )))
     {
         painter.drawLine(p.x(), p.y(), p.x()+sin(Heading()) * rad, p.y()-cos(Heading()) * rad);
@@ -151,8 +188,8 @@ void Waypoint2DIcon::drawIcon()
         // Takeoff waypoint
         int width = (picture.width()-1);
         int height = (picture.height()-1);
-        painter.drawRect(0, 0, 2*width, 2*height);
-        painter.drawRect(width*0.2, height*0.2f, 2*width*0.6f, 2*height*0.6f);
+        painter.drawRect(0, 0, width, height);
+        painter.drawRect(width*0.2, height*0.2f, width*0.6f, height*0.6f);
     }
     else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND))
     {

src/ui/map/Waypoint2DIcon.h

@@ -42,6 +42,8 @@ public:
     void drawIcon();
     /** @brief Draw the icon on a QPainter device (map) */
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
+    /** @brief UNUSED FUNCTION: Waypoints in QGC are purely passive */
+    void SetReached(const bool &value);
 
 public:
     void updateWaypoint();