change and connect signal from SlugPadCameraControl to SlugsVideoCamControl

src/ui/SlugsDataSensorView.cc

@@ -15,6 +15,10 @@ SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) :
     activeUAS = NULL;
 
     this->setVisible(false);
+
+
+
+
 }
 
 SlugsDataSensorView::~SlugsDataSensorView()
@@ -236,4 +240,6 @@ void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
   ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat));
 }
 
+
+
 #endif // MAVLINK_ENABLED_SLUGS

src/ui/SlugsDataSensorView.h

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include "SlugsMAV.h"
 #include "mavlink.h"
 
+
 namespace Ui {
     class SlugsDataSensorView;
 }
@@ -163,6 +164,8 @@ public slots:
     void slugsGPSDateTimeChanged(int systemId,
                                  const mavlink_gps_date_time_t& gpsDateTime);
 
+
+
 #endif // MAVLINK_ENABLED_SLUGS
 
 protected:
@@ -172,6 +175,11 @@ private:
     Ui::SlugsDataSensorView *ui;
 
 
+
+
+
+
+
 };
 
 #endif // SLUGSDATASENSORVIEW_H

src/ui/SlugsDataSensorView.ui

@@ -35,7 +35,7 @@
    <item>
     <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
      <property name="currentIndex">
-      <number>2</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="tab">
       <attribute name="title">

src/ui/SlugsPIDControl.cpp

@@ -22,6 +22,19 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
     setRedColorStyle();
     setGreenColorStyle();
 
+    refreshTimerGet = new QTimer(this);
+    refreshTimerGet->setInterval(100); // 20 Hz
+    connect(refreshTimerGet, SIGNAL(timeout()), this, SLOT(slugsGetGeneral()));
+
+
+    refreshTimerSet = new QTimer(this);
+    refreshTimerSet->setInterval(100); // 20 Hz
+    connect(refreshTimerSet, SIGNAL(timeout()), this, SLOT(slugsSetGeneral()));
+
+
+    counterRefreshGet = 1;
+    counterRefreshSet = 1;
+
 }
 
 /**
@@ -40,6 +53,8 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
     {
         connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
         connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
+
+        connect(ui->setGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartSet()));
     }
 
 #endif // MAVLINK_ENABLED_SLUG
@@ -611,4 +626,90 @@ void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
     }
 }
 
+void SlugsPIDControl::slugsGetGeneral()
+{
+    valuesMutex.lock();
+    switch(counterRefreshGet)
+    {
+    case 1:
+       ui->dT_PID_get_pushButton->click();
+        break;
+    case 2:
+        ui->HELPComm_PDI_get_pushButton->click();
+        break;
+    case 3:
+        ui->dE_PID_get_pushButton->click();
+        break;
+    case 4:
+        ui->dR_PDI_get_pushButton->click();
+        break;
+    case 5:
+        ui->dA_PID_get_pushButton->click();
+        break;
+    case 6:
+        ui->Pitch2dT_PDI_get_pushButton->click();
+        break;
+    default:
+         refreshTimerGet->stop();
+        break;
+
+
+    }
+
+    counterRefreshGet++;
+    valuesMutex.unlock();
+
+}
+
+void SlugsPIDControl::slugsSetGeneral()
+{
+    valuesMutex.lock();
+    switch(counterRefreshSet)
+    {
+    case 1:
+        ui->dT_PID_set_pushButton->click();
+        break;
+    case 2:
+        ui->HELPComm_PDI_set_pushButton->click();
+        break;
+    case 3:
+        ui->dE_PID_set_pushButton->click();
+        break;
+    case 4:
+        ui->dR_PDI_set_pushButton->click();
+        break;
+    case 5:
+        ui->dA_PID_set_pushButton->click();
+        break;
+    case 6:
+        ui->Pitch2dT_PDI_set_pushButton->click();
+        break;
+    default:
+        refreshTimerSet->stop();
+        break;
+
+    }
+
+    counterRefreshSet++;
+    valuesMutex.unlock();
+}
+void SlugsPIDControl::slugsTimerStartSet()
+{
+    counterRefreshSet = 1;
+    refreshTimerSet->start();
+
+}
+
+void SlugsPIDControl::slugsTimerStartGet()
+{
+    counterRefreshGet = 1;
+    refreshTimerGet->start();
+
+}
+void SlugsPIDControl::slugsTimerStop()
+{
+//    refreshTimerGet->stop();
+//     counterRefresh = 1;
+
+}
 #endif // MAVLINK_ENABLED_SLUGS

src/ui/SlugsPIDControl.h

@@ -7,6 +7,8 @@
 #include "QGCMAVLink.h"
 #include "SlugsMAV.h"
 #include "mavlink.h"
+#include <QTimer>
+#include <QMutex>
 
 namespace Ui {
     class SlugsPIDControl;
@@ -236,6 +238,20 @@ public slots:
       */
      void get_Pitch2dT_PID();
 
+     /**
+          * @brief get and updates the values on widget
+     */
+      void slugsGetGeneral();
+      /**
+           * @brief Sent all values to UAS
+      */
+       void slugsSetGeneral();
+
+       void slugsTimerStartSet();
+       void slugsTimerStartGet();
+       void slugsTimerStop();
+
+
 
      //Create, send and get Messages PID
     // void createMessagePID();
@@ -263,6 +279,12 @@ private:
     //SlugsMav Message
     mavlink_pid_t pidMessage;
     mavlink_slugs_action_t actionSlugs;
+
+    QTimer* refreshTimerSet;      ///< The main timer, controls the update view
+     QTimer* refreshTimerGet;      ///< The main timer, controls the update view
+    int counterRefreshSet;
+    int counterRefreshGet;
+     QMutex valuesMutex;
 };
 
 #endif // SLUGSPIDCONTROL_H

src/ui/SlugsPadCameraControl.cpp

 #include "SlugsPadCameraControl.h"
 #include "ui_SlugsPadCameraControl.h"
+#include <QMouseEvent>
+#include <QDebug>
+#include <qmath.h>
+#include <QPainter>
 
 SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::SlugsPadCameraControl)
+   QWidget(parent), //QGraphicsView(parent),
+    ui(new Ui::SlugsPadCameraControl),
+     dragging(0)
 {
     ui->setupUi(this);
+    x1= 0;
+    y1 = 0;
+
 }
 
 SlugsPadCameraControl::~SlugsPadCameraControl()
 {
     delete ui;
 }
+
+void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
+{
+    emit mouseMoveCoord(event->x(),event->y());
+
+}
+
+void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
+{
+    emit mousePressCoord(event->x(),event->y());
+    x1 = event->x();
+    y1 = event->y();
+
+}
+
+void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
+{
+    emit mouseReleaseCoord(event->x(),event->y());
+    getDeltaPositionPad(event->x(), event->y());
+
+}
+
+void SlugsPadCameraControl::paintEvent(QPaintEvent *pe)
+{
+    Q_UNUSED(pe);
+    QPainter painter(this);
+    painter.setPen(Qt::blue);
+    painter.setFont(QFont("Arial", 30));
+
+//    QRectF rectangle(tL.x(), tL.y(), ui->padCamContro_frame->width(), ui->padCamContro_frame->height());
+//     int startAngle = 30 * 16;
+//     int spanAngle = 120 * 16;
+
+    painter.drawLine(QPoint(ui->frame->width()/2,ui->frame->geometry().topLeft().y()),
+                     QPoint(ui->frame->width()/2,ui->frame->geometry().bottomRight().y()));
+
+    painter.drawLine(QPoint(ui->frame->geometry().topLeft().x(),ui->frame->height()/2),
+                     QPoint(ui->frame->geometry().bottomRight().x(),ui->frame->height()/2));
+
+
+   // painter.drawLine(QPoint());
+    //painter.drawLines(padLines);
+
+
+    // painter.drawPie(rectangle, startAngle, spanAngle);
+
+    //painter.drawText(rect(), Qt::AlignCenter, "Qt");
+}
+
+void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
+{
+
+    QString dir = "nd";
+    QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
+
+    double bearing = localMeasures.x();
+    double dist = getDistPixel(y1,x1,y2,x2);
+
+
+
+    if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
+    {
+         emit dirCursorText("up");
+        //bearing = 315;
+        dir = "up";
+    }
+    else
+    {
+        if((bearing > 30)&&(bearing <= 60) )
+        {
+            emit dirCursorText("right up");
+            //bearing = 315;
+            dir = "riht up";
+        }
+        else
+        {
+            if((bearing > 60)&&(bearing <= 105) )
+            {
+               emit dirCursorText("right");
+                //bearing = 315;
+                dir = "riht";
+            }
+            else
+            {
+                if((bearing > 105)&&(bearing <= 150) )
+                {
+                   emit dirCursorText("right down");
+                    //bearing = 315;
+                    dir = "riht down";
+                }
+                else
+                {
+                    if((bearing > 150)&&(bearing <= 195) )
+                    {
+                       emit dirCursorText("down");
+                        //bearing = 315;
+                        dir = "down";
+                    }
+                    else
+                    {
+                        if((bearing > 195)&&(bearing <= 240) )
+                        {
+                            emit dirCursorText("left down");
+                            //bearing = 315;
+                            dir = "left down";
+                        }
+                        else
+                        {
+                            if((bearing > 240)&&(bearing <= 300) )
+                            {
+                               emit dirCursorText("left");
+                                //bearing = 315;
+                                dir = "left";
+                            }
+                            else
+                            {
+                                if((bearing > 300)&&(bearing <= 330) )
+                                {
+                                    emit dirCursorText("left up");
+                                    //bearing = 315;
+                                    dir = "left up";
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+
+    emit changeCursorPosition(bearing, dist, dir);
+
+}
+
+double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
+{
+    double cateto_opuesto,cateto_adyacente;
+     //latitud y longitud del primer punto
+
+
+    cateto_opuesto = abs((x1-x2)); //diferencia de latitudes entre PCR1 y PCR2
+    cateto_adyacente = abs((y1-y2));//diferencia de longitudes entre PCR1 y PCR2
+
+    return  sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
+
+      // distancia = (float) hipotenusa;
+}
+
+/**
+                * Esta funcin xxxxxxxxx
+                * @param double lat1 -->
+                * @param double lon1 -->
+                * @param double lat2 -->
+                * @param double lon2 -->
+                * @param ref double rumbo -->
+                * @param ref double distancia -->
+                */
+QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
+{
+    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
+
+    //latitude and longitude first point
+
+    if(lat1<0) lat1= lat1*(-1);
+    if(lat2<0) lat2= lat2*(-1);
+    if(lon1<0) lon1= lon1*(-1);
+    if(lon2<0) lon1= lon1*(-1);
+
+    cateto_opuesto = abs((lat1-lat2));
+    cateto_adyacente = abs((lon1-lon2));
+
+    hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
+    distancia = hipotenusa*60;
+
+
+    if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
+        marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
+    else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante
+        marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292;
+    else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante
+        marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
+    else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante
+        marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
+    else if((lat1 < lat2) && (lon1 == lon2)) //360
+        marcacion = 360;
+    else if((lat1 == lat2) && (lon1 > lon2)) //270
+        marcacion = 270;
+    else if((lat1 > lat2) && (lon1 == lon2)) //180
+        marcacion = 180;
+    else if((lat1 == lat2) && (lon1 < lon2)) //90
+        marcacion =90;
+    else if((lat1 == lat2) && (lon1 == lon2)) //0
+        marcacion = 0.0;
+
+    // this only convert real bearing to frame widget bearing
+    marcacion = marcacion +90;
+    if(marcacion>= 360) marcacion = marcacion - 360;
+
+    return QPointF(marcacion,distancia);
+
+}

src/ui/SlugsPadCameraControl.h

@@ -2,21 +2,46 @@
 #define SLUGSPADCAMERACONTROL_H
 
 #include <QWidget>
+#include <QGraphicsView>
 
 namespace Ui {
     class SlugsPadCameraControl;
 }
 
-class SlugsPadCameraControl : public QWidget
+class SlugsPadCameraControl : public QWidget //QGraphicsView//
 {
     Q_OBJECT
 
 public:
     explicit SlugsPadCameraControl(QWidget *parent = 0);
+
     ~SlugsPadCameraControl();
 
+public slots:
+    void getDeltaPositionPad(int x, int y);
+    double getDistPixel(int x1, int y1, int x2, int y2);
+    QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
+
+signals:
+    void mouseMoveCoord(int x, int y);
+    void mousePressCoord(int x, int y);
+    void mouseReleaseCoord(int x, int y);
+    void dirCursorText(QString dir);
+    void distance_Bearing(double dist, double bearing);
+     void changeCursorPosition(double bearing, double distance, QString textDir);
+
+protected:
+    void mousePressEvent(QMouseEvent* event);
+    void mouseReleaseEvent(QMouseEvent* event);
+    void mouseMoveEvent(QMouseEvent* event);
+    void paintEvent(QPaintEvent *pe);
+
 private:
     Ui::SlugsPadCameraControl *ui;
+      bool dragging;
+      int x1;
+      int y1;
+
 };
 
 #endif // SLUGSPADCAMERACONTROL_H

src/ui/SlugsPadCameraControl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>183</width>
+    <height>127</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -16,6 +16,36 @@
   <property name="styleSheet">
    <string notr="true">background-color: rgb(255, 170, 0);</string>
   </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>1</number>
+   </property>
+   <property name="spacing">
+    <number>1</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QFrame" name="frame">
+     <property name="minimumSize">
+      <size>
+       <width>181</width>
+       <height>125</height>
+      </size>
+     </property>
+     <property name="mouseTracking">
+      <bool>true</bool>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: rgba(255, 0, 0,50%);</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+    </widget>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

src/ui/SlugsVideoCamControl.h

@@ -7,6 +7,8 @@
 #include <QGraphicsSceneMouseEvent>
 #include <QGraphicsScene>
 #include "SlugsPadCameraControl.h"
+#include <QPushButton>
+
 
 
 #define DELTA 1000
@@ -26,33 +28,29 @@ public:
 
 public slots:
     void changeViewCamBorderAtMapStatus(bool status);
-    void getDeltaPositionPad(int x, int y);
-    double getDistPixel(int x1, int y1, int x2, int y2);
-    QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
+    void getDeltaPositionPad(double dir, double dist, QString dirText);
+
+
+    void mousePadPressEvent(int x, int y);
+    void mousePadReleaseEvent(int x, int y);
+    void mousePadMoveEvent(int x, int y);
 
 signals:
     void changeCamPosition(double dist, double dir, QString textDir);
     void viewCamBorderAtMap(bool status);
 
 protected:
-    virtual void mousePressEvent(QMouseEvent* event);
-    virtual void mouseReleaseEvent(QMouseEvent* event);
-    void mouseMoveEvent(QMouseEvent* event);
-    //virtual void paintEvent(QPaintEvent *pe);
-    void paintEvent(QPaintEvent *pe);
+   void mousePressEvent(QMouseEvent* event);
+   void mouseReleaseEvent(QMouseEvent* event);
+   void mouseMoveEvent(QMouseEvent* event);
 
 
-private:
-    Ui::SlugsVideoCamControl *ui;
-    bool dragging;
 
-    int x1;
-    int y1;
-     QPoint tL;
-      QPoint bR;
 
-       SlugsPadCameraControl* padCamera;
+private:
+    Ui::SlugsVideoCamControl *ui;
 
+    SlugsPadCameraControl* padCamera;
 
 };
 

src/ui/SlugsVideoCamControl.ui

@@ -24,29 +24,6 @@
   </property>
   <layout class="QGridLayout" name="gridLayout">
    <item row="0" column="0">
-    <widget class="QFrame" name="padCamContro_frame">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="mouseTracking">
-      <bool>false</bool>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: rgba(255, 170, 0,0%);
-</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::WinPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Sunken</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="0">
     <layout class="QVBoxLayout" name="verticalLayout">
      <item>
       <widget class="QLabel" name="label_x">
@@ -77,7 +54,7 @@
      </item>
     </layout>
    </item>
-   <item row="2" column="0">
+   <item row="1" column="0">
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
       <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">