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Commit 3cc8eb8a authored by Alejandro's avatar Alejandro
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Add button setHome to MapWidget

parent 552d4760
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Showing with 144 additions and 146 deletions
src/comm/MAVLinkProtocol.cc
View file @ 3cc8eb8a
......@@ -315,6 +315,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
currLossCounter = 0;
currReceiveCounter = 0;
emit receiveLossChanged(message.sysid, receiveLoss);
qDebug() << "LOSSCHANGED" << message.sysid<<" "<<receiveLoss;
}
// The packet is emitted as a whole, as it is only 255 - 261 bytes short
......
src/ui/MainWindow.cc
View file @ 3cc8eb8a
......@@ -333,15 +333,7 @@ void MainWindow::buildCommonWidgets()
controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
controlDockWidget->setWidget( new UASControlWidget(this) );
addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
}
if (!controlParameterWidget)
{
controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
controlParameterWidget->setWidget( new UASControlParameters(this) );
addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
}
}
if (!listDockWidget)
{
......@@ -401,6 +393,14 @@ void MainWindow::buildCommonWidgets()
dataplotWidget = new QGCDataPlot2D(this);
addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
}
if (!controlParameterWidget)
{
controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
controlParameterWidget->setWidget( new UASControlParameters(this) );
addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
}
}
......
src/ui/MapWidget.cc
View file @ 3cc8eb8a
......@@ -93,6 +93,8 @@ void MapWidget::init()
geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
mc->addLayer(geomLayer);
homePosition = new qmapcontrol::GeometryLayer("Station", mapadapter);
mc->addLayer(homePosition);
//
......@@ -183,11 +185,17 @@ void MapWidget::init()
goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));
setHome = new QPushButton(QIcon(":/images/actions/go-home.svg"), "", this);
setHome->setStyleSheet(buttonStyle);
setHome->setToolTip(tr("Set home"));
setHome->setStatusTip(tr("Set home"));
zoomin->setMaximumWidth(30);
zoomout->setMaximumWidth(30);
createPath->setMaximumWidth(30);
// clearTracking->setMaximumWidth(30);
followgps->setMaximumWidth(30);
setHome->setMaximumWidth(30);
goToButton->setMaximumWidth(30);
// Set checkable buttons
......@@ -195,6 +203,7 @@ void MapWidget::init()
// create a style and the slots to change the background so it is easier to distinguish
followgps->setCheckable(true);
createPath->setCheckable(true);
setHome->setCheckable(true);
// add buttons to control the map (zoom, GPS tracking and WP capture)
QGridLayout* innerlayout = new QGridLayout(mc);
......@@ -204,6 +213,7 @@ void MapWidget::init()
innerlayout->addWidget(zoomout, 1, 0);
innerlayout->addWidget(followgps, 2, 0);
innerlayout->addWidget(createPath, 3, 0);
innerlayout->addWidget(setHome, 4, 0);
//innerlayout->addWidget(clearTracking, 4, 0);
// Add spacers to compress buttons on the top left
innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
......@@ -262,6 +272,12 @@ void MapWidget::init()
connect(createPath, SIGNAL(clicked(bool)),
this, SLOT(createPathButtonClicked(bool)));
connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePositionClick(bool)));
connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*,QPointF)), this,
SLOT(createHomePosition(const QMouseEvent*,QPointF)));
//connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePosition(bool)));
connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
this, SLOT(captureGeometryClick(Geometry*, QPoint)));
......@@ -1199,3 +1215,46 @@ QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double beari
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();
tempCirclePoint = new Waypoint2DIcon(
latitud,
longitud,
20, "g", qmapcontrol::Point::Middle);
QPen* pencil = new QPen(Qt::blue);
tempCirclePoint->setPen(pencil);
mc->layer("Station")->clearGeometries();
mc->layer("Station")->addGeometry(tempCirclePoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitud, longitud,"g");
if (isVisible())
{
mc->updateRequest(tempPoint->boundingBox().toRect());
}
}
}
void MapWidget::createHomePositionClick(bool click)
{
Q_UNUSED(click);
if (!setHome->isChecked())
{
UASManager::instance()->setHomePosition(
static_cast<double>(homeCoordinate.x()),
static_cast<double>(homeCoordinate.y()), 0);
qDebug()<<"Set home position "<<homeCoordinate.x()<<" "<<homeCoordinate.y();
}
}
src/ui/MapWidget.h
View file @ 3cc8eb8a
......@@ -118,6 +118,7 @@ protected:
QPushButton* followgps;
QPushButton* createPath;
QPushButton* clearTracking;
QPushButton* setHome;
QLabel* gpsposition;
QMenu* mapMenu;
QPushButton* mapButton;
......@@ -128,7 +129,7 @@ protected:
qmapcontrol::Layer* overlay; ///< Street overlay (foreground)
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
......@@ -163,6 +164,9 @@ protected:
void createWaypointGraphAtMap(int id, const QPointF coordinate);
void mapproviderSelected(QAction* action);
void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
void createHomePositionClick(bool click);
signals:
//void movePoint(QPointF newCoord);
//void captureMapCoordinateClick(const QPointF coordinate); //ROCA
......@@ -188,6 +192,7 @@ private:
bool drawCamBorder;
int radioCamera;
QPointF homeCoordinate;
};
#endif // MAPWIDGET_H
src/ui/UASControlParameters.ui
View file @ 3cc8eb8a
......@@ -84,7 +84,7 @@
<string notr="true"/>
</property>
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
......@@ -184,70 +184,34 @@
</attribute>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="cxElevator">
<property name="text">
<string>Elevator</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxRudder">
<property name="text">
<string>Rudder</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxThrottle">
<property name="text">
<string>Throttle</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxAilerons">
<property name="text">
<string>Ailerons</string>
</property>
</widget>
</item>
</layout>
<widget class="QCheckBox" name="cxdle_c">
<property name="text">
<string>Elevator</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxdr_c">
<property name="text">
<string>Rudder</string>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QCheckBox" name="cxRightAileron">
<property name="text">
<string>Right Aileron</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxRightElevator">
<property name="text">
<string>Right Elevator</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxLeftFlap">
<property name="text">
<string>Left Flap</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxRightFlap">
<property name="text">
<string>Right Flap</string>
</property>
</widget>
</item>
</layout>
<widget class="QCheckBox" name="cxdt_c">
<property name="text">
<string>Throttle</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxdla_c">
<property name="text">
<string>Ailerons</string>
</property>
</widget>
</item>
</layout>
</item>
......
src/ui/uas/UASControlParameters.cpp
View file @ 3cc8eb8a
......@@ -27,6 +27,8 @@ UASControlParameters::UASControlParameters(QWidget *parent) :
{
ui->setupUi(this);
ui->btSetCtrl->setStatusTip(tr("Set Passthrough"));
connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands()));
connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough()));
......@@ -91,11 +93,8 @@ void UASControlParameters::activeUasSet(UASInterface *uas)
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
//connect(uas, SIGNAL(radioCalibrationReceived(QPointer<RadioCalibrationData>)), this, SLOT(radioChanged(QPointer<RadioCalibrationData>)));
activeUAS= uas;
}
......@@ -122,16 +121,19 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double
void UASControlParameters::setCommands()
{
UAS* myUas= static_cast<UAS*>(this->activeUAS);
if(this->activeUAS)
{
UAS* myUas= static_cast<UAS*>(this->activeUAS);
mavlink_message_t msg;
mavlink_message_t msg;
tempCmds.uCommand = ui->sbAirSpeed->value();
tempCmds.hCommand = ui->sbHeight->value();
tempCmds.rCommand = ui->sbTurnRate->value();
tempCmds.uCommand = ui->sbAirSpeed->value();
tempCmds.hCommand = ui->sbHeight->value();
tempCmds.rCommand = ui->sbTurnRate->value();
mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
myUas->sendMessage(msg);
mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
myUas->sendMessage(msg);
}
}
void UASControlParameters::getCommands()
......@@ -143,54 +145,43 @@ void UASControlParameters::getCommands()
void UASControlParameters::setPassthrough()
{
//UAS* myUas= static_cast<UAS*>(this->activeUAS);
if(this->activeUAS)
{
UAS* myUas= static_cast<UAS*>(this->activeUAS);
//mavlink_message_t msg;
mavlink_message_t msg;
int8_t tmpBit=0;
int8_t tmpBit=0;
if(ui->cxAilerons->isChecked())
{
tmpBit+=1;
}
if(ui->cxElevator->isChecked())
{
tmpBit+=2;
}
if(ui->cxLeftFlap->isChecked())
{
tmpBit+=4;
}
if(ui->cxRightAileron->isChecked())
{
tmpBit+=8;
}
if(ui->cxRightElevator->isChecked())
{
tmpBit+=16;
}
if(ui->cxRightFlap->isChecked())
{
tmpBit+=32;
}
if(ui->cxRudder->isChecked())
{
tmpBit+=64;
}
if(ui->cxThrottle->isChecked())
{
tmpBit+=128;
}
if(ui->cxdle_c->isChecked())//left elevator command
{
tmpBit+=8;
}
if(ui->cxdr_c->isChecked())//rudder command
{
tmpBit+=16;
}
generic_16bit r;
r.b[1] = 0;
r.b[0] = tmpBit;//255;
if(ui->cxdla_c->isChecked())//left aileron command
{
tmpBit+=64;
}
if(ui->cxdt_c->isChecked())//throttle command
{
tmpBit+=128;
}
tempCtrl.bitfieldPt= (uint16_t)r.s;
generic_16bit r;
r.b[1] = 0;
r.b[0] = tmpBit;//255;
//mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
//myUas->sendMessage(msg);
qDebug()<<tempCtrl.bitfieldPt;
tempCtrl.target= this->activeUAS->getUASID();
tempCtrl.bitfieldPt= (uint16_t)r.s;
mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
myUas->sendMessage(msg);
//qDebug()<<tempCtrl.bitfieldPt;
}
}
void UASControlParameters::updateMode(int uas,QString mode,QString description)
......@@ -208,24 +199,3 @@ void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
Q_UNUSED(uas);
this->throttle= throttle;
}
void UASControlParameters::radioChanged(const QPointer<RadioCalibrationData>& radio)
{
if (radio)
{
if (this->radio)
{
delete this->radio;
}
this->radio = new RadioCalibrationData(*radio);
// aileron->set((*radio)(RadioCalibrationData::AILERON));
// elevator->set((*radio)(RadioCalibrationData::ELEVATOR));
// rudder->set((*radio)(RadioCalibrationData::RUDDER));
// gyro->set((*radio)(RadioCalibrationData::GYRO));
// pitch->set((*radio)(RadioCalibrationData::PITCH));
// throttle->set((*radio)(RadioCalibrationData::THROTTLE));
}
}
src/ui/uas/UASControlParameters.h
View file @ 3cc8eb8a
......@@ -31,7 +31,6 @@ public slots:
void setPassthrough();
void updateMode(int uas,QString mode,QString description);
void thrustChanged(UASInterface* uas,double throttle);
void radioChanged(const QPointer<RadioCalibrationData>& radio);
private:
Ui::UASControlParameters *ui;
......
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