added functions to create global waypoinst, modifying the WaypointList class,...

added functions to create global waypoinst, modifying the WaypointList class, MapWidget and MainWindows.

lib/QMapControl/src/geometry.cpp

@@ -29,9 +29,9 @@ namespace qmapcontrol
     Geometry::Geometry(QString name)
         : GeometryType("Geometry"), myparentGeometry(0), mypen(0), visible(true), myname(name)
     {
+        myIndex = name.toInt(0,10);
     }
 
-
     Geometry::~Geometry()
     {
     }
@@ -40,6 +40,11 @@ namespace qmapcontrol
     {
         return myname;
     }
+    int Geometry::get_myIndex() const
+    {
+        return myIndex;
+    }
+
     Geometry* Geometry::parentGeometry() const
     {
         return myparentGeometry;
@@ -85,4 +90,5 @@ namespace qmapcontrol
     {
         return mypen;
     }
+
 }

lib/QMapControl/src/geometry.h

@@ -49,6 +49,7 @@ namespace qmapcontrol
         Q_OBJECT
     public:
         explicit Geometry(QString name = QString());
+
         virtual ~Geometry();
 
         QString GeometryType;
@@ -74,6 +75,12 @@ namespace qmapcontrol
          */
         QString name() const;
 
+        //! returns the index of this Geometry
+        /*!
+         * @return the index of this Geometry
+         */
+        int get_myIndex() const;
+
         //! returns the parent Geometry of this Geometry
         /*!
          * A LineString is a composition of many Points. This methods returns the parent (the LineString) of a Point
@@ -123,6 +130,7 @@ namespace qmapcontrol
         QPen* mypen;
         bool visible;
         QString myname;
+        int myIndex;
         void setParentGeometry(Geometry* geom);
 
     signals:
@@ -149,6 +157,8 @@ namespace qmapcontrol
          * @param  visible if the layer should be visible
          */
         virtual void setVisible(bool visible);
+
+
     };
 }
 #endif

src/ui/MainWindow.cc

@@ -104,6 +104,8 @@ MainWindow::MainWindow(QWidget *parent) :
     connect(map, SIGNAL(captureMapCoordinateClick(QPointF)), waypoints, SLOT(addWaypointMouse(QPointF)));
     // it notifies that a waypoint global goes to do create
     connect(map, SIGNAL(createGlobalWP(bool)), waypoints, SLOT(setIsWPGlobal(bool)));
+    connect(map, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypoints, SLOT(waypointGlobalChanged(QPointF,int)) );
+
 }
 
 MainWindow::~MainWindow()

src/ui/MapWidget.cc

@@ -87,7 +87,10 @@ MapWidget::MapWidget(QWidget *parent) :
     // Set default zoom level
     mc->setZoom(16);
     // Zurich, ETH
-    mc->setView(QPointF(8.548056,47.376389));
+    //mc->setView(QPointF(8.548056,47.376389));
+
+    // Veracruz Mexico, ETH
+    mc->setView(QPointF(-96.105208,19.138955));
 
     // Add controls to select map provider
     /////////////////////////////////////////////////
@@ -336,7 +339,7 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
     // Create waypoint name
     QString str;
 
-    str = QString("WP%1").arg(path->numberOfPoints());
+    str = QString("%1").arg(path->numberOfPoints());
 
     // create the WP and set everything in the LineString to display the path
     CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
@@ -369,6 +372,10 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
 void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
   Q_UNUSED(coordinate);
 
+  // Refresh the screen
+  mc->updateRequestNew();
+
+  int temp = 0;
   Point* point2Find;
   point2Find = wpIndex[geom->name()];
   point2Find->setCoordinate(coordinate);
@@ -376,12 +383,18 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
   point2Find = dynamic_cast <Point*> (geom);
   point2Find->setCoordinate(coordinate);
 
-  // Refresh the screen
-  mc->updateRequestNew();
+ // qDebug() << geom->name();
+  temp = geom->get_myIndex();
+  //qDebug() << temp;
+  emit sendGeometryEndDrag(coordinate,temp);
+
+
 }
 
-void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate){
-  mc->setMouseMode(qmapcontrol::MapControl::Panning);
+void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
+{
+
+    mc->setMouseMode(qmapcontrol::MapControl::Panning);
 
 //  qDebug() << geom->name();
 //  qDebug() << geom->GeometryType;
@@ -558,4 +571,11 @@ void MapWidget::clearPath()
     mc->layer("Waypoints")->addGeometry(path);
     wpIndex.clear();
     mc->updateRequestNew();
+
+    // si el boton de crear wp globales esta activo desactivarlo llamando a su evento clicket
+    if(createPath->isChecked())
+    {
+        createPath->click();
+    }
+
 }

src/ui/MapWidget.h

@@ -117,6 +117,7 @@ protected:
     //void movePoint(QPointF newCoord);
     void captureMapCoordinateClick(const QPointF coordinate); //ROCA
     void createGlobalWP(bool value);
+    void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
 
 private:

src/ui/WaypointList.cc

@@ -38,6 +38,7 @@ This file is part of the PIXHAWK project
 #include <QDebug>
 #include <QFileDialog>
 #include "WaypointGlobalView.h"
+#include <QMessageBox>
 
 WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
         QWidget(parent),
@@ -88,6 +89,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 
     this->setVisible(false);
     isGlobalWP = false;
+    isLocalWP = false;
 }
 
 WaypointList::~WaypointList()
@@ -166,18 +168,24 @@ void WaypointList::add()
 {
     if (uas)
     {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-        if (waypoints.size() > 0)
-        {
-            Waypoint *last = waypoints.at(waypoints.size()-1);
-            Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
-            uas->getWaypointManager().localAddWaypoint(wp);
-        }
-        else
-        {
-            Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
-            uas->getWaypointManager().localAddWaypoint(wp);
-        }
+
+            const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            if (waypoints.size() > 0)
+            {
+                Waypoint *last = waypoints.at(waypoints.size()-1);
+                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+            else
+            {
+                Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+
+            isLocalWP = true;
+
+
+
     }
 }
 
@@ -185,17 +193,27 @@ void WaypointList::addCurrentPositonWaypoint()
 {
     if (uas)
     {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-        if (waypoints.size() > 0)
+        // For Global Waypoints
+        if(isGlobalWP)
         {
-            Waypoint *last = waypoints.at(waypoints.size()-1);
-            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
-            uas->getWaypointManager().localAddWaypoint(wp);
+            isLocalWP = false;
         }
         else
         {
-            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
-            uas->getWaypointManager().localAddWaypoint(wp);
+            const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            if (waypoints.size() > 0)
+            {
+                Waypoint *last = waypoints.at(waypoints.size()-1);
+                Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+            else
+            {
+                Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+
+             isLocalWP = true;
         }
     }
 }
@@ -244,10 +262,10 @@ void WaypointList::waypointListChanged()
     {
         const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
 
-
             // For Global Waypoints
             if(isGlobalWP)
             {
+                isLocalWP = false;
                 // first remove all views of non existing waypoints
                 if (!wpGlobalViews.empty())
                 {
@@ -420,22 +438,24 @@ void WaypointList::changeEvent(QEvent *e)
 
 void WaypointList::on_clearWPListButton_clicked()
 {
-    emit clearPathclicked();
 
     if (uas)
     {
         if(isGlobalWP)
         {
+            emit clearPathclicked();
+
             const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
               while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
               {
-                  //Waypoint *temp = waypoints[i];
 
                   WaypointGlobalView* widget = wpGlobalViews.find(waypoints[0]).value();
 
                   widget->remove();
               }
 
+
+
               isGlobalWP = false;
 
 
@@ -448,13 +468,14 @@ void WaypointList::on_clearWPListButton_clicked()
           const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
             while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
             {
-                //Waypoint *temp = waypoints[i];
 
                 WaypointView* widget = wpViews.find(waypoints[0]).value();
 
                 widget->remove();
 
+
             }
+
         }
 
     }
@@ -484,5 +505,69 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
  /** @brief it notifies that a global waypoint goes to do created */
 void WaypointList::setIsWPGlobal(bool value)
 {
-    isGlobalWP = value;
+
+
+    if(isLocalWP)
+    {
+        if(wpViews.size()!= 0)
+        {
+
+            int ret = QMessageBox::warning(this, tr("My Application"),
+                                    tr("There are Waypoints local created.\n"
+                                       "Do you want to clear them?"),
+                                    QMessageBox::Ok | QMessageBox::Cancel);
+
+            if(ret)
+            {
+                clearLocalWPWidget();
+                isGlobalWP = value;
+                isLocalWP = !(value);
+            }
+        }
+
+
+    }
+    else
+    {
+        isGlobalWP = value;
+    }
+
+}
+
+/** @brief The MapWidget informs that a waypoint global was changed on the map */
+
+void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
+{
+    if (uas)
+    {
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+        if (waypoints.size() > 0)
+        {
+            Waypoint *temp = waypoints.at(indexWP);
+
+            temp->setX(coordinate.x());
+            temp->setY(coordinate.y());
+
+            WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
+            widget->updateValues();
+        }
+    }
+
+
+}
+
+void WaypointList::clearLocalWPWidget()
+{
+  if (uas)
+  {
+    const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+      while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
+      {
+
+          WaypointView* widget = wpViews.find(waypoints[0]).value();
+
+          widget->remove();
+
+      }
+  }
 }

src/ui/WaypointList.h

@@ -90,12 +90,19 @@ public slots:
     /** @brief The waypoint manager informs that the waypoint list was changed */
     void waypointListChanged(void);
 
+    /** @brief The MapWidget informs that a waypoint global was changed on the map */
+    void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
+
+    void clearLocalWPWidget();
+
     // Waypoint operations
     void moveUp(Waypoint* wp);
     void moveDown(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
 
 
+
+
 signals:
   void clearPathclicked();
 
@@ -114,6 +121,7 @@ protected:
     double mavZ;
     double mavYaw;
     bool isGlobalWP;
+    bool isLocalWP;
 
 private:
     Ui::WaypointList *m_ui;