Map caching works now, uav following as well. Waypoint lines and some...

Map caching works now, uav following as well. Waypoint lines and some graphical tweaks needed, but its very close to an alpha release now

src/libs/opmapcontrol/opmapcontrol_external.pri

@@ -60,7 +60,8 @@ HEADERS += opmapcontrol.h \
            src/internals/projections/mercatorprojection.h \
            src/internals/projections/mercatorprojectionyandex.h \
            src/internals/projections/platecarreeprojection.h \
-           src/internals/projections/platecarreeprojectionpergo.h
+           src/internals/projections/platecarreeprojectionpergo.h \
+    src/libs/opmapcontrol/src/mapwidget/waypointlineitem.h
 FORMS += src/mapwidget/mapripform.ui
 SOURCES += src/core/alllayersoftype.cpp \
            src/core/cache.cpp \
@@ -104,5 +105,6 @@ SOURCES += src/core/alllayersoftype.cpp \
            src/internals/projections/mercatorprojection.cpp \
            src/internals/projections/mercatorprojectionyandex.cpp \
            src/internals/projections/platecarreeprojection.cpp \
-           src/internals/projections/platecarreeprojectionpergo.cpp
+           src/internals/projections/platecarreeprojectionpergo.cpp \
+    src/libs/opmapcontrol/src/mapwidget/waypointlineitem.cpp
 RESOURCES += src/mapwidget/mapresources.qrc

src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h

@@ -109,6 +109,13 @@ namespace mapcontrol
         double ZoomDigi();
         double ZoomTotal();
 
+        /**
+        * @brief The area currently selected by the user
+        *
+        * @return The rectangle in lat/lon coordinates currently selected
+        */
+        internals::RectLatLng SelectedArea()const{return selectedArea;}
+
     protected:
         void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
         void mousePressEvent ( QGraphicsSceneMouseEvent * event );
@@ -190,7 +197,6 @@ namespace mapcontrol
         int MinZoom()const{return minZoom;}
         internals::MouseWheelZoomType::Types GetMouseWheelZoomType(){return core->GetMouseWheelZoomType();}
         void SetSelectedArea(internals::RectLatLng const& value){selectedArea = value;this->update();}
-        internals::RectLatLng SelectedArea()const{return selectedArea;}
         internals::RectLatLng BoundsOfMap;
         void Offset(int const& x, int const& y);
         bool CanDragMap()const{return core->CanDragMap;}

src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -94,12 +94,18 @@ namespace mapcontrol
         UAVItem* newUAV = new UAVItem(map,this);
         newUAV->setParentItem(map);
         UAVS.insert(id, newUAV);
+        QGraphicsItemGroup* waypointLine = new QGraphicsItemGroup();
+        waypointLine->setParentItem(map);
+        waypointLines.insert(id, waypointLine);
         return newUAV;
     }
 
     void OPMapWidget::AddUAV(int id, UAVItem* uav)
     {
         uav->setParentItem(map);
+        QGraphicsItemGroup* waypointLine = new QGraphicsItemGroup();
+        waypointLine->setParentItem(map);
+        waypointLines.insert(id, waypointLine);
         UAVS.insert(id, uav);
     }
 

src/libs/opmapcontrol/src/mapwidget/waypointlineitem.cpp

+#include "waypointlineitem.h"
+
+WaypointLineItem::WaypointLineItem()
+{
+}

src/libs/opmapcontrol/src/mapwidget/waypointlineitem.h

+#ifndef WAYPOINTLINEITEM_H
+#define WAYPOINTLINEITEM_H
+
+#include <QGraphicsLineItem>
+
+class WaypointLineItem : public QGraphicsLineItem
+{
+public:
+    WaypointLineItem();
+};
+
+#endif // WAYPOINTLINEITEM_H

src/ui/map/QGCMapToolBar.cc

@@ -18,6 +18,42 @@ void QGCMapToolBar::setMap(QGCMapWidget* map)
     {
         connect(ui->goToButton, SIGNAL(clicked()), map, SLOT(showGoToDialog()));
         connect(ui->goHomeButton, SIGNAL(clicked()), map, SLOT(goHome()));
+        connect(map, SIGNAL(OnTileLoadStart()), this, SLOT(tileLoadStart()));
+        connect(map, SIGNAL(OnTileLoadComplete()), this, SLOT(tileLoadEnd()));
+        connect(map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(tileLoadProgress(int)));
+        connect(ui->ripMapButton, SIGNAL(clicked()), map, SLOT(cacheVisibleRegion()));
+
+        ui->followCheckBox->setChecked(map->getFollowUAVEnabled());
+        connect(ui->followCheckBox, SIGNAL(clicked(bool)), map, SLOT(setFollowUAVEnabled(bool)));
+
+        // Edit mode handling
+        ui->editButton->hide();
+    }
+}
+
+void QGCMapToolBar::tileLoadStart()
+{
+    ui->posLabel->setText(QString("Starting to load tiles.."));
+}
+
+void QGCMapToolBar::tileLoadEnd()
+{
+    ui->posLabel->setText(QString("Finished"));
+}
+
+void QGCMapToolBar::tileLoadProgress(int progress)
+{
+    if (progress == 1)
+    {
+        ui->posLabel->setText(QString("1 tile to load.."));
+    }
+    else if (progress > 0)
+    {
+        ui->posLabel->setText(QString("%1 tiles to load..").arg(progress));
+    }
+    else
+    {
+        tileLoadEnd();
     }
 }
 

src/ui/map/QGCMapToolbar.h

@@ -19,6 +19,11 @@ public:
 
     void setMap(QGCMapWidget* map);
 
+public slots:
+    void tileLoadStart();
+    void tileLoadEnd();
+    void tileLoadProgress(int progress);
+
 protected:
     QGCMapWidget* map;
 

src/ui/map/QGCMapToolbar.ui

@@ -20,13 +20,6 @@
    <property name="margin">
     <number>4</number>
    </property>
-   <item>
-    <widget class="QLabel" name="posLabel">
-     <property name="text">
-      <string>00.00 00.00</string>
-     </property>
-    </widget>
-   </item>
    <item>
     <widget class="QPushButton" name="goToButton">
      <property name="text">
@@ -48,6 +41,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QPushButton" name="ripMapButton">
+     <property name="text">
+      <string>Cache</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <widget class="QCheckBox" name="followCheckBox">
      <property name="text">
@@ -55,6 +55,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QLabel" name="posLabel">
+     <property name="text">
+      <string>00.00 00.00</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <spacer name="horizontalSpacer">
      <property name="orientation">

src/ui/map/QGCMapWidget.cc

@@ -10,9 +10,12 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
         mapcontrol::OPMapWidget(parent),
         currWPManager(NULL),
         firingWaypointChange(NULL),
-        maxUpdateInterval(2) // 2 seconds
+        maxUpdateInterval(2), // 2 seconds
+        followUAVEnabled(false)
 {
     // Widget is inactive until shown
+
+    // Set cache mode
 }
 
 QGCMapWidget::~QGCMapWidget()
@@ -152,7 +155,7 @@ void QGCMapWidget::storeSettings()
 
 void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
 {
-    //OPMapWidget::mouseDoubleClickEvent(event);
+    OPMapWidget::mouseDoubleClickEvent(event);
     if (currEditMode == EDIT_MODE_WAYPOINTS)
     {
         // If a waypoint manager is available
@@ -213,6 +216,7 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
         connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypoint(Waypoint*)));
         connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChange(Waypoint*)));
         updateSelectedSystem(uas->getUASID());
+        followUAVID = uas->getUASID();
     }
 }
 
@@ -246,6 +250,8 @@ void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lo
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(lat, lon);
         uav->SetUAVPos(pos_lat_lon, alt);
+        // Follow status
+        if (followUAVEnabled && uas->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply
         uav->SetUAVHeading((uas->getYaw()/M_PI)*180.0f);
     }
@@ -265,14 +271,15 @@ void QGCMapWidget::updateGlobalPosition()
         if (uav == NULL)
         {
             MAV2DIcon* newUAV = new MAV2DIcon(map, this, system);
-            newUAV->setParentItem(map);
-            UAVS.insert(system->getUASID(), newUAV);
-            uav = GetUAV(system->getUASID());
+            AddUAV(system->getUASID(), newUAV);
+            uav = newUAV;
         }
 
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
         uav->SetUAVPos(pos_lat_lon, system->getAltitude());
+        // Follow status
+        if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply
         uav->SetUAVHeading((system->getYaw()/M_PI)*180.0f);
     }
@@ -316,7 +323,7 @@ void QGCMapWidget::showGoToDialog()
     bool ok;
     QString text = QInputDialog::getText(this, tr("Please enter coordinates"),
                                          tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
-                                         QString("%1,%2").arg(CurrentPosition().Lat()).arg( CurrentPosition().Lng()), &ok);
+                                         QString("%1,%2").arg(CurrentPosition().Lat(), 0, 'g', 6).arg(CurrentPosition().Lng(), 0, 'g', 6), &ok);
     if (ok && !text.isEmpty()) {
         QStringList split = text.split(",");
         if (split.length() == 2) {
@@ -357,6 +364,26 @@ void QGCMapWidget::setUpdateRateLimit(float seconds)
     updateTimer.start(maxUpdateInterval*1000);
 }
 
+void QGCMapWidget::cacheVisibleRegion()
+{
+    internals::RectLatLng rect = map->SelectedArea();
+
+    if (rect.IsEmpty())
+    {
+        QMessageBox msgBox(this);
+        msgBox.setIcon(QMessageBox::Information);
+        msgBox.setText("Cannot cache tiles for offline use");
+        msgBox.setInformativeText("Please select an area first by holding down SHIFT or ALT and selecting the area with the left mouse button.");
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+    }
+
+    RipMap();
+
+    // FIXME UNSELECT AREA NOW
+}
+
 
 // WAYPOINT MAP INTERACTION FUNCTIONS
 
@@ -407,73 +434,84 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
 {
     // Source of the event was in this widget, do nothing
     if (firingWaypointChange == wp) return;
-        // Currently only accept waypoint updates from the UAS in focus
-        // this has to be changed to accept read-only updates from other systems as well.
-        if (UASManager::instance()->getUASForId(uas)->getWaypointManager() == currWPManager) {
-            // Only accept waypoints in global coordinate frame
-            if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType()) {
-                // We're good, this is a global waypoint
-
-                // Get the index of this waypoint
-                // note the call to getGlobalFrameAndNavTypeIndexOf()
-                // as we're only handling global waypoints
-                int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
-                UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
-                // If not found, return (this should never happen, but helps safety)
-                if (wpindex == -1) return;
-                // Mark this wp as currently edited
-                firingWaypointChange = wp;
-
-                // Check if wp exists yet in map
-                if (!waypointsToIcons.contains(wp)) {
-                    // Create icon for new WP
-                    Waypoint2DIcon* icon = new Waypoint2DIcon(map, this, wp, uasInstance->getColor(), wpindex);
-                    ConnectWP(icon);
-                    icon->setParentItem(map);
-                    // Update maps to allow inverse data association
-                    waypointsToIcons.insert(wp, icon);
-                    iconsToWaypoints.insert(icon, wp);
-                } else {
-                    // Waypoint exists, block it's signals and update it
-                    mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp);
-                    // Make sure we don't die on a null pointer
-                    // this should never happen, just a precaution
-                    if (!icon) return;
-                    // Block outgoing signals to prevent an infinite signal loop
-                    // should not happen, just a precaution
-                    this->blockSignals(true);
-                    // Update the WP
-                    Waypoint2DIcon* wpicon = dynamic_cast<Waypoint2DIcon*>(icon);
-                    if (wpicon)
-                    {
-                        // Let icon read out values directly from waypoint
-                        icon->SetNumber(wpindex);
-                        wpicon->updateWaypoint();
-                    }
-                    else
-                    {
-                        // Use safe standard interfaces for non Waypoint-class based wps
-                        icon->SetCoord(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()));
-                        icon->SetAltitude(wp->getAltitude());
-                        icon->SetHeading(wp->getYaw());
-                        icon->SetNumber(wpindex);
-                    }
-                    // Re-enable signals again
-                    this->blockSignals(false);
+    // Currently only accept waypoint updates from the UAS in focus
+    // this has to be changed to accept read-only updates from other systems as well.
+    if (UASManager::instance()->getUASForId(uas)->getWaypointManager() == currWPManager) {
+        // Only accept waypoints in global coordinate frame
+        if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType()) {
+            // We're good, this is a global waypoint
+
+            // Get the index of this waypoint
+            // note the call to getGlobalFrameAndNavTypeIndexOf()
+            // as we're only handling global waypoints
+            int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
+            UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
+            // If not found, return (this should never happen, but helps safety)
+            if (wpindex == -1) return;
+            // Mark this wp as currently edited
+            firingWaypointChange = wp;
+
+            // Check if wp exists yet in map
+            if (!waypointsToIcons.contains(wp)) {
+                // Create icon for new WP
+                Waypoint2DIcon* icon = new Waypoint2DIcon(map, this, wp, uasInstance->getColor(), wpindex);
+                ConnectWP(icon);
+                icon->setParentItem(map);
+                // Update maps to allow inverse data association
+                waypointsToIcons.insert(wp, icon);
+                iconsToWaypoints.insert(icon, wp);
+
+                // Add line element
+                qDebug() << "ADDING LINE";
+                mapcontrol::TrailLineItem* line = new mapcontrol::TrailLineItem(internals::PointLatLng(0.2, 0.2), icon->Coord(), QBrush(Qt::red), map);
+               QGraphicsItemGroup* group = waypointLines.value(uas, NULL);
+               if (group)
+               {
+                   group->addToGroup(line);
+                   qDebug() << "ADDED LINE!";
+               }
+                line->setVisible(true);
+            } else {
+                // Waypoint exists, block it's signals and update it
+                mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp);
+                // Make sure we don't die on a null pointer
+                // this should never happen, just a precaution
+                if (!icon) return;
+                // Block outgoing signals to prevent an infinite signal loop
+                // should not happen, just a precaution
+                this->blockSignals(true);
+                // Update the WP
+                Waypoint2DIcon* wpicon = dynamic_cast<Waypoint2DIcon*>(icon);
+                if (wpicon)
+                {
+                    // Let icon read out values directly from waypoint
+                    icon->SetNumber(wpindex);
+                    wpicon->updateWaypoint();
+                }
+                else
+                {
+                    // Use safe standard interfaces for non Waypoint-class based wps
+                    icon->SetCoord(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()));
+                    icon->SetAltitude(wp->getAltitude());
+                    icon->SetHeading(wp->getYaw());
+                    icon->SetNumber(wpindex);
                 }
+                // Re-enable signals again
+                this->blockSignals(false);
+            }
 
-                firingWaypointChange = NULL;
+            firingWaypointChange = NULL;
 
-            } else {
-                // Check if the index of this waypoint is larger than the global
-                // waypoint list. This implies that the coordinate frame of this
-                // waypoint was changed and the list containing only global
-                // waypoints was shortened. Thus update the whole list
-                if (waypointsToIcons.size() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeCount()) {
-                    updateWaypointList(uas);
-                }
+        } else {
+            // Check if the index of this waypoint is larger than the global
+            // waypoint list. This implies that the coordinate frame of this
+            // waypoint was changed and the list containing only global
+            // waypoints was shortened. Thus update the whole list
+            if (waypointsToIcons.size() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeCount()) {
+                updateWaypointList(uas);
             }
         }
+    }
 }
 
 /**

src/ui/map/QGCMapWidget.h

@@ -24,6 +24,9 @@ public:
 //    double headingP1P2(internals::PointLatLng p1, internals::PointLatLng p2);
 //    internals::PointLatLng targetLatLon(internals::PointLatLng source, double heading, double dist);
 
+    /** @brief Map centered on current active system */
+    bool getFollowUAVEnabled() { return followUAVEnabled; }
+
 signals:
     void homePositionChanged(double latitude, double longitude, double altitude);
     /** @brief Signal for newly created map waypoints */
@@ -53,6 +56,10 @@ public slots:
     void updateHomePosition(double latitude, double longitude, double altitude);
     /** @brief Set update rate limit */
     void setUpdateRateLimit(float seconds);
+    /** @brief Cache visible region to harddisk */
+    void cacheVisibleRegion();
+    /** @brief Set follow mode */
+    void setFollowUAVEnabled(bool enabled) { followUAVEnabled = enabled; }
 
     void loadSettings();
     void storeSettings();
@@ -85,6 +92,8 @@ protected:
         EDIT_MODE_CACHING
     };
     editMode currEditMode;            ///< The current edit mode on the map
+    bool followUAVEnabled;              ///< Does the map follow the UAV?
+    int followUAVID;                    ///< Which UAV should be tracked?
 
 
 };