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Commit 767fe5a5 authored by pixhawk's avatar pixhawk
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Fixed bugs

parent 3920c256
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Inline Side-by-side
Showing with 143 additions and 127 deletions
src/ui/MapWidget.cc
View file @ 767fe5a5
......@@ -94,7 +94,7 @@ MapWidget::MapWidget(QWidget *parent) :
// SET INITIAL POSITION AND ZOOM
// Set default zoom level
mc->setZoom(16);
mc->setZoom(17);
// Zurich, ETH
mc->setView(QPointF(8.548056,47.376389));
......@@ -481,8 +481,12 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp)
{
// First set waypoint coordinate
waypoint->setCoordinate(coordinate);
// Now update icon position
//mc->layer("Waypoints")->removeGeometry(wpIcons.at(wp->getId()));
wpIcons.at(wp->getId())->setCoordinate(coordinate);
//mc->layer("Waypoints")->addGeometry(wpIcons.at(wp->getId()));
// Then waypoint line coordinate
Point* linesegment = waypointPath->points().at(wp->getId());
Point* linesegment = waypointPath->points().at(mav->getWaypointManager()->getWaypointList().indexOf(wp));
if (linesegment)
{
......@@ -524,6 +528,7 @@ void MapWidget::createWaypointGraphAtMap(int id, const QPointF coordinate)
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
wpIcons.append(tempCirclePoint);
Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
......@@ -663,14 +668,22 @@ void MapWidget::updateWaypointList(int uas)
// Delete now unused wps
if (wps.count() > wpList.count())
{
mc->layer("Waypoints")->removeGeometry(waypointPath);
for (int i = wpList.count(); i < wps.count(); ++i)
{
QRect updateRect = wps.at(i)->boundingBox().toRect();
wps.removeAt(i);
mc->layer("Waypoints")->removeGeometry(wpIcons.at(i));
waypointPath->points().removeAt(i);
//Point* linesegment = waypointPath->points().at(mav->getWaypointManager()->getWaypointList().indexOf(wp));
mc->updateRequest(updateRect);
}
mc->layer("Waypoints")->addGeometry(waypointPath);
}
// Clear and rebuild linestring
}
}
......
src/ui/MapWidget.h
View file @ 767fe5a5
......@@ -45,6 +45,7 @@ This file is part of the QGROUNDCONTROL project
class QMenu;
class Waypoint;
class Waypoint2DIcon;
namespace Ui {
class MapWidget;
......@@ -162,6 +163,7 @@ protected:
private:
Ui::MapWidget *m_ui;
QList<qmapcontrol::Point*> wps;
QList<Waypoint2DIcon*>wpIcons;
qmapcontrol::LineString* waypointPath;
//QHash <QString, qmapcontrol::Point*> wpIndex;
QPen* pointPen;
......
src/ui/WaypointList.cc
View file @ 767fe5a5
......@@ -127,11 +127,11 @@ void WaypointList::setUAS(UASInterface* uas)
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
connect(&uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
}
}
......@@ -141,7 +141,7 @@ void WaypointList::saveWaypoints()
if (uas)
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().saveWaypoints(fileName);
uas->getWaypointManager()->saveWaypoints(fileName);
}
}
......@@ -152,7 +152,7 @@ void WaypointList::loadWaypoints()
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().loadWaypoints(fileName);
uas->getWaypointManager()->loadWaypoints(fileName);
}
}
......@@ -160,7 +160,7 @@ void WaypointList::transmit()
{
if (uas)
{
uas->getWaypointManager().writeWaypoints();
uas->getWaypointManager()->writeWaypoints();
}
}
......@@ -168,7 +168,7 @@ void WaypointList::read()
{
if (uas)
{
uas->getWaypointManager().readWaypoints();
uas->getWaypointManager()->readWaypoints();
}
}
......@@ -178,17 +178,17 @@ void WaypointList::add()
{
// if(isGlobalWP)
// {
// const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
// const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
// if (waypoints.size() > 0)
// {
// Waypoint *last = waypoints.at(waypoints.size()-1);
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
// uas->getWaypointManager().addWaypoint(wp);
// uas->getWaypointManager()->addWaypoint(wp);
// }
// else
// {
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
// uas->getWaypointManager().addWaypoint(wp);
// uas->getWaypointManager()->addWaypoint(wp);
// }
//
// emit createWaypointAtMap(centerMapCoordinate);
......@@ -196,7 +196,7 @@ void WaypointList::add()
// else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
Waypoint *wp;
......@@ -206,13 +206,13 @@ void WaypointList::add()
Waypoint *last = waypoints.at(waypoints.size()-1);
wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
last->getHoldTime(), last->getFrame(), last->getAction());
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
// Create global frame waypoint per default
wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
if (wp->getFrame() == MAV_FRAME_GLOBAL)
{
......@@ -234,17 +234,17 @@ void WaypointList::addCurrentPositonWaypoint()
//}
//else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
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().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(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().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
//isLocalWP = true;
......@@ -264,7 +264,7 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
{
if (uas)
{
uas->getWaypointManager().setCurrentWaypoint(seq);
uas->getWaypointManager()->setCurrentWaypoint(seq);
}
}
......@@ -272,7 +272,7 @@ void WaypointList::currentWaypointChanged(quint16 seq)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (seq < waypoints.size())
{
......@@ -297,124 +297,125 @@ void WaypointList::waypointListChanged()
{
if (uas)
{
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())
//{
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//viewIt.toFront();
//while(viewIt.hasNext())
//{
//viewIt.next();
//Waypoint *cur = viewIt.key();
//int i;
//for (i = 0; i < waypoints.size(); i++)
//{
//if (waypoints[i] == cur)
//{
//break;
//}
//}
//if (i == waypoints.size())
//{
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//widget->hide();
//listLayout->removeWidget(widget);
//wpGlobalViews.remove(cur);
//}
//}
//}
//// then add/update the views for each waypoint in the list
//for(int i = 0; i < waypoints.size(); i++)
//{
//Waypoint *wp = waypoints[i];
//if (!wpGlobalViews.contains(wp))
//{
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//wpGlobalViews.insert(wp, wpview);
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//}
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//wpgv->updateValues();
//listLayout->addWidget(wpgv);
//}
//}
//else
// Prevent updates to prevent visual flicker
this->setUpdatesEnabled(false);
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())
//{
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//viewIt.toFront();
//while(viewIt.hasNext())
//{
//viewIt.next();
//Waypoint *cur = viewIt.key();
//int i;
//for (i = 0; i < waypoints.size(); i++)
//{
//if (waypoints[i] == cur)
//{
//break;
//}
//}
//if (i == waypoints.size())
//{
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//widget->hide();
//listLayout->removeWidget(widget);
//wpGlobalViews.remove(cur);
//}
//}
//}
//// then add/update the views for each waypoint in the list
//for(int i = 0; i < waypoints.size(); i++)
//{
//Waypoint *wp = waypoints[i];
//if (!wpGlobalViews.contains(wp))
//{
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//wpGlobalViews.insert(wp, wpview);
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//}
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//wpgv->updateValues();
//listLayout->addWidget(wpgv);
//}
//}
//else
//{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
viewIt.toFront();
while(viewIt.hasNext())
{
QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
viewIt.toFront();
while(viewIt.hasNext())
viewIt.next();
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
{
viewIt.next();
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
if (waypoints[i] == cur)
{
if (waypoints[i] == cur)
{
break;
}
}
if (i == waypoints.size())
{
WaypointView* widget = wpViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpViews.remove(cur);
break;
}
}
if (i == waypoints.size())
{
WaypointView* widget = wpViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpViews.remove(cur);
}
}
}
// then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
// then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
{
Waypoint *wp = waypoints[i];
if (!wpViews.contains(wp))
{
Waypoint *wp = waypoints[i];
if (!wpViews.contains(wp))
{
WaypointView* wpview = new WaypointView(wp, this);
wpViews.insert(wp, wpview);
connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointView* wpview = new WaypointView(wp, this);
wpViews.insert(wp, wpview);
connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointView *wpv = wpViews.value(wp);
wpv->updateValues(); // update the values of the ui elements in the view
listLayout->addWidget(wpv);
}
}
loadFileGlobalWP = false;
this->setUpdatesEnabled(true);
}
loadFileGlobalWP = false;
//}
}
void WaypointList::moveUp(Waypoint* wp)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//get the current position of wp in the local storage
int i;
......@@ -427,7 +428,7 @@ void WaypointList::moveUp(Waypoint* wp)
// if wp was found and its not the first entry, move it
if (i < waypoints.size() && i > 0)
{
uas->getWaypointManager().moveWaypoint(i, i-1);
uas->getWaypointManager()->moveWaypoint(i, i-1);
}
}
}
......@@ -436,7 +437,7 @@ void WaypointList::moveDown(Waypoint* wp)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//get the current position of wp in the local storage
int i;
......@@ -449,7 +450,7 @@ void WaypointList::moveDown(Waypoint* wp)
// if wp was found and its not the last entry, move it
if (i < waypoints.size()-1)
{
uas->getWaypointManager().moveWaypoint(i, i+1);
uas->getWaypointManager()->moveWaypoint(i, i+1);
}
}
}
......@@ -458,7 +459,7 @@ void WaypointList::removeWaypoint(Waypoint* wp)
{
if (uas)
{
uas->getWaypointManager().removeWaypoint(wp->getId());
uas->getWaypointManager()->removeWaypoint(wp->getId());
}
}
......@@ -482,7 +483,7 @@ void WaypointList::on_clearWPListButton_clicked()
if (uas)
{
emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
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();
......@@ -503,17 +504,17 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
......@@ -527,7 +528,7 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *temp = waypoints.at(indexWP);
......@@ -560,7 +561,7 @@ void WaypointList::clearWPWidget()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
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();
......
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