Working WP manager -> map waypoint updates. List reordering does not work yet....

Working WP manager -> map waypoint updates. List reordering does not work yet. Next steps: List reordering, map -> WP manager updates, better waypoint graphs

qgroundcontrol.pro

@@ -188,7 +188,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCSettingsWidget.ui \
     src/ui/UASControlParameters.ui \
     src/ui/mission/QGCMissionDoWidget.ui \
-    src/ui/mission/QGCMissionConditionWidget.ui
+    src/ui/mission/QGCMissionConditionWidget.ui \
+    src/ui/map/QGCMapToolbar.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -301,7 +302,8 @@ HEADERS += src/MG.h \
     src/uas/QGCUASParamManager.h \
     src/ui/map/QGCMapWidget.h \
     src/ui/map/MAV2DIcon.h \
-    src/ui/mavlink/QGCMAVLinkTextEdit.h
+    src/ui/mavlink/QGCMAVLinkTextEdit.h \
+    src/ui/map/QGCMapToolbar.h
 
 #    src/ui/map/Waypoint2DIcon.h \
 
@@ -429,7 +431,8 @@ SOURCES += src/main.cc \
     src/uas/QGCUASParamManager.cc \
     src/ui/map/QGCMapWidget.cc \
     src/ui/map/MAV2DIcon.cc \
-    src/ui/mavlink/QGCMAVLinkTextEdit.cc
+    src/ui/mavlink/QGCMAVLinkTextEdit.cc \
+    src/ui/map/QGCMapToolbar.cc
 # src/ui/map/Waypoint2DIcon.cc
 macx|win32-msvc2008::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
 contains(DEPENDENCIES_PRESENT, osg) { 

src/Waypoint.cc

@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 
 Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1, double _param2, double _param3, double _param4,
-                   bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action)
+                   bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action, const QString& _description)
     : id(_id),
       x(_x),
       y(_y),
@@ -48,7 +48,8 @@ Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1,
       orbit(_param3),
       param1(_param1),
       param2(_param2),
-      name(QString("WP%1").arg(id, 2, 10, QChar('0')))
+      name(QString("WP%1").arg(id, 2, 10, QChar('0'))),
+      description(_description)
 {
 }
 
@@ -70,15 +71,15 @@ void Waypoint::save(QTextStream &saveStream)
     position = position.arg(z, 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
     parameters = parameters.arg(param1, 0, 'g', 18).arg(param2, 0, 'g', 18).arg(orbit, 0, 'g', 18).arg(yaw, 0, 'g', 18);
-    // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>
+    // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
     // as documented here: http://qgroundcontrol.org/waypoint_protocol
-    saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n";
+    saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
 }
 
 bool Waypoint::load(QTextStream &loadStream)
 {
     const QStringList &wpParams = loadStream.readLine().split("\t");
-    if (wpParams.size() == 12) {
+    if (wpParams.size() == 13) {
         this->id = wpParams[0].toInt();
         this->current = (wpParams[1].toInt() == 1 ? true : false);
         this->frame = (MAV_FRAME) wpParams[2].toInt();
@@ -91,6 +92,7 @@ bool Waypoint::load(QTextStream &loadStream)
         this->y = wpParams[9].toDouble();
         this->z = wpParams[10].toDouble();
         this->autocontinue = (wpParams[11].toInt() == 1 ? true : false);
+        //this->description = wpParams[12];
         return true;
     }
     return false;

src/Waypoint.h

@@ -44,7 +44,7 @@ class Waypoint : public QObject
 
 public:
     Waypoint(quint16 id = 0, double x = 0.0, double y = 0.0, double z = 0.0, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0,
-             bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
+             bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT, const QString& description=QString(""));
     ~Waypoint();
 
     quint16 getId() const {
@@ -119,6 +119,9 @@ public:
     const QString& getName() const {
         return name;
     }
+    const QString& getDescription() const {
+        return description;
+    }
     /** @brief Returns true if x, y, z contain reasonable navigation data */
     bool isNavigationType();
 
@@ -141,6 +144,7 @@ protected:
     double param2;
     int turns;
     QString name;
+    QString description;
 
 public slots:
     void setId(quint16 id);

src/uas/UASWaypointManager.cc

@@ -294,6 +294,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
         Waypoint *t = waypoints[seq];
         waypoints.remove(seq);
         delete t;
+        t = NULL;
 
         for(int i = seq; i < waypoints.size(); i++) {
             waypoints[i]->setId(i);

src/ui/map/QGCMapToolbar.cc

+#include "QGCMapToolbar.h"
+#include "ui_QGCMapToolbar.h"
+
+QGCMapToolbar::QGCMapToolbar(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCMapToolbar)
+{
+    ui->setupUi(this);
+}
+
+QGCMapToolbar::~QGCMapToolbar()
+{
+    delete ui;
+}

src/ui/map/QGCMapToolbar.h

+#ifndef QGCMAPTOOLBAR_H
+#define QGCMAPTOOLBAR_H
+
+#include <QWidget>
+
+namespace Ui {
+    class QGCMapToolbar;
+}
+
+class QGCMapToolbar : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMapToolbar(QWidget *parent = 0);
+    ~QGCMapToolbar();
+
+private:
+    Ui::QGCMapToolbar *ui;
+};
+
+#endif // QGCMAPTOOLBAR_H

src/ui/map/QGCMapToolbar.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMapToolbar</class>
+ <widget class="QWidget" name="QGCMapToolbar">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>617</width>
+    <height>28</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>12</number>
+   </property>
+   <property name="margin">
+    <number>2</number>
+   </property>
+   <item>
+    <widget class="QPushButton" name="goToLatLonButton">
+     <property name="text">
+      <string>Lat/Lon</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="goToHomeButton">
+     <property name="text">
+      <string>Home</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="editButton">
+     <property name="text">
+      <string>Edit</string>
+     </property>
+     <property name="checkable">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="setHomeButton">
+     <property name="text">
+      <string>Set Home</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="latLonLabel">
+     <property name="text">
+      <string>Mouse Coordinate</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/map/QGCMapWidget.h

 #ifndef QGCMAPWIDGET_H
 #define QGCMAPWIDGET_H
 
+#include <QMap>
 #include "opmapcontrol.h"
 
 class UASInterface;
+class UASWaypointManager;
+class Waypoint;
 
+/**
+ * @brief Class representing a 2D map using aerial imagery
+ */
 class QGCMapWidget : public mapcontrol::OPMapWidget
 {
     Q_OBJECT
@@ -13,18 +19,43 @@ public:
     ~QGCMapWidget();
 
 signals:
+    void homePositionChanged(double latitude, double longitude, double altitude);
 
 public slots:
+    /** @brief Add system to map view */
     void addUAS(UASInterface* uas);
+    /** @brief Update the global position of a system */
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     /** @brief Update the type, size, etc. of this system */
     void updateSystemSpecs(int uas);
-    /** @brief Update the whole system state */
-    void updateSelectedSystem(int uas);
+    /** @brief Change current system in focus / editing */
+    void activeUASSet(UASInterface* uas);
+    /** @brief Show a dialog to jump to given GPS coordinates */
+    void showGoToDialog();
+    /** @brief Update this waypoint for this UAS */
+    void updateWaypoint(int uas, Waypoint* wp);
+    /** @brief Update the whole waypoint */
+    void updateWaypointList(int uas);
+    /** @brief Update the home position on the map */
+    void updateHomePosition(double latitude, double longitude, double altitude);
 
 protected:
-    /** @brief Update the attitude of this system */
-    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
+    /** @brief Update the highlighting of the currently controlled system */
+    void updateSelectedSystem(int uas);
+    /** @brief Set the current mouse position on the map as new home position */
+
+    UASWaypointManager* currWPManager; ///< The current waypoint manager
+    QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
+    QMap<mapcontrol::WayPointItem*, Waypoint*> iconsToWaypoints;
+//    enum editMode {
+//        NONE,
+//        WAYPOINTS,
+//        SWEEP,
+//        UAVS,
+//        HOME,
+//        SAFE_AREA
+//    };
+//    enum editMode currEditMode;            ///< The current edit mode on the map
 
 };