Commit a8417079 authored by LM's avatar LM

Merge branch 'v10release' of github.com:pixhawk/qgroundcontrol into v10release

parents e0bd2a74 c0691261
......@@ -172,8 +172,7 @@ FORMS += src/ui/MainWindow.ui \
src/ui/Linechart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/WaypointView.ui \
src/ui/WaypointList.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
......@@ -209,7 +208,9 @@ FORMS += src/ui/MainWindow.ui \
src/ui/mission/QGCMissionConditionWidget.ui \
src/ui/map/QGCMapTool.ui \
src/ui/map/QGCMapToolBar.ui \
src/ui/QGCMAVLinkInspector.ui
src/ui/QGCMAVLinkInspector.ui \
src/ui/WaypointViewOnlyView.ui \
src/ui/WaypointEditableView.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
......@@ -255,8 +256,7 @@ HEADERS += src/MG.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/WaypointView.h \
src/Waypoint.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
......@@ -322,7 +322,10 @@ HEADERS += src/MG.h \
src/QGCGeo.h \
src/ui/QGCToolBar.h \
src/ui/QGCMAVLinkInspector.h \
src/ui/MAVLinkDecoder.h
src/ui/MAVLinkDecoder.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointEditableView.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
......@@ -384,7 +387,6 @@ SOURCES += src/main.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/WaypointView.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
......@@ -447,7 +449,9 @@ SOURCES += src/main.cc \
src/ui/map/QGCMapToolBar.cc \
src/ui/QGCToolBar.cc \
src/ui/QGCMAVLinkInspector.cc \
src/ui/MAVLinkDecoder.cc
src/ui/MAVLinkDecoder.cc \
src/ui/WaypointViewOnlyView.cc \
src/ui/WaypointEditableView.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
......@@ -206,7 +206,7 @@ void Waypoint::setFrame(MAV_FRAME frame)
void Waypoint::setAutocontinue(bool autoContinue)
{
if (this->autocontinue != autocontinue) {
if (this->autocontinue != autoContinue) {
this->autocontinue = autoContinue;
emit changed(this);
}
......
......@@ -28,59 +28,59 @@
#include "SerialLink.h"
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id),
startTime(QGC::groundTimeMilliseconds()),
commStatus(COMM_DISCONNECTED),
name(""),
autopilot(-1),
links(new QList<LinkInterface*>()),
unknownPackets(),
mavlink(protocol),
waypointManager(*this),
thrustSum(0),
thrustMax(10),
startVoltage(0),
warnVoltage(9.5f),
warnLevelPercent(20.0f),
currentVoltage(12.0f),
lpVoltage(12.0f),
batteryRemainingEstimateEnabled(true),
mode(-1),
status(-1),
navMode(-1),
onboardTimeOffset(0),
controlRollManual(true),
controlPitchManual(true),
controlYawManual(true),
controlThrustManual(true),
manualRollAngle(0),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0),
receiveDropRate(0),
sendDropRate(0),
lowBattAlarm(false),
positionLock(false),
localX(0.0),
localY(0.0),
localZ(0.0),
latitude(0.0),
longitude(0.0),
altitude(0.0),
roll(0.0),
pitch(0.0),
yaw(0.0),
statusTimeout(new QTimer(this)),
paramsOnceRequested(false),
airframe(QGC_AIRFRAME_EASYSTAR),
attitudeKnown(false),
paramManager(NULL),
attitudeStamped(false),
lastAttitude(0),
simulation(new QGCFlightGearLink(this)),
isLocalPositionKnown(false),
isGlobalPositionKnown(false),
systemIsArmed(false)
uasId(id),
startTime(QGC::groundTimeMilliseconds()),
commStatus(COMM_DISCONNECTED),
name(""),
autopilot(-1),
links(new QList<LinkInterface*>()),
unknownPackets(),
mavlink(protocol),
waypointManager(this),
thrustSum(0),
thrustMax(10),
startVoltage(0),
warnVoltage(9.5f),
warnLevelPercent(20.0f),
currentVoltage(12.0f),
lpVoltage(12.0f),
batteryRemainingEstimateEnabled(true),
mode(-1),
status(-1),
navMode(-1),
onboardTimeOffset(0),
controlRollManual(true),
controlPitchManual(true),
controlYawManual(true),
controlThrustManual(true),
manualRollAngle(0),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0),
receiveDropRate(0),
sendDropRate(0),
lowBattAlarm(false),
positionLock(false),
localX(0.0),
localY(0.0),
localZ(0.0),
latitude(0.0),
longitude(0.0),
altitude(0.0),
roll(0.0),
pitch(0.0),
yaw(0.0),
statusTimeout(new QTimer(this)),
paramsOnceRequested(false),
airframe(QGC_AIRFRAME_EASYSTAR),
attitudeKnown(false),
paramManager(NULL),
attitudeStamped(false),
lastAttitude(0),
simulation(new QGCFlightGearLink(this)),
isLocalPositionKnown(false),
isGlobalPositionKnown(false),
systemIsArmed(false)
{
color = UASInterface::getNextColor();
setBatterySpecs(QString("9V,9.5V,12.6V"));
......
This diff is collapsed.
......@@ -64,7 +64,7 @@ private:
}; ///< The possible states for the waypoint protocol
public:
UASWaypointManager(UAS&); ///< Standard constructor.
UASWaypointManager(UAS* uas=NULL); ///< Standard constructor
/** @name Received message handlers */
/*@{*/
......@@ -79,15 +79,20 @@ public:
/** @name Remote operations */
/*@{*/
void clearWaypointList(); ///< Sends the waypoint clear all message to the MAV
void readWaypoints(); ///< Requests the MAV's current waypoint list
void readWaypoints(bool read_to_edit=false); ///< Requests the MAV's current waypoint list.
void writeWaypoints(); ///< Sends the waypoint list to the MAV
int setCurrentWaypoint(quint16 seq); ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
int setCurrentWaypoint(quint16 seq); ///< Sends the sequence number of the waypoint that should get the new target waypoint to the UAS
int setCurrentEditable(quint16 seq); ///< Changes the current waypoint in edit tab
/*@}*/
/** @name Waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getWaypointList(void) {
return waypoints; ///< Returns a const reference to the waypoint list.
const QVector<Waypoint *> &getWaypointEditableList(void) {
return waypointsEditable; ///< Returns a const reference to the waypoint list.
}
const QVector<Waypoint *> &getWaypointViewOnlyList(void) {
return waypointsViewOnly; ///< Returns a const reference to the waypoint list.
}
const QVector<Waypoint *> getGlobalFrameWaypointList(); ///< Returns a global waypoint list
const QVector<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
......@@ -104,7 +109,7 @@ public:
int getLocalFrameCount(); ///< Get the count of local waypoints in the list
/*@}*/
UAS& getUAS() {
UAS* getUAS() {
return this->uas; ///< Returns the owning UAS
}
......@@ -124,21 +129,26 @@ public slots:
void timeout(); ///< Called by the timer if a response times out. Handles send retries.
/** @name Waypoint list operations */
/*@{*/
void addWaypoint(Waypoint *wp, bool enforceFirstActive=true); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
void addWaypointEditable(Waypoint *wp, bool enforceFirstActive=true); ///< adds a new waypoint to the end of the editable list and changes its sequence number accordingly
void addWaypointViewOnly(Waypoint *wp); ///< adds a new waypoint to the end of the view-only list and changes its sequence number accordingly
Waypoint* createWaypoint(bool enforceFirstActive=true); ///< Creates a waypoint
int removeWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void moveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void saveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void loadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
void notifyOfChange(Waypoint* wp); ///< Notifies manager to changes to a waypoint
void notifyOfChangeEditable(Waypoint* wp); ///< Notifies manager to changes to an editable waypoint
void notifyOfChangeViewOnly(Waypoint* wp); ///< Notifies manager to changes to a viewonly waypoint, e.g. some widget wants to change "current"
/*@}*/
void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time);
void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time);
signals:
void waypointListChanged(void); ///< emits signal that the waypoint list has been changed
void waypointListChanged(int uasid); ///< Emits signal that list has been changed
void waypointChanged(int uasid, Waypoint* wp); ///< emits signal that waypoint has been changed
void waypointEditableListChanged(void); ///< emits signal that the list of editable waypoints has been changed
void waypointEditableListChanged(int uasid); ///< emits signal that the list of editable waypoints has been changed
void waypointEditableChanged(int uasid, Waypoint* wp); ///< emits signal that a single editable waypoint has been changed
void waypointViewOnlyListChanged(void); ///< emits signal that the list of editable waypoints has been changed
void waypointViewOnlyListChanged(int uasid); ///< emits signal that the list of editable waypoints has been changed
void waypointViewOnlyChanged(int uasid, Waypoint* wp); ///< emits signal that a single editable waypoint has been changed
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
void waypointDistanceChanged(double distance); ///< Distance to next waypoint changed (in meters)
......@@ -147,18 +157,22 @@ signals:
void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS
private:
UAS &uas; ///< Reference to the corresponding UAS
UAS* uas; ///< Reference to the corresponding UAS
quint32 current_retries; ///< The current number of retries left
quint16 current_wp_id; ///< The last used waypoint ID in the current protocol transaction
quint16 current_count; ///< The number of waypoints in the current protocol transaction
WaypointState current_state; ///< The current protocol state
quint8 current_partner_systemid; ///< The current protocol communication target system
quint8 current_partner_compid; ///< The current protocol communication target component
bool read_to_edit; ///< If true, after readWaypoints() incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab.
QVector<Waypoint *> waypoints; ///< local waypoint list (main storage)
Waypoint* currentWaypoint; ///< The currently used waypoint
QVector<Waypoint *> waypointsViewOnly; ///< local copy of current waypoint list on MAV
QVector<Waypoint *> waypointsEditable; ///< local editable waypoint list
Waypoint* currentWaypointEditable; ///< The currently used waypoint
QVector<mavlink_mission_item_t *> waypoint_buffer; ///< buffer for waypoints during communication
QTimer protocol_timer; ///< Timer to catch timeouts
bool standalone; ///< If standalone is set, do not write to UAS
int uasid;
};
#endif // UASWAYPOINTMANAGER_H
......@@ -954,7 +954,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
{
if (uas)
{
const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointList();
const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointEditableList();
QColor color;
painter.setBrush(Qt::NoBrush);
......
......@@ -15,10 +15,12 @@ QGCWaypointListMulti::QGCWaypointListMulti(QWidget *parent) :
void QGCWaypointListMulti::systemDeleted(QObject* uas)
{
UASInterface* mav = dynamic_cast<UASInterface*>(uas);
if (mav) {
if (mav)
{
int id = mav->getUASID();
WaypointList* list = lists.value(id, NULL);
if (list) {
if (list)
{
delete list;
lists.remove(id);
}
......
......@@ -41,14 +41,13 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
{
SerialLinkInterface* serialLink = dynamic_cast<SerialLinkInterface*>(link);
if(serialLink != 0) {
if(serialLink != 0)
{
serialLink->loadSettings();
this->link = serialLink;
// Setup the user interface according to link type
ui.setupUi(this);
//this->setVisible(false);
//this->hide();
// Create action to open this menu
// Create configuration action for this link
......@@ -154,10 +153,10 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
// Display the widget
this->window()->setWindowTitle(tr("Serial Communication Settings"));
//this->show();
} else {
}
else
{
qDebug() << "Link is NOT a serial link, can't open configuration window";
}
}
......@@ -220,9 +219,12 @@ void SerialConfigurationWindow::setupPortList()
void SerialConfigurationWindow::enableFlowControl(bool flow)
{
if(flow) {
if(flow)
{
link->setFlowType(1);
} else {
}
else
{
link->setFlowType(0);
}
}
......
......@@ -17,15 +17,15 @@
#include <cmath>
#include <qmath.h>
#include "WaypointView.h"
#include "ui_WaypointView.h"
#include "WaypointEditableView.h"
#include "ui_WaypointEditableView.h"
#include "ui_QGCCustomWaypointAction.h"
WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
QWidget(parent),
customCommand(new Ui_QGCCustomWaypointAction),
viewMode(QGC_WAYPOINTVIEW_MODE_NAV),
m_ui(new Ui::WaypointView)
viewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV),
m_ui(new Ui::WaypointEditableView)
{
m_ui->setupUi(this);
......@@ -63,7 +63,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
updateValues();
// Check for mission frame
if (wp->getFrame() == MAV_FRAME_MISSION) {
if (wp->getFrame() == MAV_FRAME_MISSION)
{
m_ui->comboBox_action->setCurrentIndex(m_ui->comboBox_action->count()-1);
}
......@@ -102,24 +103,24 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
connect(customCommand->param7SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam7(double)));
}
void WaypointView::moveUp()
void WaypointEditableView::moveUp()
{
emit moveUpWaypoint(wp);
}
void WaypointView::moveDown()
void WaypointEditableView::moveDown()
{
emit moveDownWaypoint(wp);
}
void WaypointView::remove()
void WaypointEditableView::remove()
{
emit removeWaypoint(wp);
deleteLater();
}
void WaypointView::changedAutoContinue(int state)
void WaypointEditableView::changedAutoContinue(int state)
{
if (state == 0)
wp->setAutocontinue(false);
......@@ -127,7 +128,7 @@ void WaypointView::changedAutoContinue(int state)
wp->setAutocontinue(true);
}
void WaypointView::updateActionView(int action)
void WaypointEditableView::updateActionView(int action)
{
// Remove stretch item at index 17 (m_ui->removeSpacer)
m_ui->horizontalLayout->takeAt(17);
......@@ -231,7 +232,7 @@ void WaypointView::updateActionView(int action)
/**
* @param index The index of the combo box of the action entry, NOT the action ID
*/
void WaypointView::changedAction(int index)
void WaypointEditableView::changedAction(int index)
{
// set waypoint action
int actionIndex = m_ui->comboBox_action->itemData(index).toUInt();
......@@ -252,7 +253,7 @@ void WaypointView::changedAction(int index)
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
changeViewMode(QGC_WAYPOINTVIEW_MODE_NAV);
changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV);
// Update frame view
updateFrameView(m_ui->comboBox_frame->currentIndex());
// Update view
......@@ -261,23 +262,23 @@ void WaypointView::changedAction(int index)
case MAV_CMD_ENUM_END:
default:
// Switch to mission frame
changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING);
changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING);
break;
}
}
void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode)
{
viewMode = mode;
switch (mode) {
case QGC_WAYPOINTVIEW_MODE_NAV:
case QGC_WAYPOINTVIEW_MODE_CONDITION:
case QGC_WAYPOINTEDITABLEVIEW_MODE_NAV:
case QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION:
// Hide everything, show condition widget
// TODO
case QGC_WAYPOINTVIEW_MODE_DO:
case QGC_WAYPOINTEDITABLEVIEW_MODE_DO:
break;
case QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING:
case QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING:
// Hide almost everything
m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide();
......@@ -307,7 +308,7 @@ void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
}
void WaypointView::updateFrameView(int frame)
void WaypointEditableView::updateFrameView(int frame)
{
switch(frame) {
case MAV_FRAME_GLOBAL:
......@@ -338,7 +339,7 @@ void WaypointView::updateFrameView(int frame)
}
}
void WaypointView::deleted(QObject* waypoint)
void WaypointEditableView::deleted(QObject* waypoint)
{
Q_UNUSED(waypoint);
// if (waypoint == this->wp)
......@@ -347,7 +348,7 @@ void WaypointView::deleted(QObject* waypoint)
// }
}
void WaypointView::changedFrame(int index)
void WaypointEditableView::changedFrame(int index)
{
// set waypoint action
MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
......@@ -356,19 +357,35 @@ void WaypointView::changedFrame(int index)
updateFrameView(frame);
}
void WaypointView::changedCurrent(int state)
void WaypointEditableView::changedCurrent(int state)
{
if (state == 0) {
m_ui->selectedBox->setChecked(true);
m_ui->selectedBox->setCheckState(Qt::Checked);
wp->setCurrent(false);
} else {
//m_ui->selectedBox->blockSignals(true);
if (state == 0)
{
if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
{
qDebug() << "Editable " << wp->getId() << " changedCurrent: State 0, current true" ;
m_ui->selectedBox->setChecked(true);
m_ui->selectedBox->setCheckState(Qt::Checked);
}
else
{
qDebug() << "Editable " << wp->getId() << " changedCurrent: State 0, current false";
m_ui->selectedBox->setChecked(false);
m_ui->selectedBox->setCheckState(Qt::Unchecked);
//wp->setCurrent(false);
}
}
else
{
qDebug() << "Editable " << wp->getId() << " changedCurrent: State 2";
wp->setCurrent(true);
emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
}
//m_ui->selectedBox->blockSignals(false);
}
void WaypointView::updateValues()
void WaypointEditableView::updateValues()
{
// Check if we just lost the wp, delete the widget
// accordingly
......@@ -501,11 +518,11 @@ void WaypointView::updateValues()
// If action is unknown, set direct editing mode
if (wp->getAction() < 0 || wp->getAction() > MAV_CMD_NAV_TAKEOFF)
{
changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING);
changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING);
}
else
{
if (viewMode != QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING)
if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
{
// Action ID known, update
m_ui->comboBox_action->setCurrentIndex(action_index);
......@@ -696,19 +713,19 @@ void WaypointView::updateValues()
// wp->blockSignals(false);
}
void WaypointView::setCurrent(bool state)
void WaypointEditableView::setCurrent(bool state)
{
m_ui->selectedBox->blockSignals(true);
m_ui->selectedBox->setChecked(state);
m_ui->selectedBox->blockSignals(false);
}
WaypointView::~WaypointView()
WaypointEditableView::~WaypointEditableView()
{
delete m_ui;
}
void WaypointView::changeEvent(QEvent *e)
void WaypointEditableView::changeEvent(QEvent *e)
{
switch (e->type()) {
case QEvent::LanguageChange:
......
......@@ -30,33 +30,33 @@ This file is part of the QGROUNDCONTROL project
*
*/
#ifndef WAYPOINTVIEW_H
#define WAYPOINTVIEW_H
#ifndef WAYPOINTEDITABLEVIEW_H
#define WAYPOINTEDITABLEVIEW_H
#include <QtGui/QWidget>
#include "Waypoint.h"
#include <iostream>
enum QGC_WAYPOINTVIEW_MODE {
QGC_WAYPOINTVIEW_MODE_NAV,
QGC_WAYPOINTVIEW_MODE_CONDITION,
QGC_WAYPOINTVIEW_MODE_DO,
QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING
enum QGC_WAYPOINTEDITABLEVIEW_MODE {
QGC_WAYPOINTEDITABLEVIEW_MODE_NAV,
QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION,
QGC_WAYPOINTEDITABLEVIEW_MODE_DO,
QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING
};
namespace Ui
{
class WaypointView;
class WaypointEditableView;
}
class Ui_QGCCustomWaypointAction;
class WaypointView : public QWidget
class WaypointEditableView : public QWidget
{
Q_OBJECT
Q_DISABLE_COPY(WaypointView)
Q_DISABLE_COPY(WaypointEditableView)
public:
explicit WaypointView(Waypoint* wp, QWidget* parent);
virtual ~WaypointView();
explicit WaypointEditableView(Waypoint* wp, QWidget* parent);
virtual ~WaypointEditableView();
public:
void setCurrent(bool state);
......@@ -76,7 +76,7 @@ public slots:
void updateValues(void);
protected slots:
void changeViewMode(QGC_WAYPOINTVIEW_MODE mode);
void changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode);
protected:
virtual void changeEvent(QEvent *e);
......@@ -84,18 +84,18 @@ protected:
// Special widgets extendending the
// waypoint view to mission capabilities
Ui_QGCCustomWaypointAction* customCommand;
QGC_WAYPOINTVIEW_MODE viewMode;
QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
private:
Ui::WaypointView *m_ui;
Ui::WaypointEditableView *m_ui;
signals:
void moveUpWaypoint(Waypoint*);
void moveDownWaypoint(Waypoint*);
void removeWaypoint(Waypoint*);
void currentWaypointChanged(quint16);
//void currentWaypointChanged(quint16); //unused
void changeCurrentWaypoint(quint16);
void setYaw(double);
};
#endif // WAYPOINTVIEW_H
#endif // WAYPOINTEDITABLEVIEW_H
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>WaypointView</class>
<widget class="QWidget" name="WaypointView">
<class>WaypointEditableView</class>
<widget class="QWidget" name="WaypointEditableView">
<property name="geometry">
<rect>
<x>0</x>
......@@ -604,7 +604,7 @@ Time to stay at this position before advancing</string>
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset resource="../../qgroundcontrol.qrc">
<normaloff>:/images/actions/go-up.svg</normaloff>:/images/actions/go-up.svg</iconset>
</property>
</widget>
......@@ -630,7 +630,7 @@ Time to stay at this position before advancing</string>
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset resource="../../qgroundcontrol.qrc">
<normaloff>:/images/actions/go-down.svg</normaloff>:/images/actions/go-down.svg</iconset>
</property>
</widget>
......@@ -653,7 +653,7 @@ Time to stay at this position before advancing</string>
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset resource="../../qgroundcontrol.qrc">
<normaloff>:/images/actions/list-remove.svg</normaloff>:/images/actions/list-remove.svg</iconset>
</property>
</widget>
......@@ -664,7 +664,7 @@ Time to stay at this position before advancing</string>
</layout>
</widget>
<resources>
<include location="../../mavground.qrc"/>
<include location="../../qgroundcontrol.qrc"/>
</resources>
<connections/>
</ui>
This diff is collapsed.
......@@ -40,8 +40,8 @@ This file is part of the QGROUNDCONTROL project
#include <QTimer>
#include "Waypoint.h"
#include "UASInterface.h"
#include "WaypointView.h"
#include "WaypointEditableView.h"
#include "WaypointViewOnlyView.h"
namespace Ui
{
......@@ -69,10 +69,14 @@ public slots:
void loadWaypoints();
/** @brief Transmit the local waypoint list to the UAS */
void transmit();
/** @brief Read the remote waypoint list */
/** @brief Read the remote waypoint list to both tabs */
void read();
/** @brief Add a waypoint */
void add();
/** @brief Read the remote waypoint list to "view"-tab only*/
void refresh();
/** @brief Add a waypoint to "edit"-tab */
void addEditable();
/** @brief Add a waypoint to "view"-tab */
// void addViewOnly();
/** @brief Add a waypoint at the current MAV position */
void addCurrentPositionWaypoint();
/** @brief Add a waypoint by mouse click over the map */
......@@ -82,12 +86,18 @@ public slots:
void updateStatusLabel(const QString &string);
/** @brief The user wants to change the current waypoint */
void changeCurrentWaypoint(quint16 seq);
/** @brief The waypoint planner changed the current waypoint */
void currentWaypointChanged(quint16 seq);
/** @brief The waypoint manager informs that one waypoint was changed */
void updateWaypoint(int uas, Waypoint* wp);
/** @brief The waypoint manager informs that the waypoint list was changed */
void waypointListChanged(void);
/** @brief Current waypoint in edit-tab was changed, so the list must be updated (to contain only one waypoint checked as "current") */
void currentWaypointEditableChanged(quint16 seq);
/** @brief Current waypoint on UAV was changed, update view-tab */
void currentWaypointViewOnlyChanged(quint16 seq);
/** @brief The waypoint manager informs that one editable waypoint was changed */
void updateWaypointEditable(int uas, Waypoint* wp);
/** @brief The waypoint manager informs that one viewonly waypoint was changed */
void updateWaypointViewOnly(int uas, Waypoint* wp);
/** @brief The waypoint manager informs that the editable waypoint list was changed */
void waypointEditableListChanged(void);
/** @brief The waypoint manager informs that the waypoint list on the MAV was changed */
void waypointViewOnlyListChanged(void);
// /** @brief The MapWidget informs that a waypoint global was changed on the map */
// void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
......@@ -115,8 +125,10 @@ protected:
virtual void changeEvent(QEvent *e);
protected:
QMap<Waypoint*, WaypointView*> wpViews;
QVBoxLayout* listLayout;
QMap<Waypoint*, WaypointEditableView*> wpEditableViews;
QMap<Waypoint*, WaypointViewOnlyView*> wpViewOnlyViews;
QVBoxLayout* viewOnlyListLayout;
QVBoxLayout* editableListLayout;
UASInterface* uas;
double mavX;
double mavY;
......
This diff is collapsed.
#include <QDebug>
#include "WaypointViewOnlyView.h"
#include "ui_WaypointViewOnlyView.h"
WaypointViewOnlyView::WaypointViewOnlyView(Waypoint* wp, QWidget *parent) :
QWidget(parent),
m_ui(new Ui::WaypointViewOnlyView)
{
m_ui->setupUi(this);
this->wp = wp;
updateValues();
connect(m_ui->current, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)),this, SLOT(changedAutoContinue(int)));
}
void WaypointViewOnlyView::changedAutoContinue(int state)
{
bool new_value = false;
if (state != 0)
{
new_value = true;
}
m_ui->autoContinue->blockSignals(true);
m_ui->autoContinue->setChecked(state);
m_ui->autoContinue->blockSignals(false);
wp->setAutocontinue(new_value);
emit changeAutoContinue(wp->getId(),new_value);
}
void WaypointViewOnlyView::changedCurrent(int state)
{
qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
m_ui->current->blockSignals(true);
if (state == 0)
{
/*
m_ui->current->setStyleSheet("");
*/
if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
{
m_ui->current->setChecked(true);
m_ui->current->setCheckState(Qt::Checked);
}
else
{
m_ui->current->setChecked(false);
m_ui->current->setCheckState(Qt::Unchecked);
wp->setCurrent(false);
}
}
else
{
/*
FIXME: The checkbox should turn gray to indicate, that set_current request has been sent to UAV. It should become blue (checked) after receiving set_current_ack from waypointplanner.
m_ui->current->setStyleSheet("*::indicator { \
border: 1px solid #777777; \
border-radius: 2px; \
color: #999999; \
width: 10px; \
height: 10px; \
}");
*/
wp->setCurrent(true);
emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
}
m_ui->current->blockSignals(false);
}
void WaypointViewOnlyView::setCurrent(bool state)
{
m_ui->current->blockSignals(true);
m_ui->current->setChecked(state);
m_ui->current->blockSignals(false);
}
void WaypointViewOnlyView::updateValues()
{
qDebug() << "Trof: WaypointViewOnlyView::updateValues() ID:" << wp->getId();
// Check if we just lost the wp, delete the widget
// accordingly
if (!wp)
{
deleteLater();
return;
}
// Update style
QColor backGroundColor = QGC::colorBackground;
static int lastId = -1;
int currId = wp->getId() % 2;
if (currId != lastId)
{
// qDebug() << "COLOR ID: " << currId;
if (currId == 1)
{
backGroundColor = QColor("#252528").lighter(150);
}
else
{
backGroundColor = QColor("#252528").lighter(250);
}
// Update color based on id
QString groupBoxStyle = QString("QGroupBox {padding: 0px; margin: 0px; border: 0px; background-color: %1; min-height: 12px; }").arg(backGroundColor.name());
QString labelStyle = QString("QWidget {background-color: %1; color: #DDDDDF; border-color: #EEEEEE; }").arg(backGroundColor.name());
QString displayBarStyle = QString("QWidget {background-color: %1; color: #DDDDDF; border: none; }").arg(backGroundColor.name());
QString checkBoxStyle = QString("QCheckBox {background-color: %1; color: #454545; border-color: #EEEEEE; }").arg(backGroundColor.name());
m_ui->autoContinue->setStyleSheet(checkBoxStyle);
m_ui->current->setStyleSheet(checkBoxStyle);
m_ui->idLabel->setStyleSheet(labelStyle);
m_ui->displayBar->setStyleSheet(displayBarStyle);
m_ui->groupBox->setStyleSheet(groupBoxStyle);
lastId = currId;
}
// update frame
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
if (m_ui->current->isChecked() != wp->getCurrent())
{
m_ui->current->blockSignals(true);
m_ui->current->setChecked(wp->getCurrent());
m_ui->current->blockSignals(false);
}
if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
{
m_ui->autoContinue->blockSignals(true);
m_ui->autoContinue->setChecked(wp->getAutoContinue());
m_ui->autoContinue->blockSignals(false);
}
switch (wp->getAction())
{
case MAV_CMD_NAV_WAYPOINT:
{
if (wp->getParam1()>0)
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b>; yaw: %4; rad: %5").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()).arg(wp->getParam2()));
}
break;
}
case MAV_CMD_NAV_LAND:
{
m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()));
break;
}
case MAV_CMD_NAV_TAKEOFF:
{
m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()));
break;
}
case MAV_CMD_DO_JUMP:
{
if (wp->getParam2()>0)
{
m_ui->displayBar->setText(QString("Jump to waypoint %1. Jumps left: %2").arg(wp->getParam1()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("No jumps left. Proceed to next waypoint."));
}
break;
}
case MAV_CMD_CONDITION_DELAY:
{
m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1()));
break;
}
case 237: //MAV_CMD_DO_START_SEARCH
{
m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2()));
break;
}
case 238: //MAV_CMD_DO_FINISH_SEARCH
{
m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2. Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()));
break;
}
case 240: //MAV_CMD_DO_SWEEP
{
m_ui->displayBar->setText(QString("Sweep. Corners: (%1,%2) and (%3,%4); z: %5; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1()));
break;
}
default:
{
m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()));
break;
}
}
}
WaypointViewOnlyView::~WaypointViewOnlyView()
{
delete m_ui;
}
#ifndef WAYPOINTVIEWONLYVIEW_H
#define WAYPOINTVIEWONLYVIEW_H
#include <QtGui/QWidget>
#include "Waypoint.h"
#include <iostream>
namespace Ui {
class WaypointViewOnlyView;
}
class WaypointViewOnlyView : public QWidget
{
Q_OBJECT
public:
explicit WaypointViewOnlyView(Waypoint* wp, QWidget *parent = 0);
~WaypointViewOnlyView();
public slots:
void changedCurrent(int state);
void changedAutoContinue(int state);
void updateValues(void);
void setCurrent(bool state);
signals:
void changeCurrentWaypoint(quint16);
void changeAutoContinue(quint16, bool);
protected:
Waypoint* wp;
private:
Ui::WaypointViewOnlyView *m_ui;
};
#endif // WAYPOINTVIEWONLYVIEW_H
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>WaypointViewOnlyView</class>
<widget class="QWidget" name="WaypointViewOnlyView">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>381</width>
<height>40</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>2</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>2</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="title">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,100,1">
<property name="spacing">
<number>6</number>
</property>
<property name="leftMargin">
<number>2</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>2</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QCheckBox" name="current">
<property name="toolTip">
<string>Currently executed waypoint</string>
</property>
<property name="statusTip">
<string>Currently executed waypoint</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="idLabel">
<property name="text">
<string>ID</string>
</property>
</widget>
</item>
<item>
<widget class="QTextBrowser" name="displayBar">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>31</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="autoContinue">
<property name="toolTip">
<string>Automatically continue after this waypoint</string>
</property>
<property name="statusTip">
<string>Automatically continue after this waypoint</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
......@@ -164,7 +164,7 @@ void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
wp->setLongitude(pos.Lng());
wp->setAltitude(0);
// wp->blockSignals(false);
// currWPManager->notifyOfChange(wp);
// currWPManager->notifyOfChangeEditable(wp);
}
}
OPMapWidget::mouseDoubleClickEvent(event);
......@@ -190,10 +190,10 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
if (currWPManager)
{
// Disconnect the waypoint manager / data storage from the UI
disconnect(currWPManager, SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
disconnect(currWPManager, SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
disconnect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypoint(Waypoint*)));
disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChange(Waypoint*)));
disconnect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
disconnect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
disconnect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
}
if (uas)
......@@ -201,10 +201,10 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
currWPManager = uas->getWaypointManager();
// Connect the waypoint manager / data storage to the UI
connect(currWPManager, SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(currWPManager, SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypoint(Waypoint*)));
connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChange(Waypoint*)));
connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
updateSelectedSystem(uas->getUASID());
followUAVID = uas->getUASID();
......
......@@ -278,7 +278,7 @@ Pixhawk3DWidget::insertWaypoint(void)
if (wp) {
wp->setFrame(frame);
uas->getWaypointManager()->addWaypoint(wp);
uas->getWaypointManager()->addWaypointEditable(wp);
}
}
}
......@@ -294,7 +294,7 @@ Pixhawk3DWidget::setWaypoint(void)
{
if (uas) {
const QVector<Waypoint *> waypoints =
uas->getWaypointManager()->getWaypointList();
uas->getWaypointManager()->getWaypointEditableList();
Waypoint* waypoint = waypoints.at(selectedWpIndex);
if (frame == MAV_FRAME_GLOBAL) {
......@@ -341,7 +341,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
if (uas) {
bool ok;
const QVector<Waypoint *> waypoints =
uas->getWaypointManager()->getWaypointList();
uas->getWaypointManager()->getWaypointEditableList();
Waypoint* waypoint = waypoints.at(selectedWpIndex);
double altitude = waypoint->getZ();
......@@ -367,7 +367,7 @@ Pixhawk3DWidget::clearAllWaypoints(void)
{
if (uas) {
const QVector<Waypoint *> waypoints =
uas->getWaypointManager()->getWaypointList();
uas->getWaypointManager()->getWaypointEditableList();
for (int i = waypoints.size() - 1; i >= 0; --i) {
uas->getWaypointManager()->removeWaypoint(i);
}
......
......@@ -209,9 +209,9 @@ void QGCGoogleEarthView::addUAS(UASInterface* uas)
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
// Receive waypoint updates
// Connect the waypoint manager / data storage to the UI
connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
//connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
//connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypointEditable(Waypoint*)));
// TODO Update waypoint list on UI changes here
}
......@@ -722,7 +722,7 @@ void QGCGoogleEarthView::updateState()
wp->setLatitude(latitude);
wp->setLongitude(longitude);
wp->setAltitude(altitude);
mav->getWaypointManager()->notifyOfChange(wp);
mav->getWaypointManager()->notifyOfChangeEditable(wp);
}
}
}
......
......@@ -73,7 +73,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
removeChild(0, getNumChildren());
}
const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointList();
const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointEditableList();
for (int i = 0; i < list.size(); i++) {
Waypoint* wp = list.at(i);
......
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