Skip to content

Q
qgroundcontrol
Commit aa5d5043 authored by pixhawk's avatar pixhawk
Browse files
Options

Some more bugfixes and improvements for the Mission Plan widget. The... 

Some more bugfixes and improvements for the Mission Plan widget. The "current"-checkbox in "Onboard"-waypoints can no longer be changed by clicking directly, but it is handled internally by QGC. Now there should be one and only one checked checkbox, which shows the last KNOWN "current" waypoint on MAV. The white border around an unchecked checkbox means, that the user is requesting the change of current waypoint, but QGC has not received MISSION_CURRENT message as a confirmation yet. Also,if there is no response from UAV after pushing "Read" or "Refresh", the "Onboard" list will be deleted to indicate, that there is no information available.
parent 0edb8c39
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 586 additions and 54 deletions
src/Waypoint.cc
View file @ aa5d5043
......@@ -55,8 +55,7 @@ Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1,
}
Waypoint::~Waypoint()
{
{
}
bool Waypoint::isNavigationType()
......
src/Waypoint.h
View file @ aa5d5043
......@@ -188,7 +188,7 @@ public slots:
signals:
/** @brief Announces a change to the waypoint data */
void changed(Waypoint* wp);
void changed(Waypoint* wp);
};
#endif // WAYPOINT_H
src/uas/UASWaypointManager.cc
View file @ aa5d5043
......@@ -133,11 +133,20 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
// // qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
//Clear the old edit-list before receiving the new one
if (read_to_edit == true){
while(waypointsEditable.size()>0) {
Waypoint *t = waypointsEditable[0];
waypointsEditable.remove(0);
delete t;
}
emit waypointEditableListChanged();
}
if (count > 0) {
current_count = count;
current_wp_id = 0;
current_state = WP_GETLIST_GETWPS;
sendWaypointRequest(current_wp_id);
} else {
protocol_timer.stop();
......@@ -149,6 +158,8 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
current_partner_systemid = 0;
current_partner_compid = 0;
}
} else {
qDebug("Rejecting message, check mismatch: current_state: %d == %d, system id %d == %d, comp id %d == %d", current_state, WP_GETLIST, current_partner_systemid, systemId, current_partner_compid, compId);
}
......@@ -766,20 +777,25 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
emit readGlobalWPFromUAS(true);
if(current_state == WP_IDLE) {
//Clear the old view-list before receiving the new one
while(waypointsViewOnly.size()>0) {
delete waypointsViewOnly.back();
waypointsViewOnly.pop_back();
Waypoint *t = waypointsViewOnly[0];
waypointsViewOnly.remove(0);
delete t;
}
emit waypointViewOnlyListChanged();
/* THIS PART WAS MOVED TO handleWaypointCount. THE EDIT-LIST SHOULD NOT BE CLEARED UNLESS THERE IS A RESPONSE FROM UAV.
//Clear the old edit-list before receiving the new one
if (read_to_edit == true){
while(waypointsEditable.size()>0) {
delete waypointsEditable.back();
waypointsEditable.pop_back();
Waypoint *t = waypointsEditable[0];
waypointsEditable.remove(0);
delete t;
}
emit waypointEditableListChanged();
}
*/
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
......
src/ui/WaypointEditableView.cc
View file @ aa5d5043
......@@ -20,10 +20,12 @@
#include "WaypointEditableView.h"
#include "ui_WaypointEditableView.h"
#include "ui_QGCCustomWaypointAction.h"
#include "ui_QGCMissionDoWidget.h"
WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
QWidget(parent),
customCommand(new Ui_QGCCustomWaypointAction),
doCommand(new Ui_QGCMissionDoWidget),
viewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV),
m_ui(new Ui::WaypointEditableView)
{
......@@ -34,6 +36,10 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
// CUSTOM COMMAND WIDGET
customCommand->setupUi(m_ui->customActionWidget);
// DO COMMAND WIDGET
//doCommand->setupUi(m_ui->customActionWidget);
// add actions
m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
m_ui->comboBox_action->addItem(tr("NAV: TakeOff"),MAV_CMD_NAV_TAKEOFF);
......@@ -142,6 +148,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 82);
m_ui->takeOffAngleSpinBox->show();
break;
......@@ -154,6 +162,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 26);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
......@@ -165,6 +175,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 26);
break;
case MAV_CMD_NAV_WAYPOINT:
......@@ -173,6 +185,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->turnsSpinBox->hide();
m_ui->holdTimeSpinBox->show();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 1);
m_ui->autoContinue->show();
......@@ -187,6 +201,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 25);
m_ui->orbitSpinBox->show();
break;
......@@ -197,6 +213,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 20);
m_ui->orbitSpinBox->show();
m_ui->turnsSpinBox->show();
......@@ -208,6 +226,8 @@ void WaypointEditableView::updateActionView(int action)
m_ui->autoContinue->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
m_ui->horizontalLayout->insertStretch(17, 20);
m_ui->orbitSpinBox->show();
m_ui->holdTimeSpinBox->show();
......@@ -218,7 +238,8 @@ void WaypointEditableView::updateActionView(int action)
// m_ui->turnsSpinBox->hide();
// m_ui->holdTimeSpinBox->show();
// m_ui->customActionWidget->hide();
// m_ui->missionDoWidgetSlot->hide();
// m_ui->missionConditionWidgetSlot->hide();
// m_ui->autoContinue->show();
// m_ui->acceptanceSpinBox->hide();
// m_ui->yawSpinBox->hide();
......@@ -259,6 +280,11 @@ void WaypointEditableView::changedAction(int index)
// Update view
updateActionView(actionIndex);
break;
case MAV_CMD_DO_JUMP:
{
changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DO);
break;
}
case MAV_CMD_ENUM_END:
default:
// Switch to mission frame
......@@ -275,9 +301,32 @@ void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode)
case QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION:
// Hide everything, show condition widget
// TODO
break;
case QGC_WAYPOINTEDITABLEVIEW_MODE_DO:
{
// Hide almost everything
m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide();
m_ui->yawSpinBox->hide();
m_ui->turnsSpinBox->hide();
m_ui->holdTimeSpinBox->hide();
m_ui->acceptanceSpinBox->hide();
m_ui->posDSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posNSpinBox->hide();
m_ui->latSpinBox->hide();
m_ui->lonSpinBox->hide();
m_ui->altSpinBox->hide();
// Show action widget
if (!m_ui->missionDoWidgetSlot->isVisible()) {
m_ui->missionDoWidgetSlot->show();
}
if (!m_ui->autoContinue->isVisible()) {
m_ui->autoContinue->show();
}
break;
}
case QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING:
// Hide almost everything
m_ui->orbitSpinBox->hide();
......@@ -324,6 +373,8 @@ void WaypointEditableView::updateFrameView(int frame)
// Coordinate frame
m_ui->comboBox_frame->show();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
}
else // do not hide customActionWidget if Command is set to "Other"
{
......@@ -342,6 +393,8 @@ void WaypointEditableView::updateFrameView(int frame)
// Coordinate frame
m_ui->comboBox_frame->show();
m_ui->customActionWidget->hide();
m_ui->missionDoWidgetSlot->hide();
m_ui->missionConditionWidgetSlot->hide();
}
else // do not hide customActionWidget if Command is set to "Other"
{
......@@ -492,7 +545,7 @@ void WaypointEditableView::updateValues()
if (m_ui->posDSpinBox->value() != wp->getZ()) {
m_ui->posDSpinBox->setValue(wp->getZ());
}
}
}
break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT: {
......
src/ui/WaypointEditableView.h
View file @ aa5d5043
......@@ -49,6 +49,7 @@ namespace Ui
class WaypointEditableView;
}
class Ui_QGCCustomWaypointAction;
class Ui_QGCMissionDoWidget;
class WaypointEditableView : public QWidget
{
Q_OBJECT
......@@ -82,7 +83,8 @@ protected:
Waypoint* wp;
// Special widgets extendending the
// waypoint view to mission capabilities
Ui_QGCCustomWaypointAction* customCommand;
Ui_QGCCustomWaypointAction* customCommand;
Ui_QGCMissionDoWidget* doCommand;
QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
private:
......
src/ui/WaypointEditableView.ui
View file @ aa5d5043
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>2208</width>
<height>39</height>
<height>37</height>
</rect>
</property>
<property name="sizePolicy">
......@@ -96,7 +96,7 @@ QPushButton:pressed {
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="5,5,5,5,50,50,50,50,50,50,5,20,20,5,10,10,10,20,5,5,5,5">
<layout class="QHBoxLayout" name="horizontalLayout" stretch="5,5,5,5,50,50,50,50,50,50,5,20,20,5,10,10,0,0,0,20,5,5,5,5">
<property name="spacing">
<number>2</number>
</property>
......@@ -121,10 +121,10 @@ QPushButton:pressed {
<enum>Qt::TabFocus</enum>
</property>
<property name="toolTip">
<string>Currently selected waypoint</string>
<string>Mission Start</string>
</property>
<property name="statusTip">
<string>Currently selected waypoint</string>
<string>Mission Start</string>
</property>
<property name="text">
<string/>
......@@ -594,7 +594,33 @@ where to accept this waypoint as reached</string>
<item>
<widget class="QWidget" name="customActionWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QWidget" name="missionDoWidgetSlot" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QWidget" name="missionConditionWidgetSlot" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
......
src/ui/WaypointViewOnlyView.cc
View file @ aa5d5043
......@@ -15,65 +15,62 @@ WaypointViewOnlyView::WaypointViewOnlyView(Waypoint* wp, QWidget *parent) :
}
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);
wp->setAutocontinue(new_value);
emit changeAutoContinue(wp->getId(),new_value);
}
void WaypointViewOnlyView::changedCurrent(int state)
//This is a slot receiving signals from QCheckBox m_ui->current. The state given here is whatever the user has clicked and not the true "current" value onboard.
{
qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
m_ui->current->blockSignals(true);
if (state == 0)
{
/*
m_ui->current->setStyleSheet("");
m_ui->current->blockSignals(true);
*/
if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
if (m_ui->current->isChecked() == false)
{
if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current. Box stays checked
{
m_ui->current->setChecked(true);
m_ui->current->setCheckState(Qt::Checked);
qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Rechecked true. stay true " << m_ui->current->isChecked();
}
else
else // Strange case, unchecking the box which was not checked to start with
{
m_ui->current->setChecked(false);
m_ui->current->setCheckState(Qt::Unchecked);
wp->setCurrent(false);
m_ui->current->setCheckState(Qt::Unchecked);
qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Unchecked false. set false " << m_ui->current->isChecked();
}
}
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);
{
hightlightDesiredCurrent(true);
m_ui->current->setCheckState(Qt::Unchecked);
qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Checked new. Sending set_current request to Manager " << m_ui->current->isChecked();
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)
//This is a slot receiving signals from UASWaypointManager. The state given here is the true representation of what the "current" waypoint on UAV is.
{
m_ui->current->blockSignals(true);
m_ui->current->setChecked(state);
m_ui->current->blockSignals(true);
if (state == true)
{
wp->setCurrent(true);
hightlightDesiredCurrent(true);
m_ui->current->setCheckState(Qt::Checked);
}
else
{
wp->setCurrent(false);
hightlightDesiredCurrent(false);
m_ui->current->setCheckState(Qt::Unchecked);
}
m_ui->current->blockSignals(false);
}
......@@ -159,12 +156,11 @@ void WaypointViewOnlyView::updateValues()
}
}
hightlightDesiredCurrent(wp->getCurrent());
if (m_ui->current->isChecked() != wp->getCurrent())
{
m_ui->current->blockSignals(true);
m_ui->current->setChecked(wp->getCurrent());
m_ui->current->setChecked(wp->getCurrent());
m_ui->current->blockSignals(false);
}
if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
......@@ -406,6 +402,30 @@ void WaypointViewOnlyView::updateValues()
}
}
void WaypointViewOnlyView::hightlightDesiredCurrent(bool hightlight_on)
{
QColor backGroundColor = QGC::colorBackground;
QString checkBoxStyle;
if (wp->getId() % 2 == 1)
{
backGroundColor = QColor("#252528").lighter(150);
}
else
{
backGroundColor = QColor("#252528").lighter(250);
}
if (hightlight_on)
{
checkBoxStyle = QString("QCheckBox {background-color: %1; color: #454545; border-color: #EEEEEE; } QCheckBox::indicator { border-color: #FFFFFF}").arg(backGroundColor.name());
}
else
{
checkBoxStyle = QString("QCheckBox {background-color: %1; color: #454545; border-color: #EEEEEE; } QCheckBox::indicator { border-color: QGC::colorBackground}").arg(backGroundColor.name());
}
m_ui->current->setStyleSheet(checkBoxStyle);
}
WaypointViewOnlyView::~WaypointViewOnlyView()
{
delete m_ui;
......
src/ui/WaypointViewOnlyView.h
View file @ aa5d5043
......@@ -31,6 +31,7 @@ protected:
Waypoint* wp;
private:
void hightlightDesiredCurrent(bool hightlight_on);
Ui::WaypointViewOnlyView *m_ui;
};
......
src/ui/WaypointViewOnlyView.ui
View file @ aa5d5043
This diff is collapsed.
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment