Added initial waypoint support

images/earth.html

@@ -53,6 +53,8 @@ var trails = [];
 var trailPlacemarks = [];
 var trailsVisible = [];
 var trailColors = [];
+var waypoints = [];
+//var waypointLines = [];
 //var trailPlacemarks[id];
 var lineStyle;
 
@@ -116,6 +118,60 @@ function setGCSHome(lat, lon, alt)
 	    }
 }
 
+function updateWaypointListLength(id, len)
+{
+	// Delete any non-needed waypoints
+	if (waypoints.length > len)
+	{
+		for (var i=len; i<waypoints.length; i++)
+		{
+			var placemark = waypoints.pop();
+		    ge.getFeatures().removeChild(placemark);
+		}
+	}
+}
+
+function updateWaypoint(id, index, lat, lon, alt, action)
+{
+	// Check if waypoint exists
+	if (waypoints.length > index)
+	{
+		// Waypoint exists
+		// Set the placemark's location.   
+	    var location = ge.createPoint(''); 
+	    location.setLatitude(lat); 
+	    location.setLongitude(lon);
+	    location.setAltitude(alt); 
+	    waypoints[index].setGeometry(location); 
+	}
+	else
+	{
+		// Waypoint does not exist yet
+		var placemark = ge.createPlacemark(''); 
+	    var icon = ge.createIcon('');
+	    var numberstring = index;
+	    if (index < 10) numberstring = '0' + numberstring
+	    icon.setHref('http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png'); 
+	    var style = ge.createStyle(''); 
+	    style.getIconStyle().setIcon(icon); 
+	    //style.getIconStyle().setScale(0.5); 
+	    placemark.setStyleSelector(style);  
+
+	    // Set the placemark's location.   
+	    var location = ge.createPoint(''); 
+	    location.setLatitude(lat); 
+	    location.setLongitude(lon);
+	    location.setAltitude(alt); 
+	    placemark.setGeometry(location);  
+
+	    // Add the placemark to Earth. 
+	    ge.getFeatures().appendChild(placemark); 
+		waypoints[index] = placemark;
+	}
+	// Add connecting line
+	
+}
+
 function createAircraft(id, type, color)
 {
 	      planePlacemark = ge.createPlacemark('');

src/ui/map3D/QGCGoogleEarthView.cc

@@ -23,6 +23,7 @@
 #include "QGC.h"
 #include "ui_QGCGoogleEarthView.h"
 #include "QGCGoogleEarthView.h"
+#include "UASWaypointManager.h"
 
 #define QGCGOOGLEEARTHVIEWSETTINGS QString("GoogleEarthViewSettings_")
 
@@ -82,6 +83,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
 #endif
 
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
+    connect(ui->resetButton, SIGNAL(clicked()), this, SLOT(reloadHTML()));
 }
 
 QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -107,6 +109,15 @@ void QGCGoogleEarthView::setViewRangeScaledInt(int range)
     setViewRange(range/100.0f);
 }
 
+void QGCGoogleEarthView::reloadHTML()
+{
+    hide();
+    webViewInitialized = false;
+    jScriptInitialized = false;
+    gEarthInitialized = false;
+    show();
+}
+
 /**
  * @param range in meters (SI-units)
  */
@@ -129,9 +140,14 @@ void QGCGoogleEarthView::addUAS(UASInterface* uas)
 
     if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID()));
 
-    //javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg("0"));
     // Automatically receive further position updates
     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*)));
+    // TODO Update waypoint list on UI changes here
 }
 
 void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
@@ -143,6 +159,70 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
     }
 }
 
+/**
+ * This function is called if a a single waypoint is updated and
+ * also if the whole list changes.
+ */
+void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp)
+{
+    // Only accept waypoints in global coordinate frame
+    if (wp->getFrame() == MAV_FRAME_GLOBAL)
+    {
+        // We're good, this is a global waypoint
+
+        // Get the index of this waypoint
+        // note the call to getGlobalFrameIndexOf()
+        // as we're only handling global waypoints
+        int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameIndexOf(wp);
+        // If not found, return (this should never happen, but helps safety)
+        if (wpindex == -1)
+        {
+            return;
+        }
+        else
+        {
+            javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getY()).arg(wp->getX()).arg(wp->getZ()).arg(wp->getAction()));
+        }
+
+    }
+    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 (waypointPath->points().count() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameCount())
+        //            {
+        //                updateWaypointList(uas);
+        //            }
+    }
+}
+
+/**
+ * Update the whole list of waypoints. This is e.g. necessary if the list order changed.
+ * The UAS manager will emit the appropriate signal whenever updating the list
+ * is necessary.
+ */
+void QGCGoogleEarthView::updateWaypointList(int uas)
+{
+    // Get already existing waypoints
+    UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
+    if (uasInstance)
+    {
+        // Get all waypoints, including non-global waypoints
+        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameWaypointList();
+
+        // Trim internal list to number of global waypoints in the waypoint manager list
+        javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()));
+
+        // Load all existing waypoints into map view
+        foreach (Waypoint* wp, wpList)
+        {
+            updateWaypoint(uas, wp);
+        }
+    }
+}
+
 void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
 {
     Q_UNUSED(usec);

src/ui/map3D/QGCGoogleEarthView.h

@@ -58,13 +58,11 @@ protected:
 #endif
 
 namespace Ui {
-#ifdef _MSC_VER
-    class QGCGoogleEarthView;
-#else
     class QGCGoogleEarthView;
-#endif
 }
 
+class Waypoint;
+
 class QGCGoogleEarthView : public QWidget
 {
     Q_OBJECT
@@ -82,6 +80,10 @@ public slots:
     void setActiveUAS(UASInterface* uas);
     /** @brief Update the global position */
     void updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec);
+    /** @brief Update a single waypoint */
+    void updateWaypoint(int uas, Waypoint* wp);
+    /** @brief Update the waypoint list */
+    void updateWaypointList(int uas);
     /** @brief Show the vehicle trail */
     void showTrail(bool state);
     /** @brief Show the waypoints */
@@ -96,6 +98,8 @@ public slots:
     void setViewRange(float range);
     /** @brief Set camera view range to aircraft in centimeters */
     void setViewRangeScaledInt(int range);
+    /** @brief Reset Google Earth View */
+    void reloadHTML();
 
     /** @brief Initialize Google Earth */
     void initializeGoogleEarth();

src/ui/map3D/QGCGoogleEarthView.ui

@@ -23,7 +23,7 @@
    <property name="margin">
     <number>2</number>
    </property>
-   <item row="0" column="0" colspan="12">
+   <item row="0" column="0" colspan="13">
     <layout class="QVBoxLayout" name="webViewLayout"/>
    </item>
    <item row="1" column="1">
@@ -58,7 +58,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="11">
+   <item row="1" column="12">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -180,6 +180,13 @@
      </property>
     </widget>
    </item>
+   <item row="1" column="11">
+    <widget class="QPushButton" name="resetButton">
+     <property name="text">
+      <string>Reset</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>