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qgroundcontrol
Commit d4b3d801 authored by pixhawk's avatar pixhawk
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Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

parents ea7dbf52 576b8cc2
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Showing with 290 additions and 132 deletions
src/comm/MAVLinkProtocol.cc
View file @ d4b3d801
......@@ -49,6 +49,7 @@ This file is part of the PIXHAWK project
#include "configuration.h"
#include "LinkManager.h"
#include <mavlink.h>
#include "QGC.h"
/**
* The default constructor will create a new MAVLink object sending heartbeats at
......@@ -129,7 +130,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
if (m_loggingEnabled)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
mavlink_msg_to_send_buffer(buf, &message);
quint64 time = MG::TIME::getGroundTimeNowUsecs();
memcpy(buf, (void*)&time, sizeof(quint64));
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
m_logfile->write((const char*) buf);
qDebug() << "WROTE LOGFILE";
}
......
src/uas/UAS.cc
View file @ d4b3d801
......@@ -406,11 +406,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
mavlink_position_controller_output_t out;
mavlink_msg_position_controller_output_decode(&message, &out);
quint64 time = MG::TIME::getGroundTimeNowUsecs();
quint64 time = MG::TIME::getGroundTimeNow();
//emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
emit valueChanged(uasId, "pos control x", out.x, time/1000.0f);
emit valueChanged(uasId, "pos control y", out.y, time/1000.0f);
emit valueChanged(uasId, "pos control z", out.z, time/1000.0f);
emit valueChanged(uasId, "pos control x", out.x, time);
emit valueChanged(uasId, "pos control y", out.y, time);
emit valueChanged(uasId, "pos control z", out.z, time);
}
break;
case MAVLINK_MSG_ID_WAYPOINT_COUNT:
......@@ -428,7 +428,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
mavlink_waypoint_t wp;
mavlink_msg_waypoint_decode(&message, &wp);
qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
//qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId())
{
waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
......@@ -449,11 +449,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_WAYPOINT_REACHED:
{
// mavlink_waypoint_reached_t wp;
// mavlink_msg_waypoint_reached_decode(&message, &wp);
// emit waypointReached(this, wp.id);
mavlink_waypoint_reached_t wpr;
mavlink_msg_waypoint_reached_decode(&message, &wpr);
waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
}
break;
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
{
mavlink_waypoint_set_current_t wpsc;
mavlink_msg_waypoint_set_current_decode(&message, &wpsc);
waypointManager.handleWaypointSetCurrent(message.sysid, message.compid, &wpsc);
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
{
mavlink_local_position_setpoint_t p;
......@@ -461,6 +470,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
}
break;
case MAVLINK_MSG_ID_STATUSTEXT:
{
QByteArray b;
......
src/uas/UASWaypointManager.cc
View file @ d4b3d801
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of the waypoint protocol handler
*
* @author Petri Tanskanen <mavteam@student.ethz.ch>
*
*/
#include "UASWaypointManager.h"
#include "UAS.h"
#define PROTOCOL_TIMEOUT_MS 2000
UASWaypointManager::UASWaypointManager(UAS &_uas)
: uas(_uas),
current_wp_id(0),
current_count(0),
current_state(WP_IDLE),
current_partner_systemid(0),
current_partner_compid(0)
current_partner_compid(0),
protocol_timer(this)
{
connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
}
void UASWaypointManager::timeout()
{
protocol_timer.stop();
qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
emit updateStatusString("Operation timed out.");
current_state = WP_IDLE;
current_count = 0;
current_wp_id = 0;
current_partner_systemid = 0;
current_partner_compid = 0;
}
void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid)
{
qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
......@@ -35,10 +87,10 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id)
{
qDebug() << "got waypoint (" << wp->seq << ") from ID " << systemId << " x=" << wp->x << " y=" << wp->y << " z=" << wp->z;
if(wp->seq == current_wp_id)
{
//update the UI FIXME
......@@ -60,6 +112,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
current_partner_systemid = 0;
current_partner_compid = 0;
protocol_timer.stop();
emit updateStatusString("done.");
qDebug() << "got all waypoints from ID " << systemId;
......@@ -74,6 +127,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)) || (current_state == WP_IDLE && wpr->seq == current_count-1)))
{
qDebug() << "handleWaypointRequest";
......@@ -89,6 +144,7 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
//all waypoints sent, but we still have to wait for a possible rerequest of the last waypoint
current_state = WP_IDLE;
protocol_timer.stop();
emit updateStatusString("done.");
qDebug() << "send all waypoints to ID " << systemId;
......@@ -101,17 +157,24 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
}
}
void UASWaypointManager::clearWaypointList()
void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr)
{
if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
{
emit updateStatusString(QString("Reached waypoint %1").arg(wpr->seq));
}
}
void UASWaypointManager::currentWaypointChanged(quint16)
void UASWaypointManager::handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr)
{
if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
{
qDebug() << "new current waypoint" << wpr->seq;
emit currentWaypointChanged(wpr->seq);
}
}
void UASWaypointManager::removeWaypointId(quint16)
void UASWaypointManager::clearWaypointList()
{
}
......@@ -120,6 +183,8 @@ void UASWaypointManager::requestWaypoints()
{
if(current_state == WP_IDLE)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
mavlink_message_t message;
mavlink_waypoint_request_list_t wprl;
......@@ -147,6 +212,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
{
if (list.count() > 0)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_count = list.count();
current_state = WP_SENDLIST;
current_wp_id = 0;
......@@ -242,8 +309,3 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
}
}
void UASWaypointManager::waypointChanged(Waypoint*)
{
}
src/uas/UASWaypointManager.h
View file @ d4b3d801
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of the waypoint protocol handler
*
* @author Petri Tanskanen <mavteam@student.ethz.ch>
*
*/
#ifndef UASWAYPOINTMANAGER_H
#define UASWAYPOINTMANAGER_H
#include <QObject>
#include <QVector>
#include <QTimer>
#include "Waypoint.h"
#include <mavlink.h>
class UAS;
......@@ -25,22 +57,23 @@ public:
void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);
void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp);
void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr);
void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);
void handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr);
private:
void sendWaypointRequest(quint16 seq);
void sendWaypoint(quint16 seq);
public slots:
void timeout();
void clearWaypointList();
void currentWaypointChanged(quint16);
void removeWaypointId(quint16);
void requestWaypoints();
void sendWaypoints(const QVector<Waypoint *> &list);
void waypointChanged(Waypoint*);
signals:
void waypointUpdated(int,quint16,double,double,double,double,bool,bool); ///< Adds a waypoint to the waypoint list widget
void updateStatusString(const QString &); ///< updates the current status string
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
private:
UAS &uas; ///< Reference to the corresponding UAS
......@@ -51,6 +84,7 @@ private:
quint8 current_partner_compid; ///< The current protocol communication target component
QVector<mavlink_waypoint_t *> waypoint_buffer; ///< communication buffer for waypoints
QTimer protocol_timer; ///< Timer to catch timeouts
};
#endif // UASWAYPOINTMANAGER_H
src/ui/HSIDisplay.cc
View file @ d4b3d801
......@@ -210,7 +210,7 @@ void HSIDisplay::paintDisplay()
// Transform from body to world coordinates
m = metricWorldToBody(m);
// Scale from metric body to screen reference units
QPointF s = metricBodyToRefX(m);
QPointF s = metricBodyToRef(m);
drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, QGC::ColorCyan, &painter);
}
......@@ -297,11 +297,19 @@ QPointF HSIDisplay::refToMetricBody(QPointF &ref)
/**
* @see refToScreenX()
*/
QPointF HSIDisplay::metricBodyToRefX(QPointF &metric)
QPointF HSIDisplay::metricBodyToRef(QPointF &metric)
{
return QPointF(((metric.y())/ metricWidth) * vwidth + xCenterPos, ((-metric.x()) / metricWidth) * vwidth + yCenterPos);
}
QPointF HSIDisplay::metricBodyToScreen(QPointF metric)
{
QPointF ref = metricBodyToRef(metric);
ref.setX(refToScreenX(ref.x()));
ref.setY(refToScreenY(ref.y()));
return ref;
}
void HSIDisplay::mouseDoubleClickEvent(QMouseEvent * event)
{
static bool dragStarted;
......@@ -512,7 +520,7 @@ void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color
// Transform from body to world coordinates
in = metricWorldToBody(in);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRefX(in);
QPointF p = metricBodyToRef(in);
drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
radius *= 0.8;
drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
......@@ -526,7 +534,7 @@ void HSIDisplay::drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRig
pen.setWidthF(refLineWidthToPen(0.1f));
pen.setColor(color);
painter.setPen(pen);
painter.drawRect(QRectF(topLeft, bottomRight));
painter.drawRect(QRectF(metricBodyToScreen(metricWorldToBody(topLeft)), metricBodyToScreen(metricWorldToBody(bottomRight))));
}
void HSIDisplay::drawGPS(QPainter &painter)
......
src/ui/HSIDisplay.h
View file @ d4b3d801
......@@ -98,7 +98,9 @@ protected:
/** @brief Reference coordinates to metric coordinates */
QPointF refToMetricBody(QPointF &ref);
/** @brief Metric coordinates to reference coordinates */
QPointF metricBodyToRefX(QPointF &metric);
QPointF metricBodyToRef(QPointF &metric);
/** @brief Metric body coordinates to screen coordinates */
QPointF metricBodyToScreen(QPointF metric);
/**
* @brief Private data container class to be used within the HSI widget
......
src/ui/MainWindow.cc
View file @ d4b3d801
......@@ -501,6 +501,12 @@ void MainWindow::loadEngineerView()
container7->setWidget(debugConsole);
addDockWidget(Qt::BottomDockWidgetArea, container7);
// ONBOARD PARAMETERS
QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
containerParams->setWidget(parameters);
addDockWidget(Qt::RightDockWidgetArea, containerParams);
this->show();
}
......
src/ui/WaypointList.cc
View file @ d4b3d801
......@@ -45,8 +45,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
{
m_ui->setupUi(this);
transmitDelay = new QTimer(this);
listLayout = new QVBoxLayout(m_ui->listWidget);
listLayout->setSpacing(6);
listLayout->setMargin(0);
......@@ -73,7 +71,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
connect(m_ui->loadButton, SIGNAL(clicked()), this, SLOT(loadWaypoints()));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
connect(transmitDelay, SIGNAL(timeout()), this, SLOT(reenableTransmit()));
// STATUS LABEL
updateStatusLabel("");
......@@ -97,14 +94,14 @@ void WaypointList::setUAS(UASInterface* uas)
if (this->uas == NULL && uas != NULL)
{
this->uas = uas;
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
//connect(this, SIGNAL(waypointChanged(Waypoint*)), &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
//connect(this, SIGNAL(currentWaypointChanged(int)), &uas->getWaypointManager(), SLOT(setWaypointActive(quint16)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)), &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
connect(this, SIGNAL(requestWaypoints()), &uas->getWaypointManager(), SLOT(requestWaypoints()));
connect(this, SIGNAL(clearWaypointList()), &uas->getWaypointManager(), SLOT(clearWaypointList()));
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
}
}
......@@ -112,7 +109,6 @@ void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double
{
if (uasId == this->uas->getUASID())
{
transmitDelay->start(1000);
Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
addWaypoint(wp);
}
......@@ -123,34 +119,30 @@ void WaypointList::waypointReached(UASInterface* uas, quint16 waypointId)
Q_UNUSED(uas);
qDebug() << "Waypoint reached: " << waypointId;
/*if (waypoints.size() > waypointId)
updateStatusLabel(QString("Waypoint %1 reached.").arg(waypointId));
}
void WaypointList::currentWaypointChanged(quint16 seq)
{
if (seq < waypoints.size())
{
if (waypoints[waypointId]->autocontinue == true)
for(int i = 0; i < waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[i]).value();
for(int i = 0; i < waypoints.size(); i++)
if (waypoints[i]->getId() == seq)
{
if (i == waypointId+1)
{
waypoints[i]->current = true;
WaypointView* widget = wpViews.find(waypoints[i]).value();
widget->setCurrent();
}
else
{
if (waypoints[i]->current)
{
waypoints[i]->current = false;
WaypointView* widget = wpViews.find(waypoints[i]).value();
widget->removeCurrentCheck();
}
}
waypoints[i]->setCurrent(true);
widget->setCurrent(true);
}
else
{
waypoints[i]->setCurrent(false);
widget->setCurrent(false);
}
redrawList();
qDebug() << "NEW WAYPOINT SET";
}
}*/
redrawList();
}
}
void WaypointList::read()
......@@ -159,17 +151,14 @@ void WaypointList::read()
{
removeWaypoint(waypoints[0]);
}
redrawList();
emit requestWaypoints();
}
void WaypointList::transmit()
{
transmitDelay->start(1000);
m_ui->transmitButton->setEnabled(false);
emit sendWaypoints(waypoints);
//emit requestWaypoints(); FIXME
}
void WaypointList::add()
......@@ -179,17 +168,18 @@ void WaypointList::add()
{
if (waypoints.size() > 0)
{
addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.1, -0.5, 0.0, false, false));
addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, false, false));
}
else
{
addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.5, 360.0, false, true));
addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, false, true));
}
}
}
void WaypointList::addWaypoint(Waypoint* wp)
{
waypoints.push_back(wp);
if (!wpViews.contains(wp))
{
WaypointView* wpview = new WaypointView(wp, this);
......@@ -198,8 +188,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
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(setCurrentWaypoint(Waypoint*)), this, SLOT(setCurrentWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
}
}
......@@ -291,28 +280,6 @@ void WaypointList::removeWaypoint(Waypoint* wp)
}
}
void WaypointList::setCurrentWaypoint(Waypoint* wp)
{
for(int i = 0; i < waypoints.size(); i++)
{
if (waypoints[i] == wp)
{
waypoints[i]->setCurrent(true);
// Retransmit waypoint
//uas->getWaypointManager().setWaypointActive(i);
}
else
{
if (waypoints[i]->getCurrent())
{
waypoints[i]->setCurrent(false);
WaypointView* widget = wpViews.find(waypoints[i]).value();
widget->removeCurrentCheck();
}
}
}
}
void WaypointList::changeEvent(QEvent *e)
{
switch (e->type()) {
......@@ -324,11 +291,6 @@ void WaypointList::changeEvent(QEvent *e)
}
}
void WaypointList::reenableTransmit()
{
m_ui->transmitButton->setEnabled(true);
}
void WaypointList::saveWaypoints()
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
......
src/ui/WaypointList.h
View file @ d4b3d801
......@@ -56,7 +56,6 @@ class WaypointList : public QWidget {
public slots:
void setUAS(UASInterface* uas);
void redrawList();
void reenableTransmit();
//UI Buttons
void saveWaypoints();
......@@ -66,36 +65,33 @@ public slots:
void add();
void moveUp(Waypoint* wp);
void moveDown(Waypoint* wp);
void setCurrentWaypoint(Waypoint* wp);
/** @brief sets statusLabel string */
void updateStatusLabel(const QString &string);
void currentWaypointChanged(quint16 seq);
//To be moved to UASWaypointManager (?)
void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
void addWaypoint(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
void waypointReached(UASInterface* uas, quint16 waypointId);
signals:
void sendWaypoints(const QVector<Waypoint*> &);
void requestWaypoints();
void clearWaypointList();
protected:
virtual void changeEvent(QEvent *e);
QVector<Waypoint*> waypoints;
QMap<Waypoint*, WaypointView*> wpViews;
QVBoxLayout* listLayout;
QTimer* transmitDelay;
UASInterface* uas;
private:
Ui::WaypointList *m_ui;
signals:
//void waypointChanged(Waypoint*);
//void currentWaypointChanged(int);
//void removeWaypointId(int);
void sendWaypoints(const QVector<Waypoint*> &);
void requestWaypoints();
void clearWaypointList();
};
#endif // WAYPOINTLIST_H
src/ui/WaypointView.cc
View file @ d4b3d801
......@@ -34,6 +34,8 @@ This file is part of the PIXHAWK project
#include <QDoubleSpinBox>
#include <QDebug>
#include <cmath> //M_PI
#include "WaypointView.h"
#include "ui_WaypointView.h"
......@@ -49,7 +51,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->xSpinBox->setValue(wp->getX());
m_ui->ySpinBox->setValue(wp->getY());
m_ui->zSpinBox->setValue(wp->getZ());
m_ui->yawSpinBox->setValue(wp->getYaw());
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
m_ui->selectedBox->setChecked(wp->getCurrent());
m_ui->autoContinue->setChecked(wp->getAutoContinue());
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
......@@ -57,14 +59,22 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
connect(m_ui->yawSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setYaw(double)));
//hidden degree to radian conversion of the yaw angle
connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
connect(this, SIGNAL(setYaw(double)), wp, SLOT(setYaw(double)));
connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
connect(m_ui->downButton, SIGNAL(clicked()), this, SLOT(moveDown()));
connect(m_ui->removeButton, SIGNAL(clicked()), this, SLOT(remove()));
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(setAutoContinue(int)));
connect(m_ui->selectedBox, SIGNAL(clicked()), this, SLOT(setCurrent()));
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
}
void WaypointView::setYaw(int yawDegree)
{
emit setYaw((double)yawDegree*M_PI/180.);
}
void WaypointView::moveUp()
......@@ -83,26 +93,37 @@ void WaypointView::remove()
delete this;
}
void WaypointView::setAutoContinue(int state)
void WaypointView::changedAutoContinue(int state)
{
if (state == 0)
wp->setAutocontinue(false);
else
wp->setAutocontinue(true);
emit waypointUpdated(wp);
}
void WaypointView::removeCurrentCheck()
void WaypointView::changedCurrent(int state)
{
m_ui->selectedBox->setCheckState(Qt::Unchecked);
if (state == 0)
{
wp->setCurrent(false);
}
else
{
wp->setCurrent(true);
emit currentWaypointChanged(wp->getId()); //the slot currentWayppointChanged() in WaypointList sets all other current flags to false
}
}
void WaypointView::setCurrent()
void WaypointView::setCurrent(bool state)
{
if (m_ui->selectedBox->isChecked())
emit setCurrentWaypoint(wp);
else
if (state)
{
m_ui->selectedBox->setCheckState(Qt::Checked);
}
else
{
m_ui->selectedBox->setCheckState(Qt::Unchecked);
}
}
WaypointView::~WaypointView()
......
src/ui/WaypointView.h
View file @ d4b3d801
......@@ -49,15 +49,16 @@ class WaypointView : public QWidget {
virtual ~WaypointView();
public:
void removeCurrentCheck();
void setCurrent(bool state);
public slots:
void moveUp();
void moveDown();
void remove();
void setAutoContinue(int);
void setCurrent();
//void setText();
void changedAutoContinue(int);
void changedCurrent(int);
void setYaw(int); //hidden degree to radian conversion
protected:
virtual void changeEvent(QEvent *e);
......@@ -70,9 +71,8 @@ signals:
void moveUpWaypoint(Waypoint*);
void moveDownWaypoint(Waypoint*);
void removeWaypoint(Waypoint*);
void setCurrentWaypoint(Waypoint*);
void setWaypointText(Waypoint*, QString);
void waypointUpdated(Waypoint*);
void currentWaypointChanged(quint16);
void setYaw(double);
};
#endif // WAYPOINTVIEW_H
src/ui/WaypointView.ui
View file @ d4b3d801
......@@ -180,9 +180,21 @@ QProgressBar::chunk#thrustBar {
</item>
<item>
<widget class="QLabel" name="idLabel">
<property name="minimumSize">
<size>
<width>15</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Waypoint Sequence Number</string>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
......@@ -200,22 +212,40 @@ QProgressBar::chunk#thrustBar {
</item>
<item>
<widget class="QDoubleSpinBox" name="xSpinBox">
<property name="toolTip">
<string>Position X coordinate</string>
</property>
<property name="suffix">
<string>m</string>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="ySpinBox">
<property name="toolTip">
<string>Position Y coordinate</string>
</property>
<property name="suffix">
<string>m</string>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
......@@ -223,21 +253,36 @@ QProgressBar::chunk#thrustBar {
</item>
<item>
<widget class="QDoubleSpinBox" name="zSpinBox">
<property name="toolTip">
<string>Position Z coordinate</string>
</property>
<property name="suffix">
<string>m</string>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="yawSpinBox">
<property name="minimum">
<double>0.000000000000000</double>
<widget class="QSpinBox" name="yawSpinBox">
<property name="toolTip">
<string>Yaw angle</string>
</property>
<property name="wrapping">
<bool>true</bool>
</property>
<property name="suffix">
<string>°</string>
</property>
<property name="maximum">
<double>360.000000000000000</double>
<number>359</number>
</property>
</widget>
</item>
......@@ -259,6 +304,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="toolTip">
<string>Move Up</string>
</property>
<property name="text">
<string/>
</property>
......@@ -276,6 +324,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="toolTip">
<string>Move Down</string>
</property>
<property name="text">
<string/>
</property>
......@@ -293,6 +344,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="toolTip">
<string>Delete</string>
</property>
<property name="text">
<string/>
</property>
......
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