separation of the view of the local operator of the view of the global...

separation of the view of the local operator of the view of the global operator adding the view of global operator.
add the functionality to draw a waypoints on the map when they are generated from widget waypointlist.

lib/QMapControl/src/mapcontrol.cpp

@@ -309,6 +309,7 @@ namespace qmapcontrol
                                       click.y()-screen_middle.y()+layermanager->getMapmiddle_px().y());
         // image coordinate to world coordinate
         return layermanager->layer()->mapadapter()->displayToCoordinate(displayToImage);
+
     }
 
     void MapControl::updateRequest(QRect rect)

src/ui/MainWindow.cc

@@ -103,8 +103,11 @@ MainWindow::MainWindow(QWidget *parent) :
     // add Waypoint widget in the WaypointList widget when mouse clicked
     connect(map, SIGNAL(captureMapCoordinateClick(QPointF)), waypoints, SLOT(addWaypointMouse(QPointF)));
     // it notifies that a waypoint global goes to do create
-    connect(map, SIGNAL(createGlobalWP(bool)), waypoints, SLOT(setIsWPGlobal(bool)));
+    connect(map, SIGNAL(createGlobalWP(bool,QPointF)), waypoints, SLOT(setIsWPGlobal(bool, QPointF)));
+     // it notifies that a waypoint global goes to do create
     connect(map, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypoints, SLOT(waypointGlobalChanged(QPointF,int)) );
+     // it notifies that a waypoint global goes to do create and a map graphic too
+    connect(waypoints, SIGNAL(createWaypointAtMap(QPointF)), map, SLOT(createWaypointGraphAtMap(QPointF)));
 
 }
 
@@ -172,6 +175,7 @@ void MainWindow::arrangeCenterStack()
   centerStack->addWidget(map);
   centerStack->addWidget(hud);
   centerStack->addWidget(dataplot);
+  centerStack->addWidget(hsi);
 
   setCentralWidget(centerStack);
 }
@@ -314,7 +318,7 @@ void MainWindow::connectActions()
     connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
     connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
     connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
-
+    connect(ui.actionGlobalOperatorView, SIGNAL(triggered()), this, SLOT(loadGlobalOperatorView()));
     connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
     connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
     connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
@@ -626,8 +630,11 @@ void MainWindow::loadOperatorView()
 {
     clearView();
 
-    // MAP
-    centerStack->setCurrentWidget(map);
+
+    centerStack->setCurrentWidget(hsi);
+    hsi->start();
+
+
 
     // UAS CONTROL
     QDockWidget* container1 = new QDockWidget(tr("Control"), this);
@@ -650,10 +657,10 @@ void MainWindow::loadOperatorView()
     addDockWidget(Qt::BottomDockWidgetArea, container5);
 
     // HORIZONTAL SITUATION INDICATOR
-    QDockWidget* container7 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
-    container7->setWidget(hsi);
-    hsi->start();
-    addDockWidget(Qt::BottomDockWidgetArea, container7);
+//    QDockWidget* container7 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
+//    container7->setWidget(hsi);
+//    hsi->start();
+//    addDockWidget(Qt::BottomDockWidgetArea, container7);
 
     // OBJECT DETECTION
     QDockWidget* container6 = new QDockWidget(tr("Object Recognition"), this);
@@ -667,6 +674,50 @@ void MainWindow::loadOperatorView()
     this->show();
 }
 
+void MainWindow::loadGlobalOperatorView()
+{
+    clearView();
+
+    // MAP
+   centerStack->setCurrentWidget(map);
+
+    // UAS CONTROL
+    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
+    container1->setWidget(control);
+    addDockWidget(Qt::LeftDockWidgetArea, container1);
+
+    // UAS LIST
+    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
+    container4->setWidget(list);
+    addDockWidget(Qt::BottomDockWidgetArea, container4);
+
+    // UAS STATUS
+    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
+    container3->setWidget(info);
+    addDockWidget(Qt::LeftDockWidgetArea, container3);
+
+    // WAYPOINT LIST
+    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
+    container5->setWidget(waypoints);
+    addDockWidget(Qt::BottomDockWidgetArea, container5);
+
+    // // HEAD UP DISPLAY
+    QDockWidget* container6 = new QDockWidget(tr("Control Indicator"), this);
+    container6->setWidget(hud);
+    hud->start();
+    addDockWidget(Qt::RightDockWidgetArea, container6);
+
+//    // OBJECT DETECTION
+//    QDockWidget* container6 = new QDockWidget(tr("Object Recognition"), this);
+//    container6->setWidget(detection);
+//    addDockWidget(Qt::RightDockWidgetArea, container6);
+
+    // PROCESS CONTROL
+    QDockWidget* pControl = new QDockWidget(tr("Process Control"), this);
+    pControl->setWidget(watchdogControl);
+    addDockWidget(Qt::BottomDockWidgetArea, pControl);
+    this->show();
+}
 void MainWindow::loadSettingsView()
 {
     clearView();

src/ui/MainWindow.h

@@ -120,6 +120,8 @@ public slots:
     void loadDataView();
     /** @brief Load data view, allowing to plot flight data */
     void loadDataView(QString fileName);
+    /** @brief Load view for global operator, allowing to flight on earth */
+    void loadGlobalOperatorView();
 
     /** @brief Show the online help for users */
     void showHelp();

src/ui/MainWindow.ui

@@ -75,6 +75,7 @@
     <addaction name="actionEngineerView"/>
     <addaction name="actionPilotView"/>
     <addaction name="actionOperatorView"/>
+    <addaction name="actionGlobalOperatorView"/>
     <addaction name="actionSettingsView"/>
     <addaction name="separator"/>
     <addaction name="actionShow_MAVLink_view"/>
@@ -318,6 +319,15 @@
     <string>Credits / Developers</string>
    </property>
   </action>
+  <action name="actionGlobalOperatorView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Show Global operator view</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/MapWidget.cc

@@ -310,8 +310,9 @@ void MapWidget::createPathButtonClicked(bool checked)
         this->setCursor(Qt::PointingHandCursor);
         mc->setMouseMode(qmapcontrol::MapControl::None);
 
+
         // emit signal start to create a Waypoint global
-        emit createGlobalWP(true);
+        emit createGlobalWP(true, mc->currentCoordinate());
 
 //        // Clear the previous WP track
 //        // TODO: Move this to an actual clear track button and add a warning dialog
@@ -360,6 +361,30 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
   }
 }
 
+void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
+{
+    // Create waypoint name
+    QString str;
+
+    str = QString("%1").arg(path->numberOfPoints());
+
+    // create the WP and set everything in the LineString to display the path
+    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    mc->layer("Waypoints")->addGeometry(tempCirclePoint);
+
+    Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
+    wps.append(tempPoint);
+    path->addPoint(tempPoint);
+
+    wpIndex.insert(str,tempPoint);
+
+    // Refresh the screen
+    mc->updateRequestNew();
+
+////    // emit signal mouse was clicked
+//    emit captureMapCoordinateClick(coordinate);
+}
+
 void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
   Q_UNUSED(geom);
   Q_UNUSED(point);

src/ui/MapWidget.h

@@ -105,6 +105,7 @@ protected:
 
   protected slots:
     void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
+    void createWaypointGraphAtMap (const QPointF coordinate);
     void createPathButtonClicked(bool checked);
     void captureGeometryClick(Geometry*, QPoint);
     void mapproviderSelected(QAction* action);
@@ -116,7 +117,7 @@ protected:
   signals:
     //void movePoint(QPointF newCoord);
     void captureMapCoordinateClick(const QPointF coordinate); //ROCA
-    void createGlobalWP(bool value);
+    void createGlobalWP(bool value, QPointF centerCoordinate);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
 

src/ui/WaypointList.cc

@@ -39,6 +39,7 @@ This file is part of the PIXHAWK project
 #include <QFileDialog>
 #include "WaypointGlobalView.h"
 #include <QMessageBox>
+#include <QMouseEvent>
 
 WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
         QWidget(parent),
@@ -90,6 +91,9 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     this->setVisible(false);
     isGlobalWP = false;
     isLocalWP = false;
+    centerMapCoordinate.setX(0.0);
+    centerMapCoordinate.setY(0.0);
+
 }
 
 WaypointList::~WaypointList()
@@ -168,24 +172,44 @@ void WaypointList::add()
 {
     if (uas)
     {
-
+        if(isGlobalWP)
+        {
             const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
             if (waypoints.size() > 0)
             {
                 Waypoint *last = waypoints.at(waypoints.size()-1);
-                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
                 uas->getWaypointManager().localAddWaypoint(wp);
             }
             else
             {
-                Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
                 uas->getWaypointManager().localAddWaypoint(wp);
             }
 
-            isLocalWP = true;
+             emit createWaypointAtMap(centerMapCoordinate);
+        }
+        else
+        {
+
+            const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            if (waypoints.size() > 0)
+            {
+                Waypoint *last = waypoints.at(waypoints.size()-1);
+                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+            else
+            {
 
 
+                    isLocalWP = true;
+                    Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                    uas->getWaypointManager().localAddWaypoint(wp);
 
+
+            }
+        }
     }
 }
 
@@ -498,13 +522,16 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
             Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
             uas->getWaypointManager().localAddWaypoint(wp);
         }
+
+
     }
 
 }
 
  /** @brief it notifies that a global waypoint goes to do created */
-void WaypointList::setIsWPGlobal(bool value)
+void WaypointList::setIsWPGlobal(bool value, QPointF centerCoordinate)
 {
+    centerMapCoordinate = centerCoordinate;
 
 
     if(isLocalWP)

src/ui/WaypointList.h

@@ -77,7 +77,7 @@ public slots:
     /** @brief Add a waypoint by mouse click over the map */
     void addWaypointMouse(QPointF coordinate);
     /** @brief it notifies that a global waypoint goes to do created */
-    void setIsWPGlobal(bool value);
+    void setIsWPGlobal(bool value, QPointF centerCoordinate);
 
 
     //Update events
@@ -105,6 +105,7 @@ public slots:
 
 signals:
   void clearPathclicked();
+  void createWaypointAtMap(const QPointF coordinate);
 
 
 
@@ -122,6 +123,7 @@ protected:
     double mavYaw;
     bool isGlobalWP;
     bool isLocalWP;
+    QPointF centerMapCoordinate;
 
 private:
     Ui::WaypointList *m_ui;