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qgroundcontrol
Commit e9637d5a authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental 

Conflicts:
	src/ui/MainWindow.cc
parents 61c6b0af 0d1969c0
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Showing with 1173 additions and 614 deletions
images/earth.html
View file @ e9637d5a
......@@ -192,40 +192,38 @@ function setViewRange(dist)
function addTrailPosition(id, lat, lon, alt)
{
trails[id].setExtrude(false);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
// Add LineString points
trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
// Add the feature to Earth
if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
}
function initCallback(object)
{
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(5.0);
//ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(5.0);
//ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
initialized = true;
initialized = true;
}
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
......@@ -247,13 +245,12 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
}
planeLoc.setLatitude(lat);
planeLoc.setLongitude(lon);
planeLoc.setAltitude(alt);
planeModel.setLocation(planeLoc);
}
}
function enableDaylight(enabled)
......
src/configuration.h
View file @ e9637d5a
......@@ -17,14 +17,14 @@
#define WITH_TEXT_TO_SPEECH 1
#define QGC_APPLICATION_NAME "QGroundControl"
#define QGC_APPLICATION_VERSION "v. 0.8.1 (Alpha)"
#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha)"
namespace QGC
{
const QString APPNAME = "QGROUNDCONTROL";
const QString COMPANYNAME = "OPENMAV";
const int APPLICATIONVERSION = 80; // 0.8.0
const int APPLICATIONVERSION = 83; // 0.8.0
}
#endif // CONFIGURATION_H
src/uas/PxQuadMAV.cc
View file @ e9637d5a
......@@ -64,6 +64,15 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGERED:
{
// FIXME Kind of a hack to load data from disk
mavlink_image_triggered_t img;
mavlink_msg_image_triggered_decode(&message, &img);
qDebug() << "IMAGE AVAILABLE:" << img.timestamp;
emit imageStarted(img.timestamp);
}
break;
case MAVLINK_MSG_ID_PATTERN_DETECTED:
{
mavlink_pattern_detected_t detected;
......
src/uas/UAS.cc
View file @ e9637d5a
......@@ -464,6 +464,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
emit valueChanged(uasId, "longitude", "deg", pos.lon, time);
// FIXME REMOVE
longitude = pos.lon;
latitude = pos.lat;
altitude = pos.alt;
emit globalPositionChanged(this, longitude, latitude, altitude, time);
if (pos.fix_type > 0)
{
emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
......
src/uas/UAS.h
View file @ e9637d5a
......@@ -169,7 +169,7 @@ public:
bool isAuto();
public:
UASWaypointManager &getWaypointManager(void) { return waypointManager; }
UASWaypointManager* getWaypointManager() { return &waypointManager; }
int getSystemType();
int getAutopilotType() {return autopilot;}
......@@ -303,6 +303,7 @@ signals:
void loadChanged(UASInterface* uas, double load);
/** @brief Propagate a heartbeat received from the system */
void heartbeat(UASInterface* uas);
void imageStarted(quint64 timestamp);
protected:
/** @brief Get the UNIX timestamp in microseconds */
......
src/uas/UASInterface.h
View file @ e9637d5a
......@@ -79,7 +79,7 @@ public:
virtual double getYaw() const = 0;
/** @brief Get reference to the waypoint manager **/
virtual UASWaypointManager &getWaypointManager(void) = 0;
virtual UASWaypointManager* getWaypointManager(void) = 0;
/* COMMUNICATION FLAGS */
......
src/uas/UASWaypointManager.cc
View file @ e9637d5a
......@@ -265,6 +265,13 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
}
}
void UASWaypointManager::notifyOfChange(Waypoint* wp)
{
Q_UNUSED(wp);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
int UASWaypointManager::setCurrentWaypoint(quint16 seq)
{
if (seq < waypoints.size())
......@@ -313,6 +320,9 @@ void UASWaypointManager::addWaypoint(Waypoint *wp)
waypoints.insert(waypoints.size(), wp);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
qDebug() << "ADDED WAYPOINT WITH ID:" << wp->getId();
}
}
......@@ -329,6 +339,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
waypoints[i]->setId(i);
}
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
return 0;
}
return -1;
......@@ -359,6 +370,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
//waypoints[new_seq]->setId(new_seq);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
}
......@@ -425,21 +437,28 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
emit loadWPFile();
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
{
// FIXME Will be removed
Q_UNUSED(wp);
}
//void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
//{
// // FIXME Will be removed
// Q_UNUSED(wp);
//}
int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
{
// FIXME Will be removed
Q_UNUSED(seq);
return 0;
}
//int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
//{
// // FIXME Will be removed
// Q_UNUSED(seq);
// return 0;
//}
//void UASWaypointManager::waypointUpdated(Waypoint*)
//{
// // FIXME Add rate limiter
// emit waypointListChanged(uas.getUASID());
//}
void UASWaypointManager::clearWaypointList()
{
......@@ -457,6 +476,11 @@ void UASWaypointManager::clearWaypointList()
}
}
int UASWaypointManager::getIndexOf(Waypoint* wp)
{
return waypoints.indexOf(wp);
}
void UASWaypointManager::readWaypoints()
{
emit readGlobalWPFromUAS(true);
......
src/uas/UASWaypointManager.h
View file @ e9637d5a
......@@ -86,25 +86,27 @@ public:
/** @name Waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a const reference to the waypoint list.
void addWaypoint(Waypoint *wp); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
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 localAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
int localRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void localMoveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void localSaveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void localLoadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
int getIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list
/*@}*/
/** @name Global waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; } ///< Returns a const reference to the global waypoint list.
void globalAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
int globalRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
/*@}*/
UAS& getUAS() { return this->uas; } ///< Returns the owning UAS
// /** @name Global waypoint list operations */
// /*@{*/
// const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; } ///< Returns a const reference to the global waypoint list.
// void globalAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
// int globalRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
// /*@}*/
private:
/** @name Message send functions */
......@@ -120,14 +122,17 @@ private:
public slots:
void timeout(); ///< Called by the timer if a response times out. Handles send retries.
void addWaypoint(Waypoint *wp); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
signals:
void waypointListChanged(void); ///< emits signal that the local waypoint list has been changed
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 currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
void loadWPFile(); ///< emits signal that a file wp has been load
void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS
void loadWPFile(); ///< emits signal that a file wp has been load
void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS
private:
UAS &uas; ///< Reference to the corresponding UAS
......
src/ui/HDDisplay.cc
View file @ e9637d5a
......@@ -152,7 +152,7 @@ HDDisplay::~HDDisplay()
QSize HDDisplay::sizeHint() const
{
return QSize(400, 400.0f*(vwidth/vheight)*1.1f);
return QSize(400, 400.0f*(vwidth/vheight)*1.2f);
}
void HDDisplay::enableGLRendering(bool enable)
......
src/ui/HSIDisplay.cc
View file @ e9637d5a
......@@ -678,7 +678,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
{
if (uas)
{
const QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointList();
// for (int i = 0; i < list.size(); i++)
// {
// QPointF in(list.at(i)->getX(), list.at(i)->getY());
......
src/ui/HUD.cc
View file @ e9637d5a
......@@ -30,6 +30,10 @@ This file is part of the QGROUNDCONTROL project
*/
#include <QShowEvent>
#include <QContextMenuEvent>
#include <QMenu>
#include <QDesktopServices>
#include <QFileDialog>
#include <QDebug>
#include <cmath>
......@@ -39,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
#include <limits>
#include "UASManager.h"
#include "UAS.h"
#include "HUD.h"
#include "MG.h"
#include "QGC.h"
......@@ -124,7 +129,13 @@ HUD::HUD(int width, int height, QWidget* parent)
lat(0.0),
lon(0.0),
alt(0.0),
load(0.0f)
load(0.0f),
offlineDirectory(""),
nextOfflineImage(""),
hudInstrumentsEnabled(true),
videoEnabled(false),
xImageFactor(1.0),
yImageFactor(1.0)
{
// Set auto fill to false
setAutoFillBackground(false);
......@@ -183,6 +194,10 @@ HUD::HUD(int width, int height, QWidget* parent)
// Connect with UAS
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
createActions();
if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
setVisible(false);
}
......@@ -212,6 +227,40 @@ void HUD::hideEvent(QHideEvent* event)
refreshTimer->stop();
}
void HUD::contextMenuEvent (QContextMenuEvent* event)
{
QMenu menu(this);
// Update actions
enableHUDAction->setChecked(hudInstrumentsEnabled);
enableVideoAction->setChecked(videoEnabled);
menu.addAction(enableHUDAction);
//menu.addAction(selectHUDColorAction);
menu.addAction(enableVideoAction);
menu.addAction(selectOfflineDirectoryAction);
//menu.addAction(selectVideoChannelAction);
menu.exec(event->globalPos());
}
void HUD::createActions()
{
enableHUDAction = new QAction(tr("Enable HUD"), this);
enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
enableHUDAction->setCheckable(true);
enableHUDAction->setChecked(hudInstrumentsEnabled);
connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));
enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
enableVideoAction->setStatusTip(tr("Show the video live feed"));
enableVideoAction->setCheckable(true);
enableVideoAction->setChecked(videoEnabled);
connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));
selectOfflineDirectoryAction = new QAction(tr("Select image log"), this);
selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
......@@ -230,22 +279,39 @@ void HUD::setActiveUAS(UASInterface* uas)
disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
}
// Now connect the new UAS
// Setup communication
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
// Try to disconnect the image link
UAS* u = dynamic_cast<UAS*>(uas);
if (u)
{
disconnect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
}
}
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
if (uas)
{
// Now connect the new UAS
// Setup communication
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
// Try to connect the image link
UAS* u = dynamic_cast<UAS*>(uas);
if (u)
{
connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
}
// Set new UAS
this->uas = uas;
// Set new UAS
this->uas = uas;
}
}
//void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
......@@ -609,174 +675,183 @@ void HUD::paintHUD()
glPushMatrix();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Blue / Brown background
if (noCamera)
{
paintCenterBackground(roll, pitch, yawTrans);
}
// else {
// Fill with black background
QString imagePath = "/Users/user/Desktop/frame0000.png";
if (QFileInfo(imagePath).exists())
if (videoEnabled)
{
//qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
QImage fill = QImage(imagePath);
if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists())
{
qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
QImage fill = QImage(nextOfflineImage);
glImage = QGLWidget::convertToGLFormat(fill);
xImageFactor = width() / (float)fill.width();
yImageFactor = height() / (float)fill.height();
float xFactor;
float yFactor;
glImage = QGLWidget::convertToGLFormat(fill);
xFactor = width() / (float)fill.width();
yFactor = height() / (float)fill.height();
// Reset to save load efforts
nextOfflineImage = "";
}
glPixelZoom(xFactor, yFactor);
glPixelZoom(xImageFactor, yImageFactor);
// Resize to correct size and fill with image
glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
// FIXME Adjust viewport to scale image into view
}
else
{
// Blue / brown background
paintCenterBackground(roll, pitch, yawTrans);
}
// }
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
// END OF OPENGL PAINTING
if (hudInstrumentsEnabled)
{
//glEnable(GL_MULTISAMPLE);
// QT PAINTING
//makeCurrent();
QPainter painter;
painter.begin(this);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
//glEnable(GL_MULTISAMPLE);
// QT PAINTING
//makeCurrent();
QPainter painter;
painter.begin(this);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// YAW INDICATOR
//
// .
// . .
// .......
//
const float yawIndicatorWidth = 4.0f;
const float yawIndicatorY = vheight/2.0f - 10.0f;
QPolygon yawIndicator(4);
yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(yawIndicator);
// YAW INDICATOR
//
// .
// . .
// .......
//
const float yawIndicatorWidth = 4.0f;
const float yawIndicatorY = vheight/2.0f - 10.0f;
QPolygon yawIndicator(4);
yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(yawIndicator);
// CENTER
// CENTER
// HEADING INDICATOR
//
// __ __
// \/\/
//
const float hIndicatorWidth = 7.0f;
const float hIndicatorY = -25.0f;
const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
QPolygon hIndicator(7);
hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(hIndicator);
// HEADING INDICATOR
//
// __ __
// \/\/
//
const float hIndicatorWidth = 7.0f;
const float hIndicatorY = -25.0f;
const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
QPolygon hIndicator(7);
hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(hIndicator);
// SETPOINT
const float centerWidth = 4.0f;
painter.setPen(defaultColor);
painter.setBrush(Qt::NoBrush);
// TODO
//painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
// SETPOINT
const float centerWidth = 4.0f;
painter.setPen(defaultColor);
painter.setBrush(Qt::NoBrush);
// TODO
//painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
const float centerCrossWidth = 10.0f;
// left
painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// right
painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// top
painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
const float centerCrossWidth = 10.0f;
// left
painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// right
painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// top
painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
// COMPASS
const float compassY = -vheight/2.0f + 10.0f;
QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
painter.setBrush(Qt::NoBrush);
painter.setPen(Qt::SolidLine);
painter.setPen(defaultColor);
painter.drawRoundedRect(compassRect, 2, 2);
QString yawAngle;
// COMPASS
const float compassY = -vheight/2.0f + 10.0f;
QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
painter.setBrush(Qt::NoBrush);
painter.setPen(Qt::SolidLine);
painter.setPen(defaultColor);
painter.drawRoundedRect(compassRect, 2, 2);
QString yawAngle;
// const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
// const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
// YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, xSpeed, &painter);
// GAUGES
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, xSpeed, &painter);
// GAUGES
// Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -zPos, defaultColor, &painter, false);
// Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -zPos, defaultColor, &painter, false);
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, xSpeed, defaultColor, &painter, false);
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, xSpeed, defaultColor, &painter, false);
// Waypoint name
if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// MOVING PARTS
painter.translate(refToScreenX(yawTrans), 0);
// Rotate view and draw all roll-dependent indicators
painter.rotate((rollLP/M_PI)* -180.0f);
painter.translate(0, (-pitchLP/M_PI)* -180.0f * refToScreenY(1.8));
//qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// PITCH
// Waypoint name
if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// MOVING PARTS
painter.translate(refToScreenX(yawTrans), 0);
// Rotate view and draw all roll-dependent indicators
painter.rotate((rollLP/M_PI)* -180.0f);
painter.translate(0, (-pitchLP/M_PI)* -180.0f * refToScreenY(1.8));
//qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// PITCH
paintPitchLines(pitchLP, &painter);
painter.end();
paintPitchLines(pitchLP, &painter);
painter.end();
}
else
{
QPainter painter;
painter.begin(this);
painter.end();
}
//glDisable(GL_MULTISAMPLE);
//glFlush();
}
}
......@@ -1517,6 +1592,34 @@ void HUD::saveImage()
saveImage(fileName);
}
void HUD::startImage(quint64 timestamp)
{
if (videoEnabled && offlineDirectory != "")
{
// Load and diplay image file
nextOfflineImage = QString(offlineDirectory + "/%1.bmp").arg(timestamp);
}
}
void HUD::selectOfflineDirectory()
{
QString fileName = QFileDialog::getExistingDirectory(this, tr("Select image directory"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
if (fileName != "")
{
offlineDirectory = fileName;
}
}
void HUD::enableHUDInstruments(bool enabled)
{
hudInstrumentsEnabled = enabled;
}
void HUD::enableVideo(bool enabled)
{
videoEnabled = enabled;
}
void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
{
Q_UNUSED(imgid);
......
src/ui/HUD.h
View file @ e9637d5a
......@@ -76,11 +76,19 @@ public slots:
void updateLoad(UASInterface*, double);
void selectWaypoint(int uasId, int id);
void startImage(quint64 timestamp);
void startImage(int imgid, int width, int height, int depth, int channels);
void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex);
void finishImage();
void saveImage();
void saveImage(QString fileName);
/** @brief Select directory where to load the offline files from */
void selectOfflineDirectory();
/** @brief Enable the HUD instruments */
void enableHUDInstruments(bool enabled);
/** @brief Enable Video */
void enableVideo(bool enabled);
protected slots:
void paintCenterBackground(float roll, float pitch, float yaw);
......@@ -119,6 +127,8 @@ protected:
void showEvent(QShowEvent* event);
/** @brief Stop updating widget */
void hideEvent(QHideEvent* event);
void contextMenuEvent (QContextMenuEvent* event);
void createActions();
static const int updateInterval = 50;
......@@ -192,6 +202,16 @@ protected:
double lon;
double alt;
float load;
QString offlineDirectory;
QString nextOfflineImage;
bool hudInstrumentsEnabled;
bool videoEnabled;
float xImageFactor;
float yImageFactor;
QAction* enableHUDAction;
QAction* enableVideoAction;
QAction* selectOfflineDirectoryAction;
QAction* selectVideoChannelAction;
void paintEvent(QPaintEvent *event);
};
......
src/ui/MainWindow.cc
View file @ e9637d5a
......@@ -64,7 +64,7 @@ MainWindow* MainWindow::instance()
MainWindow::MainWindow(QWidget *parent):
QMainWindow(parent),
toolsMenuActions(),
currentView(VIEW_ENGINEER),
currentView(VIEW_UNCONNECTED),
aboutToCloseFlag(false),
changingViewsFlag(false)
{
......@@ -82,47 +82,17 @@ MainWindow::MainWindow(QWidget *parent):
}
else
{
if (settings.value("CURRENT_VIEW", VIEW_PILOT) != VIEW_PILOT)
// LOAD THE LAST VIEW
VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
if (currentViewCandidate != VIEW_ENGINEER &&
currentViewCandidate != VIEW_OPERATOR &&
currentViewCandidate != VIEW_PILOT)
{
currentView = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
currentView = currentViewCandidate;
}
}
// Check if the settings exist, instantiate defaults if necessary
// OPERATOR VIEW DEFAULT
QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
// ENGINEER VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
// MAVLINK VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
// PILOT VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
QString listKey = buildMenuKey(SUB_SECTION_CHECKED, MENU_UAS_LIST, currentView);
if (!settings.contains(listKey))
{
settings.setValue(listKey, true);
}
setDefaultSettingsForAp();
settings.sync();
......@@ -138,6 +108,7 @@ MainWindow::MainWindow(QWidget *parent):
perspectives->addAction(ui.actionMavlinkView);
perspectives->addAction(ui.actionPilotsView);
perspectives->addAction(ui.actionOperatorsView);
perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true);
// Mark the right one as selected
......@@ -145,9 +116,13 @@ MainWindow::MainWindow(QWidget *parent):
if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The pilot view is not available on startup
// The pilot, engineer and operator view are not available on startup
// since they only make sense with a system connected.
ui.actionPilotsView->setEnabled(false);
ui.actionOperatorsView->setEnabled(false);
ui.actionEngineersView->setEnabled(false);
buildCommonWidgets();
......@@ -217,6 +192,54 @@ MainWindow::~MainWindow()
}
/**
* Set default settings for this AP type.
*/
void MainWindow::setDefaultSettingsForAp()
{
// Check if the settings exist, instantiate defaults if necessary
// UNCONNECTED VIEW DEFAULT
QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
// OPERATOR VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
// ENABLE UAS LIST
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
// ENABLE HUD TOOL WIDGET
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true);
}
// ENGINEER VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
// MAVLINK VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
// PILOT VIEW DEFAULT
centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
}
}
void MainWindow::resizeEvent(QResizeEvent * event)
{
Q_UNUSED(event);
......@@ -289,7 +312,7 @@ void MainWindow::buildCommonWidgets()
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
controlDockWidget->setWidget( new UASControlWidget(this) );
addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
}
if (!listDockWidget)
......@@ -297,7 +320,7 @@ void MainWindow::buildCommonWidgets()
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);
addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea);
}
if (!waypointsDockWidget)
......@@ -305,7 +328,7 @@ void MainWindow::buildCommonWidgets()
waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
}
if (!infoDockWidget)
......@@ -313,7 +336,7 @@ void MainWindow::buildCommonWidgets()
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);
addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea);
}
if (!debugConsoleDockWidget)
......@@ -321,7 +344,7 @@ void MainWindow::buildCommonWidgets()
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
}
if (!logPlayerDockWidget)
......@@ -329,13 +352,13 @@ void MainWindow::buildCommonWidgets()
logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget()), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
}
// Center widgets
if (!mapWidget)
{
mapWidget = new MapWidget(this);
mapWidget = new MapWidget(this);
addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
}
......@@ -393,17 +416,17 @@ void MainWindow::buildPxWidgets()
#ifdef QGC_OSG_ENABLED
if (!_3DWidget)
{
// _3DWidget = Q3DWidgetFactory::get("PIXHAWK");
// addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
}
#endif
#ifdef QGC_OSGEARTH_ENABLED
// if (!_3DMapWidget)
// {
// _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
// addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
// }
if (!_3DMapWidget)
{
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
}
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
......@@ -422,7 +445,7 @@ void MainWindow::buildPxWidgets()
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea);
}
if (!parametersDockWidget)
......@@ -430,7 +453,7 @@ void MainWindow::buildPxWidgets()
parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
}
if (!watchdogControlDockWidget)
......@@ -438,7 +461,7 @@ void MainWindow::buildPxWidgets()
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget()), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
}
if (!hsiDockWidget)
......@@ -446,7 +469,7 @@ void MainWindow::buildPxWidgets()
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
}
if (!headDown1DockWidget)
......@@ -454,7 +477,7 @@ void MainWindow::buildPxWidgets()
headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea);
}
if (!headDown2DockWidget)
......@@ -462,7 +485,7 @@ void MainWindow::buildPxWidgets()
headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Payload Status", this) );
headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea);
}
if (!rcViewDockWidget)
......@@ -470,7 +493,7 @@ void MainWindow::buildPxWidgets()
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
if (!headUpDockWidget)
......@@ -478,7 +501,31 @@ void MainWindow::buildPxWidgets()
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea);
}
if (!video1DockWidget)
{
video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
HUD* video1 = new HUD(160, 120, this);
video1->enableHUDInstruments(false);
video1->enableVideo(true);
// FIXME select video stream as well
video1DockWidget->setWidget(video1);
video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea);
}
if (!video2DockWidget)
{
video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
HUD* video2 = new HUD(160, 120, this);
video2->enableHUDInstruments(false);
video2->enableVideo(true);
// FIXME select video stream as well
video2DockWidget->setWidget(video2);
video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea);
}
// Dialogue widgets
......@@ -499,7 +546,7 @@ void MainWindow::buildSlugsWidgets()
headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
}
if (!rcViewDockWidget)
......@@ -507,7 +554,7 @@ void MainWindow::buildSlugsWidgets()
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
// if (!slugsDataWidget)
......@@ -553,15 +600,17 @@ void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
QAction* tempAction;
// Add the separator that will separate tools from central Widgets
if (!toolsMenuActions[CENTRAL_SEPARATOR])
{
tempAction = ui.menuTools->addSeparator();
toolsMenuActions[CENTRAL_SEPARATOR] = tempAction;
tempAction->setData(CENTRAL_SEPARATOR);
}
// Not needed any more - separate menu now available
// // Add the separator that will separate tools from central Widgets
// if (!toolsMenuActions[CENTRAL_SEPARATOR])
// {
// tempAction = ui.menuTools->addSeparator();
// toolsMenuActions[CENTRAL_SEPARATOR] = tempAction;
// tempAction->setData(CENTRAL_SEPARATOR);
// }
tempAction = ui.menuTools->addAction(title);
tempAction = ui.menuMain->addAction(title);
tempAction->setCheckable(true);
tempAction->setData(centralWidget);
......@@ -583,13 +632,17 @@ void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
}
// connect the action
connect(tempAction,SIGNAL(triggered()),this, slotName);
connect(tempAction,SIGNAL(triggered(bool)),this, slotName);
}
void MainWindow::showCentralWidget()
{
QAction* senderAction = qobject_cast<QAction *>(sender());
// Block sender action while manipulating state
senderAction->blockSignals(true);
int tool = senderAction->data().toInt();
QString chKey;
......@@ -597,7 +650,6 @@ void MainWindow::showCentralWidget()
if (senderAction && dockWidgets[tool])
{
// uncheck all central widget actions
QHashIterator<int, QAction*> i(toolsMenuActions);
while (i.hasNext())
......@@ -606,7 +658,11 @@ void MainWindow::showCentralWidget()
//qDebug() << "shCW" << i.key() << "read";
if (i.value() && i.value()->data().toInt() > 255)
{
// Block signals and uncheck action
// firing would be unneccesary
i.value()->blockSignals(true);
i.value()->setChecked(false);
i.value()->blockSignals(false);
// update the settings
chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.value()->data().toInt()), currentView);
......@@ -625,6 +681,9 @@ void MainWindow::showCentralWidget()
chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
settings.setValue(chKey,true);
// Unblock sender action
senderAction->blockSignals(false);
presentView();
}
}
......@@ -684,39 +743,97 @@ void MainWindow::addToToolsMenu ( QWidget* widget,
}
else
{
tempAction->setChecked(settings.value(chKey).toBool());
tempAction->setChecked(settings.value(chKey, false).toBool());
widget->setVisible(settings.value(chKey, false).toBool());
}
// connect the action
connect(tempAction,SIGNAL(triggered()),this, slotName);
connect(tempAction,SIGNAL(toggled(bool)),this, slotName);
connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
SIGNAL(visibilityChanged(bool)), this, SLOT(showToolWidget(bool)));
// connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
// SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
// connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
// SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
}
void MainWindow::showToolWidget()
void MainWindow::showToolWidget(bool visible)
{
QAction* temp = qobject_cast<QAction *>(sender());
int tool = temp->data().toInt();
if (temp && dockWidgets[tool])
if (!aboutToCloseFlag && !changingViewsFlag)
{
if (temp->isChecked())
QAction* action = qobject_cast<QAction *>(sender());
// Prevent this to fire if undocked
if (action)
{
addDockWidget(dockWidgetLocations[tool], qobject_cast<QDockWidget *> (dockWidgets[tool]));
qobject_cast<QDockWidget *>(dockWidgets[tool])->show();
int tool = action->data().toInt();
QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);
qDebug() << "DATA:" << tool << "FLOATING" << dockWidget->isFloating() << "checked" << action->isChecked() << "visible" << dockWidget->isVisible() << "action vis:" << action->isVisible();
if (dockWidget && dockWidget->isVisible() != visible)
{
if (visible)
{
qDebug() << "DOCK WIDGET ADDED";
addDockWidget(dockWidgetLocations[tool], dockWidget);
dockWidget->show();
}
else
{
qDebug() << "DOCK WIDGET REMOVED";
removeDockWidget(dockWidget);
//dockWidget->hide();
}
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext())
{
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget)
{
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,visible);
qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
break;
}
}
}
}
else
QDockWidget* dockWidget = qobject_cast<QDockWidget*>(QObject::sender());
qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;
if (dockWidget)
{
removeDockWidget(qobject_cast<QDockWidget *>(dockWidgets[tool]));
// Get action
int tool = dockWidgets.key(dockWidget);
qDebug() << "Updating widget setting" << tool << "to" << visible;
QAction* action = toolsMenuActions[tool];
action->blockSignals(true);
action->setChecked(visible);
action->blockSignals(false);
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext())
{
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget)
{
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,visible);
qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
break;
}
}
}
}
}
......@@ -728,6 +845,8 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();
qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
if (tempWidget)
{
toolsMenuActions[widget]->setChecked(tempVisible);
......@@ -746,12 +865,14 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
// }
// }
if ((tempWidget != NULL) && tempVisible)
if (tempWidget != NULL)
{
addDockWidget(tempLocation, tempWidget);
tempWidget->show();
if (tempVisible)
{
addDockWidget(tempLocation, tempWidget);
tempWidget->show();
}
}
}
QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view)
......@@ -763,11 +884,11 @@ QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES t
UASManager::instance()->getActiveUAS()->getAutopilotType():
-1;
return (QString::number(apType) + "/" +
QString::number(SECTION_MENU) + "/" +
QString::number(view) + "/" +
QString::number(tool) + "/" +
QString::number(section) + "/" );
return (QString::number(apType) + "_" +
QString::number(SECTION_MENU) + "_" +
QString::number(view) + "_" +
QString::number(tool) + "_" +
QString::number(section) + "_" );
}
void MainWindow::closeEvent(QCloseEvent *event)
......@@ -785,6 +906,29 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMainWindow::closeEvent(event);
}
void MainWindow::showDockWidget (bool vis)
{
if (!aboutToCloseFlag && !changingViewsFlag)
{
QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
if (temp)
{
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext())
{
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp)
{
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,vis);
toolsMenuActions[i.key()]->setChecked(vis);
break;
}
}
}
}
}
void MainWindow::updateVisibilitySettings (bool vis)
{
......@@ -795,9 +939,11 @@ void MainWindow::updateVisibilitySettings (bool vis)
if (temp)
{
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext()) {
while (i.hasNext())
{
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp)
{
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,vis);
toolsMenuActions[i.key()]->setChecked(vis);
......@@ -838,13 +984,7 @@ void MainWindow::connectCommonWidgets()
if (mapWidget && waypointsDockWidget->widget())
{
// clear path create on the map
connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearWaypoints()));
// add Waypoint widget in the WaypointList widget when mouse clicked
connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
// it notifies that a waypoint global goes to do create and a map graphic too
connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
}
//TODO temporaly debug
......@@ -1130,6 +1270,7 @@ void MainWindow::connectCommonActions()
connect(ui.actionPilotsView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionReloadStyle, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
......@@ -1276,8 +1417,13 @@ void MainWindow::UASCreated(UASInterface* uas)
if (uas != NULL)
{
// The pilot view was not available on startup, enable it now
// Set default settings
setDefaultSettingsForAp();
// The pilot, operator and engineer views were not available on startup, enable them now
ui.actionPilotsView->setEnabled(true);
ui.actionOperatorsView->setEnabled(true);
ui.actionEngineersView->setEnabled(true);
QIcon icon;
// Set matching icon
......@@ -1371,6 +1517,7 @@ void MainWindow::UASCreated(UASInterface* uas)
// }
// }
// }
}
break;
default:
......@@ -1391,8 +1538,6 @@ void MainWindow::UASCreated(UASInterface* uas)
connectPxActions();
}
break;
loadOperatorView();
}
// Change the view only if this is the first UAS
......@@ -1406,19 +1551,31 @@ void MainWindow::UASCreated(UASInterface* uas)
// Load last view if setting is present
if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
{
clearView();
int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
currentView = (VIEW_SECTIONS) view;
presentView();
// Restore the widget positions and size
if (settings.contains(getWindowStateKey()))
switch (view)
{
restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
case VIEW_ENGINEER:
loadEngineerView();
break;
case VIEW_MAVLINK:
loadMAVLinkView();
break;
case VIEW_PILOT:
loadPilotView();
break;
case VIEW_UNCONNECTED:
loadUnconnectedView();
break;
case VIEW_OPERATOR:
default:
loadOperatorView();
break;
}
}
else
{
loadEngineerView();
loadOperatorView();
}
}
......@@ -1436,7 +1593,7 @@ void MainWindow::UASCreated(UASInterface* uas)
void MainWindow::clearView()
{
// Save current state
if (UASManager::instance()->getActiveUAS()) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
if (UASManager::instance()->getUASList().count() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
settings.setValue(getWindowGeometryKey(), saveGeometry());
QAction* temp;
......@@ -1449,12 +1606,12 @@ void MainWindow::clearView()
if (temp)
{
//qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
settings.setValue(chKey,temp->isChecked());
}
else
{
//qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
settings.setValue(chKey,false);
}
}
......@@ -1471,11 +1628,8 @@ void MainWindow::clearView()
if (dockWidget)
{
// Remove dock widget from main window
//this->removeDockWidget(dockWidget);
dockWidget->setVisible(false);
// Deletion of dockWidget would also delete all child
// widgets of dockWidget
// Is there a way to unset a widget from QDockWidget?
removeDockWidget(dockWidget);
//dockWidget->setVisible(false);
}
}
changingViewsFlag = false;
......@@ -1485,11 +1639,10 @@ void MainWindow::loadEngineerView()
{
if (currentView != VIEW_ENGINEER)
{
clearView();
currentView = VIEW_ENGINEER;
presentView();
clearView();
currentView = VIEW_ENGINEER;
ui.actionEngineersView->setChecked(true);
presentView();
}
}
......@@ -1497,11 +1650,21 @@ void MainWindow::loadOperatorView()
{
if (currentView != VIEW_OPERATOR)
{
clearView();
currentView = VIEW_OPERATOR;
clearView();
currentView = VIEW_OPERATOR;
ui.actionOperatorsView->setChecked(true);
presentView();
}
}
presentView();
void MainWindow::loadUnconnectedView()
{
if (currentView != VIEW_UNCONNECTED)
{
clearView();
currentView = VIEW_UNCONNECTED;
ui.actionUnconnectedView->setChecked(true);
presentView();
}
}
......@@ -1509,11 +1672,10 @@ void MainWindow::loadPilotView()
{
if (currentView != VIEW_PILOT)
{
clearView();
currentView = VIEW_PILOT;
presentView();
clearView();
currentView = VIEW_PILOT;
ui.actionPilotsView->setChecked(true);
presentView();
}
}
......@@ -1521,11 +1683,10 @@ void MainWindow::loadMAVLinkView()
{
if (currentView != VIEW_MAVLINK)
{
clearView();
currentView = VIEW_MAVLINK;
presentView();
clearView();
currentView = VIEW_MAVLINK;
ui.actionMavlinkView->setChecked(true);
presentView();
}
}
......@@ -1556,7 +1717,6 @@ void MainWindow::presentView()
showTheCentralWidget(CENTRAL_DATA_PLOT, currentView);
// Show docked widgets based on current view and autopilot type
// UAS CONTROL
......@@ -1631,8 +1791,29 @@ void MainWindow::presentView()
// MAVLINK LOG PLAYER
showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView);
// VIDEO 1
showTheWidget(MENU_VIDEO_STREAM_1, currentView);
// VIDEO 2
showTheWidget(MENU_VIDEO_STREAM_2, currentView);
this->show();
// Restore window state
if (UASManager::instance()->getUASList().count() > 0)
{
// Restore the mainwindow size
if (settings.contains(getWindowGeometryKey()))
{
restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
}
// Restore the widget positions and size
if (settings.contains(getWindowStateKey()))
{
restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
}
}
}
void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view)
......@@ -1640,15 +1821,17 @@ void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SE
bool tempVisible;
QWidget* tempWidget = dockWidgets[centralWidget];
tempVisible = settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
//qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
if (toolsMenuActions[centralWidget])
{
qDebug() << "SETTING TO:" << tempVisible;
toolsMenuActions[centralWidget]->setChecked(tempVisible);
}
if (centerStack && tempWidget && tempVisible)
{
qDebug() << "ACTIVATING MAIN WIDGET";
centerStack->setCurrentWidget(tempWidget);
}
}
......
src/ui/MainWindow.h
View file @ e9637d5a
......@@ -112,6 +112,8 @@ public slots:
void stopVideoCapture();
void saveScreen();
/** @brief Load default view when no MAV is connected */
void loadUnconnectedView();
/** @brief Load view for pilot */
void loadPilotView();
/** @brief Load view for engineer */
......@@ -166,7 +168,7 @@ public slots:
* It shows the QDockedWidget based on the action sender
*
*/
void showToolWidget();
void showToolWidget(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
......@@ -177,8 +179,10 @@ public slots:
*/
void showCentralWidget();
/** @brief Change actively a QDockWidgets visibility by an action */
void showDockWidget(bool vis);
/** @brief Updates a QDockWidget's checked status based on its visibility */
void updateVisibilitySettings (bool vis);
void updateVisibilitySettings(bool vis);
/** @brief Updates a QDockWidget's location */
void updateLocationSettings (Qt::DockWidgetArea location);
......@@ -187,6 +191,9 @@ protected:
MainWindow(QWidget *parent = 0);
/** @brief Set default window settings for the current autopilot type */
void setDefaultSettingsForAp();
// These defines are used to save the settings when selecting with
// which widgets populate the views
// FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
......@@ -212,6 +219,8 @@ protected:
MENU_SLUGS_HIL,
MENU_SLUGS_CAMERA,
MENU_MAVLINK_LOG_PLAYER,
MENU_VIDEO_STREAM_1,
MENU_VIDEO_STREAM_2,
CENTRAL_SEPARATOR= 255, // do not change
CENTRAL_LINECHART,
CENTRAL_PROTOCOL,
......@@ -238,6 +247,7 @@ protected:
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
} VIEW_SECTIONS;
......@@ -368,6 +378,8 @@ protected:
QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> video1DockWidget;
QPointer<QDockWidget> video2DockWidget;
QPointer<QDockWidget> logPlayerDockWidget;
QPointer<QDockWidget> hsiDockWidget;
......
src/ui/MainWindow.ui
View file @ e9637d5a
......@@ -100,7 +100,7 @@
</widget>
<widget class="QMenu" name="menuTools">
<property name="title">
<string>Tools</string>
<string>Widgets</string>
</property>
<addaction name="actionNewCustomWidget"/>
</widget>
......@@ -121,11 +121,18 @@
<addaction name="actionPilotsView"/>
<addaction name="separator"/>
<addaction name="actionMavlinkView"/>
<addaction name="actionUnconnectedView"/>
</widget>
<widget class="QMenu" name="menuMain">
<property name="title">
<string>Main</string>
</property>
</widget>
<addaction name="menuMGround"/>
<addaction name="menuNetwork"/>
<addaction name="menuConnected_Systems"/>
<addaction name="menuUnmanned_System"/>
<addaction name="menuMain"/>
<addaction name="menuTools"/>
<addaction name="menuPerspectives"/>
<addaction name="menuHelp"/>
......@@ -296,6 +303,9 @@
<property name="text">
<string>Operator</string>
</property>
<property name="shortcut">
<string>Meta+O</string>
</property>
</action>
<action name="actionEngineersView">
<property name="checkable">
......@@ -308,6 +318,9 @@
<property name="text">
<string>Engineer</string>
</property>
<property name="shortcut">
<string>Meta+E</string>
</property>
</action>
<action name="actionMavlinkView">
<property name="checkable">
......@@ -320,6 +333,9 @@
<property name="text">
<string>Mavlink</string>
</property>
<property name="shortcut">
<string>Meta+M</string>
</property>
</action>
<action name="actionReloadStyle">
<property name="icon">
......@@ -341,6 +357,9 @@
<property name="text">
<string>Pilot</string>
</property>
<property name="shortcut">
<string>Meta+P</string>
</property>
</action>
<action name="actionNewCustomWidget">
<property name="icon">
......@@ -379,6 +398,21 @@
<string>QGroundControl global settings</string>
</property>
</action>
<action name="actionUnconnectedView">
<property name="checkable">
<bool>true</bool>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
</property>
<property name="text">
<string>Unconnected</string>
</property>
<property name="shortcut">
<string>Meta+U</string>
</property>
</action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources>
......
src/ui/MapWidget.cc
View file @ e9637d5a
......@@ -21,6 +21,7 @@
#include "UASManager.h"
#include "MAV2DIcon.h"
#include "Waypoint2DIcon.h"
#include "UASWaypointManager.h"
#include "MG.h"
......@@ -38,7 +39,7 @@ MapWidget::MapWidget(QWidget *parent) :
mc = new qmapcontrol::MapControl(QSize(320, 240));
// VISUAL MAP STYLE
QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}");
QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)} QAbstractButton:checked { border: 2px solid #379AC3; }");
mc->setPen(QGC::colorCyan.darker(400));
......@@ -93,7 +94,7 @@ MapWidget::MapWidget(QWidget *parent) :
// SET INITIAL POSITION AND ZOOM
// Set default zoom level
mc->setZoom(16);
mc->setZoom(17);
// Zurich, ETH
mc->setView(QPointF(8.548056,47.376389));
......@@ -371,7 +372,7 @@ void MapWidget::createPathButtonClicked(bool checked)
// emit signal start to create a Waypoint global
emit createGlobalWP(true, mc->currentCoordinate());
//emit createGlobalWP(true, mc->currentCoordinate());
// // Clear the previous WP track
// // TODO: Move this to an actual clear track button and add a warning dialog
......@@ -400,50 +401,104 @@ void MapWidget::createPathButtonClicked(bool checked)
void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
{
//qDebug() << mc->mouseMode();
if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
{
// Create waypoint name
QString str;
str = QString("%1").arg(waypointPath->numberOfPoints());
// create the WP and set everything in the LineString to display the path
Waypoint2DIcon* tempCirclePoint;
if (mav)
{
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
mav->getWaypointManager()->addWaypoint(new Waypoint(mav->getWaypointManager()->getWaypointList().count(), coordinate.x(), coordinate.y()));
}
else
{
str = QString("%1").arg(waypointPath->numberOfPoints());
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
}
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
wpIndex.insert(str,tempPoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
// Refresh the screen
mc->updateRequest(tempPoint->boundingBox().toRect());
// Refresh the screen
mc->updateRequest(tempPoint->boundingBox().toRect());
}
// emit signal mouse was clicked
emit captureMapCoordinateClick(coordinate);
//emit captureMapCoordinateClick(coordinate);
}
}
void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
void MapWidget::updateWaypoint(int uas, Waypoint* wp)
{
if (!wpExists(coordinate))
//qDebug() << "UPDATING WP" << wp->getId() << __FILE__ << __LINE__;
if (uas == this->mav->getUASID())
{
int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getIndexOf(wp);
// Create waypoint name
QString str;
QString str = QString("%1").arg(wpindex);
// Check if wp exists yet
if (!(wps.count() > wpindex))
{
QPointF coordinate;
coordinate.setX(wp->getX());
coordinate.setY(wp->getY());
createWaypointGraphAtMap(wpindex, coordinate);
qDebug() << "Waypoint Index did not contain" << str;
}
else
{
// Waypoint exists, update it
if(!waypointIsDrag)
{
qDebug() <<"indice WP= "<< wpindex <<"\n";
QPointF coordinate;
coordinate.setX(wp->getX());
coordinate.setY(wp->getY());
Point* waypoint;
waypoint = wps.at(wpindex);//wpIndex[str];
if (waypoint)
{
// First set waypoint coordinate
waypoint->setCoordinate(coordinate);
// Now update icon position
//mc->layer("Waypoints")->removeGeometry(wpIcons.at(wpindex));
wpIcons.at(wpindex)->setCoordinate(coordinate);
//mc->layer("Waypoints")->addGeometry(wpIcons.at(wpindex));
// Then waypoint line coordinate
Point* linesegment = NULL;
if (waypointPath->points().size() > wpindex)
{
linesegment = waypointPath->points().at(wpindex);
}
if (linesegment)
{
linesegment->setCoordinate(coordinate);
}
//point2Find = dynamic_cast <Point*> (mc->layer("Waypoints")->get_Geometry(wpindex));
//point2Find->setCoordinate(coordinate);
mc->updateRequest(waypoint->boundingBox().toRect());
}
}
}
}
}
str = QString("%1").arg(waypointPath->numberOfPoints());
void MapWidget::createWaypointGraphAtMap(int id, const QPointF coordinate)
{
if (!wpExists(coordinate))
{
// Create waypoint name
QString str;
// create the WP and set everything in the LineString to display the path
//CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
......@@ -451,35 +506,42 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
if (mav)
{
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
int uas = mav->getUASID();
str = QString("%1").arg(id);
qDebug() << "Waypoint list count:" << str;
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, mavPens.value(uas));
}
else
{
str = QString("%1").arg(id);
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
}
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
wpIcons.append(tempCirclePoint);
Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
wpIndex.insert(str,tempPoint);
//wpIndex.insert(str,tempPoint);
qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
// Refresh the screen
mc->updateRequestNew();//(tempPoint->boundingBox().toRect());
mc->updateRequest(tempPoint->boundingBox().toRect());
}
//// // emit signal mouse was clicked
// emit captureMapCoordinateClick(coordinate);
}
int MapWidget::wpExists(const QPointF coordinate){
int MapWidget::wpExists(const QPointF coordinate)
{
for (int i = 0; i < wps.size(); i++){
if (wps.at(i)->latitude() == coordinate.y() &&
wps.at(i)->longitude()== coordinate.x()){
wps.at(i)->longitude()== coordinate.x())
{
return 1;
}
}
......@@ -493,21 +555,23 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
Q_UNUSED(point);
mc->setMouseMode(qmapcontrol::MapControl::None);
}
void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
{
waypointIsDrag = true;
// Refresh the screen
mc->updateRequest(geom->boundingBox().toRect());
int temp = 0;
// Get waypoint index in list
bool wpIndexOk;
int index = geom->name().toInt(&wpIndexOk);
qmapcontrol::Point* point2Find;
point2Find = wpIndex[geom->name()];
point2Find = wps.at(geom->name().toInt());
if (point2Find)
{
......@@ -518,6 +582,21 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
{
point2Find->setCoordinate(coordinate);
if (wpIndexOk)
{
mc->updateRequest(point2Find->boundingBox().toRect());
if (mav)
{
QVector<Waypoint*> wps = mav->getWaypointManager()->getWaypointList();
if (wps.size() > index)
{
wps.at(index)->setX(coordinate.x());
wps.at(index)->setY(coordinate.y());
mav->getWaypointManager()->notifyOfChange(wps.at(index));
}
}
}
// qDebug() << geom->name();
temp = geom->get_myIndex();
//qDebug() << temp;
......@@ -553,18 +632,102 @@ MapWidget::~MapWidget()
void MapWidget::addUAS(UASInterface* uas)
{
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
//connect(uas->getWaypointManager(), SIGNAL(waypointListChanged()), this, SLOT(redoWaypoints()));
}
void MapWidget::updateWaypointList(int uas)
{
// Get already existing waypoints
UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
if (uasInstance)
{
QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getWaypointList();
// Clear if necessary
if (wpList.count() == 0)
{
clearWaypoints(uas);
return;
}
// Load all existing waypoints into map view
foreach (Waypoint* wp, wpList)
{
updateWaypoint(mav->getUASID(), wp);
}
// Delete now unused wps
if (wps.count() > wpList.count())
{
mc->layer("Waypoints")->removeGeometry(waypointPath);
for (int i = wpList.count(); i < wps.count(); ++i)
{
QRect updateRect = wps.at(i)->boundingBox().toRect();
wps.removeAt(i);
mc->layer("Waypoints")->removeGeometry(wpIcons.at(i));
waypointPath->points().removeAt(i);
//Point* linesegment = waypointPath->points().at(mav->getWaypointManager()->getWaypointList().indexOf(wp));
mc->updateRequest(updateRect);
}
mc->layer("Waypoints")->addGeometry(waypointPath);
}
// Clear and rebuild linestring
}
}
void MapWidget::redoWaypoints(int uas)
{
// QObject* sender = QObject::sender();
// UASWaypointManager* manager = dynamic_cast<UASWaypointManager*>(sender);
// if (sender)
// {
// Get waypoint list for this MAV
// Clear all waypoints
clearWaypoints();
// Re-add the updated waypoints
// }
updateWaypointList(uas);
}
void MapWidget::activeUASSet(UASInterface* uas)
{
// Disconnect old MAV
if (mav)
{
// clear path create on the map
disconnect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
// add Waypoint widget in the WaypointList widget when mouse clicked
disconnect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
// it notifies that a waypoint global goes to do create and a map graphic too
//connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
}
if (uas)
{
mav = uas;
QColor color = mav->getColor();
QColor color = mav->getColor().lighter(100);
color.setAlphaF(0.6);
QPen* pen = new QPen(color);
pen->setWidth(3.0);
// FIXME Load waypoints of this system
pen->setWidth(2.0);
mavPens.insert(mav->getUASID(), pen);
// FIXME Remove after refactoring
waypointPath->setPen(pen);
// Delete all waypoints and start fresh
redoWaypoints();
// clear path create on the map
connect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
// add Waypoint widget in the WaypointList widget when mouse clicked
connect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
}
}
......@@ -589,7 +752,10 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
//pointpen->setWidth(3);
//points.append(new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen));
MAV2DIcon* p;
qmapcontrol::Point* p;
QPointF coordinate;
coordinate.setX(lat);
coordinate.setY(lon);
if (!uasIcons.contains(uas->getUASID()))
{
......@@ -597,40 +763,42 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
QColor uasColor = uas->getColor();
// Icon
QPen* pointpen = new QPen(uasColor);
qDebug() << uas->getUASName();
p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen);
//QPen* pointpen = new QPen(uasColor);
qDebug() << "2D MAP: ADDING" << uas->getUASName() << __FILE__ << __LINE__;
//p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, mavPens.value(uas->getUASID()));
p = new Waypoint2DIcon(lat, lon, 20, QString("%1").arg(uas->getUASID()), qmapcontrol::Point::Middle);
uasIcons.insert(uas->getUASID(), p);
tracks->addGeometry(p);
mc->layer("Waypoints")->addGeometry(p);
// Line
// A QPen also can use transparency
QList<qmapcontrol::Point*> points;
points.append(new qmapcontrol::Point(lat, lon, ""));
points.append(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
QPen* linepen = new QPen(uasColor.darker());
linepen->setWidth(2);
// Create tracking line string
qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, uas->getUASName(), linepen);
qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, QString("%1").arg(uas->getUASID()), linepen);
uasTrails.insert(uas->getUASID(), ls);
// Add the LineString to the layer
mc->layer("Tracking")->addGeometry(ls);
mc->layer("Waypoints")->addGeometry(ls);
}
else
{
p = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID()));
if (p)
{
// p = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID()));
// if (p)
// {
p = uasIcons.value(uas->getUASID());
p->setCoordinate(QPointF(lat, lon));
p->setYaw(uas->getYaw());
}
//p->setYaw(uas->getYaw());
// }
// Extend trail
uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, ""));
uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
}
mc->updateRequest(p->boundingBox().toRect());
mc->updateRequest(p->boundingBox().toRect());
//mc->updateRequestNew();//(uasTrails.value(uas->getUASID())->boundingBox().toRect());
......@@ -738,24 +906,28 @@ void MapWidget::changeEvent(QEvent *e)
}
}
void MapWidget::clearWaypoints()
void MapWidget::clearWaypoints(int uas)
{
// Clear the previous WP track
mc->layer("Waypoints")->clearGeometries();
//mc->layer("Waypoints")->clearGeometries();
wps.clear();
waypointPath->setPoints(wps);
waypointPath->points().clear();
//delete waypointPath;
//waypointPath = new
mc->layer("Waypoints")->addGeometry(waypointPath);
wpIndex.clear();
//wpIndex.clear();
mc->updateRequestNew();//(waypointPath->boundingBox().toRect());
if(createPath->isChecked())
{
createPath->click();
}
qDebug() << "CLEARING WAYPOINTS";
}
void MapWidget::clearPath()
void MapWidget::clearPath(int uas)
{
mc->layer("Tracking")->clearGeometries();
foreach (qmapcontrol::LineString* ls, uasTrails)
......@@ -769,30 +941,6 @@ void MapWidget::clearPath()
mc->updateRequestNew();//(QRect(0, 0, width(), height()));
}
void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon)
{
if(!waypointIsDrag)
{
qDebug() <<"indice WP= "<<index <<"\n";
QPointF coordinate;
coordinate.setX(lon);
coordinate.setY(lat);
Point* point2Find;
point2Find = wpIndex[QString::number(index)];
point2Find->setCoordinate(coordinate);
point2Find = dynamic_cast <Point*> (mc->layer("Waypoints")->get_Geometry(index));
point2Find->setCoordinate(coordinate);
// Refresh the screen
mc->updateRequestNew();//(point2Find->boundingBox().toRect());
}
}
void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
{
// FIXME Mariano
......
src/ui/MapWidget.h
View file @ e9637d5a
......@@ -44,6 +44,8 @@ This file is part of the QGROUNDCONTROL project
class QMenu;
class Waypoint;
class Waypoint2DIcon;
namespace Ui {
class MapWidget;
......@@ -72,10 +74,18 @@ public slots:
QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
/** @brief Clear the waypoints overlay layer */
void clearWaypoints();
void clearWaypoints(int uas=0);
/** @brief Clear the UAV tracks on the map */
void clearPath();
void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
void clearPath(int uas=0);
/** @brief Update waypoint list */
void updateWaypointList(int uas);
/** @brief Clear all waypoints and re-add them from updated list */
void redoWaypoints(int uas=0);
/** @brief Update waypoint */
void updateWaypoint(int uas, Waypoint* wp);
void drawBorderCamAtMap(bool status);
/** @brief Bring up dialog to go to a specific location */
void goTo();
......@@ -105,12 +115,12 @@ protected:
QMenu* mapMenu;
QPushButton* mapButton;
qmapcontrol::MapControl* mc; ///< QMapControl widget
qmapcontrol::MapAdapter* mapadapter; ///< Adapter to load the map data
qmapcontrol::Layer* l; ///< Current map layer (background)
qmapcontrol::Layer* overlay; ///< Street overlay (foreground)
qmapcontrol::Layer* tracks; ///< Layer for UAV tracks
qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
qmapcontrol::MapControl* mc; ///< QMapControl widget
qmapcontrol::MapAdapter* mapadapter; ///< Adapter to load the map data
qmapcontrol::Layer* l; ///< Current map layer (background)
qmapcontrol::Layer* overlay; ///< Street overlay (foreground)
qmapcontrol::Layer* tracks; ///< Layer for UAV tracks
qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
//only for experiment
qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
......@@ -124,6 +134,9 @@ protected:
QMap<int, qmapcontrol::Point*> uasIcons;
QMap<int, qmapcontrol::LineString*> uasTrails;
QMap<int, QPen*> mavPens;
//QMap<int, QList<qmapcontrol::Point*> > mavWps;
//QMap<int, qmapcontrol::LineString*> waypointPaths;
UASInterface* mav;
quint64 lastUpdate;
......@@ -135,21 +148,24 @@ protected:
void createPathButtonClicked(bool checked);
void createWaypointGraphAtMap (const QPointF coordinate);
/** @brief Create the graphic representation of the waypoint */
void createWaypointGraphAtMap(int id, const QPointF coordinate);
void mapproviderSelected(QAction* action);
signals:
//void movePoint(QPointF newCoord);
void captureMapCoordinateClick(const QPointF coordinate); //ROCA
void createGlobalWP(bool value, QPointF centerCoordinate);
//void captureMapCoordinateClick(const QPointF coordinate); //ROCA
//void createGlobalWP(bool value, QPointF centerCoordinate);
void waypointCreated(Waypoint* wp);
void sendGeometryEndDrag(const QPointF coordinate, const int index);
private:
Ui::MapWidget *m_ui;
QList<qmapcontrol::Point*> wps;
QList<Waypoint2DIcon*>wpIcons;
qmapcontrol::LineString* waypointPath;
QHash <QString, qmapcontrol::Point*> wpIndex;
//QHash <QString, qmapcontrol::Point*> wpIndex;
QPen* pointPen;
int wpExists(const QPointF coordinate);
bool waypointIsDrag;
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ e9637d5a
......@@ -319,7 +319,7 @@ void QGCMAVLinkLogPlayer::logLoop()
//qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
if (nextExecutionTime < 5)
if (nextExecutionTime < 2)
{
logLoop();
}
......
src/ui/WaypointList.cc
View file @ e9637d5a
......@@ -127,11 +127,11 @@ void WaypointList::setUAS(UASInterface* uas)
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
connect(&uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
}
}
......@@ -141,7 +141,7 @@ void WaypointList::saveWaypoints()
if (uas)
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().saveWaypoints(fileName);
uas->getWaypointManager()->saveWaypoints(fileName);
}
}
......@@ -152,7 +152,7 @@ void WaypointList::loadWaypoints()
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().loadWaypoints(fileName);
uas->getWaypointManager()->loadWaypoints(fileName);
}
}
......@@ -160,7 +160,7 @@ void WaypointList::transmit()
{
if (uas)
{
uas->getWaypointManager().writeWaypoints();
uas->getWaypointManager()->writeWaypoints();
}
}
......@@ -168,7 +168,7 @@ void WaypointList::read()
{
if (uas)
{
uas->getWaypointManager().readWaypoints();
uas->getWaypointManager()->readWaypoints();
}
}
......@@ -178,17 +178,17 @@ void WaypointList::add()
{
// if(isGlobalWP)
// {
// const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
// const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
// if (waypoints.size() > 0)
// {
// Waypoint *last = waypoints.at(waypoints.size()-1);
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
// uas->getWaypointManager().addWaypoint(wp);
// uas->getWaypointManager()->addWaypoint(wp);
// }
// else
// {
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
// uas->getWaypointManager().addWaypoint(wp);
// uas->getWaypointManager()->addWaypoint(wp);
// }
//
// emit createWaypointAtMap(centerMapCoordinate);
......@@ -196,7 +196,7 @@ void WaypointList::add()
// else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
Waypoint *wp;
......@@ -206,13 +206,13 @@ void WaypointList::add()
Waypoint *last = waypoints.at(waypoints.size()-1);
wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
last->getHoldTime(), last->getFrame(), last->getAction());
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
// Create global frame waypoint per default
wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
if (wp->getFrame() == MAV_FRAME_GLOBAL)
{
......@@ -234,17 +234,17 @@ void WaypointList::addCurrentPositonWaypoint()
//}
//else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
//isLocalWP = true;
......@@ -264,7 +264,7 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
{
if (uas)
{
uas->getWaypointManager().setCurrentWaypoint(seq);
uas->getWaypointManager()->setCurrentWaypoint(seq);
}
}
......@@ -272,7 +272,7 @@ void WaypointList::currentWaypointChanged(quint16 seq)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (seq < waypoints.size())
{
......@@ -297,124 +297,125 @@ void WaypointList::waypointListChanged()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
// For Global Waypoints
//if(isGlobalWP)
//{
//isLocalWP = false;
//// first remove all views of non existing waypoints
//if (!wpGlobalViews.empty())
//{
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//viewIt.toFront();
//while(viewIt.hasNext())
//{
//viewIt.next();
//Waypoint *cur = viewIt.key();
//int i;
//for (i = 0; i < waypoints.size(); i++)
//{
//if (waypoints[i] == cur)
//{
//break;
//}
//}
//if (i == waypoints.size())
//{
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//widget->hide();
//listLayout->removeWidget(widget);
//wpGlobalViews.remove(cur);
//}
//}
//}
//// then add/update the views for each waypoint in the list
//for(int i = 0; i < waypoints.size(); i++)
//{
//Waypoint *wp = waypoints[i];
//if (!wpGlobalViews.contains(wp))
//{
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//wpGlobalViews.insert(wp, wpview);
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//}
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//wpgv->updateValues();
//listLayout->addWidget(wpgv);
//}
//}
//else
// Prevent updates to prevent visual flicker
this->setUpdatesEnabled(false);
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
// For Global Waypoints
//if(isGlobalWP)
//{
//isLocalWP = false;
//// first remove all views of non existing waypoints
//if (!wpGlobalViews.empty())
//{
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//viewIt.toFront();
//while(viewIt.hasNext())
//{
//viewIt.next();
//Waypoint *cur = viewIt.key();
//int i;
//for (i = 0; i < waypoints.size(); i++)
//{
//if (waypoints[i] == cur)
//{
//break;
//}
//}
//if (i == waypoints.size())
//{
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//widget->hide();
//listLayout->removeWidget(widget);
//wpGlobalViews.remove(cur);
//}
//}
//}
//// then add/update the views for each waypoint in the list
//for(int i = 0; i < waypoints.size(); i++)
//{
//Waypoint *wp = waypoints[i];
//if (!wpGlobalViews.contains(wp))
//{
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//wpGlobalViews.insert(wp, wpview);
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//}
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//wpgv->updateValues();
//listLayout->addWidget(wpgv);
//}
//}
//else
//{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
viewIt.toFront();
while(viewIt.hasNext())
{
QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
viewIt.toFront();
while(viewIt.hasNext())
viewIt.next();
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
{
viewIt.next();
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
if (waypoints[i] == cur)
{
if (waypoints[i] == cur)
{
break;
}
}
if (i == waypoints.size())
{
WaypointView* widget = wpViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpViews.remove(cur);
break;
}
}
if (i == waypoints.size())
{
WaypointView* widget = wpViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpViews.remove(cur);
}
}
}
// then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
// then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
{
Waypoint *wp = waypoints[i];
if (!wpViews.contains(wp))
{
Waypoint *wp = waypoints[i];
if (!wpViews.contains(wp))
{
WaypointView* wpview = new WaypointView(wp, this);
wpViews.insert(wp, wpview);
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(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointView* wpview = new WaypointView(wp, this);
wpViews.insert(wp, wpview);
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(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointView *wpv = wpViews.value(wp);
wpv->updateValues(); // update the values of the ui elements in the view
listLayout->addWidget(wpv);
}
}
loadFileGlobalWP = false;
this->setUpdatesEnabled(true);
}
loadFileGlobalWP = false;
//}
}
void WaypointList::moveUp(Waypoint* wp)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//get the current position of wp in the local storage
int i;
......@@ -427,7 +428,7 @@ void WaypointList::moveUp(Waypoint* wp)
// if wp was found and its not the first entry, move it
if (i < waypoints.size() && i > 0)
{
uas->getWaypointManager().moveWaypoint(i, i-1);
uas->getWaypointManager()->moveWaypoint(i, i-1);
}
}
}
......@@ -436,7 +437,7 @@ void WaypointList::moveDown(Waypoint* wp)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//get the current position of wp in the local storage
int i;
......@@ -449,7 +450,7 @@ void WaypointList::moveDown(Waypoint* wp)
// if wp was found and its not the last entry, move it
if (i < waypoints.size()-1)
{
uas->getWaypointManager().moveWaypoint(i, i+1);
uas->getWaypointManager()->moveWaypoint(i, i+1);
}
}
}
......@@ -458,7 +459,7 @@ void WaypointList::removeWaypoint(Waypoint* wp)
{
if (uas)
{
uas->getWaypointManager().removeWaypoint(wp->getId());
uas->getWaypointManager()->removeWaypoint(wp->getId());
}
}
......@@ -482,7 +483,7 @@ void WaypointList::on_clearWPListButton_clicked()
if (uas)
{
emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
......@@ -503,17 +504,17 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
......@@ -527,7 +528,7 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *temp = waypoints.at(indexWP);
......@@ -560,7 +561,7 @@ void WaypointList::clearWPWidget()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
......
src/ui/WaypointView.ui
View file @ e9637d5a
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1389</width>
<height>33</height>
<height>39</height>
</rect>
</property>
<property name="sizePolicy">
......@@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar {
<string>m</string>
</property>
<property name="decimals">
<number>7</number>
<number>2</number>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
......
src/ui/linechart/LinechartWidget.cc
View file @ e9637d5a
......@@ -483,7 +483,7 @@ void LinechartWidget::startLogging()
fileName.append(".csv");
}
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort)
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort && fileName != "")
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
......
src/ui/map/MAV2DIcon.cc
View file @ e9637d5a
......@@ -46,50 +46,50 @@ void MAV2DIcon::setYaw(float yaw)
void MAV2DIcon::drawIcon(QPen* pen)
{
// mypixmap = new QPixmap(radius+1, radius+1);
// mypixmap->fill(Qt::transparent);
// QPainter painter(mypixmap);
mypixmap = new QPixmap(radius+1, radius+1);
mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
// // DRAW WAYPOINT
// QPointF p(radius/2, radius/2);
// DRAW WAYPOINT
QPointF p(radius/2, radius/2);
// float waypointSize = radius;
// QPolygonF poly(4);
// // Top point
// poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
// // Right point
// poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
// // Bottom point
// poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
// poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
float waypointSize = radius;
QPolygonF poly(4);
// Top point
poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
// Bottom point
poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
//// // Select color based on if this is the current waypoint
//// if (list.at(i)->getCurrent())
//// {
//// color = QGC::colorCyan;//uas->getColor();
//// pen.setWidthF(refLineWidthToPen(0.8f));
//// }
//// else
//// {
//// color = uas->getColor();
//// pen.setWidthF(refLineWidthToPen(0.4f));
//// }
// //pen.setColor(color);
// if (pen)
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// pen->setWidthF(2);
// painter.setPen(*pen);
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// QPen pen2(Qt::red);
// pen2.setWidth(2);
// painter.setPen(pen2);
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
// painter.setBrush(Qt::NoBrush);
// float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
// painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
// painter.drawPolygon(poly);
//pen.setColor(color);
if (pen)
{
pen->setWidthF(2);
painter.setPen(*pen);
}
else
{
QPen pen2(Qt::red);
pen2.setWidth(2);
painter.setPen(pen2);
}
painter.setBrush(Qt::NoBrush);
float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
painter.drawPolygon(poly);
}
src/ui/map3D/Pixhawk3DWidget.cc
View file @ e9637d5a
......@@ -308,7 +308,7 @@ Pixhawk3DWidget::insertWaypoint(void)
if (wp)
{
wp->setFrame(frame);
uas->getWaypointManager().addWaypoint(wp);
uas->getWaypointManager()->addWaypoint(wp);
}
}
}
......@@ -325,7 +325,7 @@ Pixhawk3DWidget::setWaypoint(void)
if (uas)
{
const QVector<Waypoint *> waypoints =
uas->getWaypointManager().getWaypointList();
uas->getWaypointManager()->getWaypointList();
Waypoint* waypoint = waypoints.at(selectedWpIndex);
if (frame == MAV_FRAME_GLOBAL)
......@@ -366,7 +366,7 @@ Pixhawk3DWidget::deleteWaypoint(void)
{
if (uas)
{
uas->getWaypointManager().removeWaypoint(selectedWpIndex);
uas->getWaypointManager()->removeWaypoint(selectedWpIndex);
}
}
......@@ -377,7 +377,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
{
bool ok;
const QVector<Waypoint *> waypoints =
uas->getWaypointManager().getWaypointList();
uas->getWaypointManager()->getWaypointList();
Waypoint* waypoint = waypoints.at(selectedWpIndex);
double altitude = waypoint->getZ();
......@@ -409,10 +409,10 @@ Pixhawk3DWidget::clearAllWaypoints(void)
if (uas)
{
const QVector<Waypoint *> waypoints =
uas->getWaypointManager().getWaypointList();
uas->getWaypointManager()->getWaypointList();
for (int i = waypoints.size() - 1; i >= 0; --i)
{
uas->getWaypointManager().removeWaypoint(i);
uas->getWaypointManager()->removeWaypoint(i);
}
}
}
......
src/ui/map3D/WaypointGroupNode.cc
View file @ e9637d5a
......@@ -78,7 +78,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
removeChild(0, getNumChildren());
}
const QVector<Waypoint *>& list = uas->getWaypointManager().getWaypointList();
const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointList();
for (int i = 0; i < list.size(); i++)
{
......
src/ui/uas/UASView.cc
View file @ e9637d5a
......@@ -83,7 +83,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
connect(uas, SIGNAL(heartbeatTimeout()), this, SLOT(heartbeatTimeout()));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
connect(UASManager::instance(), SIGNAL(activeUASStatusChanged(UASInterface*,bool)), this, SLOT(updateActiveUAS(UASInterface*,bool)));
......
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