#include #include "WaypointViewViewOnly.h" #include "ui_WaypointViewViewOnly.h" WaypointViewViewOnly::WaypointViewViewOnly(Waypoint* wp, QWidget *parent) : QWidget(parent), m_ui(new Ui::WaypointViewViewOnly) { m_ui->setupUi(this); this->wp = wp; updateValues(); connect(m_ui->current, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int))); connect(m_ui->autoContinue, SIGNAL(stateChanged(int)),this, SLOT(changedAutoContinue(int))); } void WaypointViewViewOnly::changedAutoContinue(int state) { bool new_value = false; if (state != 0) { new_value = true; } m_ui->autoContinue->blockSignals(true); m_ui->autoContinue->setChecked(state); m_ui->autoContinue->blockSignals(false); wp->setAutocontinue(new_value); emit changeAutoContinue(wp->getId(),new_value); } void WaypointViewViewOnly::changedCurrent(int state) { qDebug() << "Trof: WaypointViewViewOnly::changedCurrent(" << state << ") ID:" << wp->getId(); if (state == 0) { if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current { m_ui->current->setChecked(true); m_ui->current->setCheckState(Qt::Checked); } else { m_ui->current->setChecked(false); m_ui->current->setCheckState(Qt::Unchecked); wp->setCurrent(false); } } else { wp->setCurrent(true); emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false } } void WaypointViewViewOnly::setCurrent(bool state) { m_ui->current->blockSignals(true); m_ui->current->setChecked(state); m_ui->current->blockSignals(false); } void WaypointViewViewOnly::updateValues() { qDebug() << "Trof: WaypointViewViewOnly::updateValues() ID:" << wp->getId(); // Check if we just lost the wp, delete the widget // accordingly if (!wp) { deleteLater(); return; } // Deactivate signals from the WP wp->blockSignals(true); // update frame m_ui->idLabel->setText(QString("%1").arg(wp->getId())); if (m_ui->current->isChecked() != wp->getCurrent()) { m_ui->current->setChecked(wp->getCurrent()); } if (m_ui->autoContinue->isChecked() != wp->getAutoContinue()) { m_ui->autoContinue->setChecked(wp->getAutoContinue()); } switch (wp->getAction()) { case MAV_CMD_NAV_WAYPOINT: { if (wp->getParam1()>0) { m_ui->displayBar->setText(QString("Go to (%1, %2, %3) and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); } else { m_ui->displayBar->setText(QString("Go to (%1, %2, %3); yaw: %4; rad: %5").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()).arg(wp->getParam2())); } break; } case MAV_CMD_NAV_LAND: { m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4())); break; } case MAV_CMD_NAV_TAKEOFF: { m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4())); break; } case MAV_CMD_DO_JUMP: { if (wp->getParam2()>0) { m_ui->displayBar->setText(QString("Jump to waypoint %1. Jumps left: %2").arg(wp->getParam1()).arg(wp->getParam2())); } else { m_ui->displayBar->setText(QString("No jumps left. Proceed to next waypoint.")); } break; } case MAV_CMD_CONDITION_DELAY: { m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1())); break; } case 237: //MAV_CMD_DO_START_SEARCH { m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2())); break; } case 238: //MAV_CMD_DO_FINISH_SEARCH { m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2. Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3())); break; } case 240: //MAV_CMD_DO_SWEEP { m_ui->displayBar->setText(QString("Sweep. Corners: (%1,%2) and (%3,%4); z: %5; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1())); break; } default: { m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7())); break; } } wp->blockSignals(false); } WaypointViewViewOnly::~WaypointViewViewOnly() { delete m_ui; }