Merge branch 'next' into LP-295_OP-1900_fixedwingautotakeoff_rebasenext

ground/gcs/src/plugins/uavobjectbrowser/browseritemdelegate.cpp

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       browseritemdelegate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVObjectBrowserPlugin UAVObject Browser Plugin
@@ -34,20 +35,19 @@ BrowserItemDelegate::BrowserItemDelegate(QObject *parent) :
 
 QWidget *BrowserItemDelegate::createEditor(QWidget *parent,
                                            const QStyleOptionViewItem & option,
-                                           const QModelIndex & index) const
+                                           const QModelIndex &index) const
 {
     Q_UNUSED(option)
-    FieldTreeItem * item = static_cast<FieldTreeItem *>(index.internalPointer());
+    FieldTreeItem * item = static_cast<FieldTreeItem *>(index.data(Qt::UserRole).value<void *>());
     QWidget *editor = item->createEditor(parent);
     Q_ASSERT(editor);
     return editor;
 }
 
-
 void BrowserItemDelegate::setEditorData(QWidget *editor,
                                         const QModelIndex &index) const
 {
-    FieldTreeItem *item = static_cast<FieldTreeItem *>(index.internalPointer());
+    FieldTreeItem *item = static_cast<FieldTreeItem *>(index.data(Qt::UserRole).value<void *>());
     QVariant value = index.model()->data(index, Qt::EditRole);
 
     item->setEditorValue(editor, value);
@@ -56,15 +56,18 @@ void BrowserItemDelegate::setEditorData(QWidget *editor,
 void BrowserItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
                                        const QModelIndex &index) const
 {
-    FieldTreeItem *item = static_cast<FieldTreeItem *>(index.internalPointer());
+    FieldTreeItem *item = static_cast<FieldTreeItem *>(index.data(Qt::UserRole).value<void *>());
     QVariant value = item->getEditorValue(editor);
 
-    model->setData(index, value, Qt::EditRole);
+    bool ret = model->setData(index, value, Qt::EditRole);
+
+    Q_ASSERT(ret);
 }
 
 void BrowserItemDelegate::updateEditorGeometry(QWidget *editor,
-                                               const QStyleOptionViewItem &option, const QModelIndex & /* index */) const
+                                               const QStyleOptionViewItem &option, const QModelIndex &index) const
 {
+    Q_UNUSED(index);
     editor->setGeometry(option.rect);
 }
 

ground/gcs/src/plugins/uavobjectbrowser/browseritemdelegate.h

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       browseritemdelegate.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVObjectBrowserPlugin UAVObject Browser Plugin
@@ -46,11 +47,6 @@ public:
                               const QStyleOptionViewItem &option, const QModelIndex &index) const;
     QSize sizeHint(const QStyleOptionViewItem & option,
                    const QModelIndex &index) const;
-
-
-signals:
-
-public slots:
 };
 
 #endif // BROWSERITEMDELEGATE_H

ground/gcs/src/plugins/uavobjectbrowser/treeitem.h

@@ -259,7 +259,7 @@ public:
 
     DataObjectTreeItem *findDataObjectTreeItemByObjectId(quint32 objectId)
     {
-        return m_objectTreeItemsPerObjectIds.contains(objectId) ? m_objectTreeItemsPerObjectIds[objectId] : 0;
+        return m_objectTreeItemsPerObjectIds.value(objectId, 0);
     }
 
     void addMetaObjectTreeItem(quint32 objectId, MetaObjectTreeItem *oti)
@@ -269,7 +269,7 @@ public:
 
     MetaObjectTreeItem *findMetaObjectTreeItemByObjectId(quint32 objectId)
     {
-        return m_metaObjectTreeItemsPerObjectIds.contains(objectId) ? m_metaObjectTreeItemsPerObjectIds[objectId] : 0;
+        return m_metaObjectTreeItemsPerObjectIds.value(objectId, 0);
     }
 
     QList<MetaObjectTreeItem *> getMetaObjectItems();

ground/gcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui

@@ -204,6 +204,40 @@
        </property>
       </widget>
      </item>
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>10</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="searchLine">
+       <property name="placeholderText">
+        <string>type filter text</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="searchClearButton">
+       <property name="text">
+        <string>Clear</string>
+       </property>
+       <property name="icon">
+        <iconset theme="fileclose">
+         <normaloff>.</normaloff>.</iconset>
+       </property>
+      </widget>
+     </item>
      <item>
       <spacer name="horizontalSpacer_3">
        <property name="orientation">
@@ -273,6 +307,7 @@
           <string>This space shows a description of the selected UAVObject.</string>
          </property>
         </widget>
+        <widget class="QLineEdit" name="lineEdit"/>
        </widget>
       </item>
      </layout>

ground/gcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp

@@ -2,7 +2,9 @@
  ******************************************************************************
  *
  * @file       uavobjectbrowserwidget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             Tau Labs, http://taulabs.org, Copyright (C) 2013
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVObjectBrowserPlugin UAVObject Browser Plugin
@@ -43,39 +45,54 @@
 
 UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent)
 {
-    m_browser     = new Ui_UAVObjectBrowser();
-    m_viewoptions = new Ui_viewoptions();
     m_viewoptionsDialog = new QDialog(this);
+
+    m_viewoptions = new Ui_viewoptions();
     m_viewoptions->setupUi(m_viewoptionsDialog);
+
+    m_model = new UAVObjectTreeModel(this);
+
+    m_modelProxy = new TreeSortFilterProxyModel(this);
+    m_modelProxy->setSourceModel(m_model);
+    m_modelProxy->setDynamicSortFilter(true);
+
+    m_browser = new Ui_UAVObjectBrowser();
     m_browser->setupUi(this);
-    m_model = new UAVObjectTreeModel();
+    m_browser->treeView->setModel(m_modelProxy);
-    m_browser->treeView->setModel(m_model);
     m_browser->treeView->setColumnWidth(0, 300);
 
-    BrowserItemDelegate *m_delegate = new BrowserItemDelegate();
+    m_browser->treeView->setItemDelegate(new BrowserItemDelegate());
-    m_browser->treeView->setItemDelegate(m_delegate);
     m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
     m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
+
     m_mustacheTemplate = loadFileIntoString(QString(":/uavobjectbrowser/resources/uavodescription.mustache"));
+
     showMetaData(m_viewoptions->cbMetaData->isChecked());
     showDescription(m_viewoptions->cbDescription->isChecked());
+
     connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)),
             this, SLOT(currentChanged(QModelIndex, QModelIndex)), Qt::UniqueConnection);
-    connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
-    connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(categorize(bool)));
-    connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(showDescription(bool)));
     connect(m_browser->saveSDButton, SIGNAL(clicked()), this, SLOT(saveObject()));
     connect(m_browser->readSDButton, SIGNAL(clicked()), this, SLOT(loadObject()));
-    connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
     connect(m_browser->sendButton, SIGNAL(clicked()), this, SLOT(sendUpdate()));
     connect(m_browser->requestButton, SIGNAL(clicked()), this, SLOT(requestUpdate()));
+    connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
     connect(m_browser->tbView, SIGNAL(clicked()), this, SLOT(viewSlot()));
+    connect(m_browser->splitter, SIGNAL(splitterMoved(int, int)), this, SLOT(splitterMoved()));
+
+    connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
+    connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(categorize(bool)));
+    connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(showDescription(bool)));
+    connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
     connect(m_viewoptions->cbScientific, SIGNAL(toggled(bool)), this, SLOT(useScientificNotation(bool)));
     connect(m_viewoptions->cbScientific, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
-    connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+
-    connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    // search field and button
-    connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_browser->searchLine, SIGNAL(textChanged(QString)), this, SLOT(searchLineChanged(QString)));
-    connect(m_browser->splitter, SIGNAL(splitterMoved(int, int)), this, SLOT(splitterMoved()));
+    connect(m_browser->searchClearButton, SIGNAL(clicked(bool)), this, SLOT(searchTextCleared()));
+
     enableSendRequest(false);
 }
 
@@ -99,9 +116,12 @@ void UAVObjectBrowserWidget::setSplitterState(QByteArray state)
 
 void UAVObjectBrowserWidget::showMetaData(bool show)
 {
+    // TODO update the model directly instead of hiding rows...
     QList<QModelIndex> metaIndexes = m_model->getMetaDataIndexes();
-    foreach(QModelIndex index, metaIndexes) {
+    foreach(QModelIndex modelIndex, metaIndexes) {
-        m_browser->treeView->setRowHidden(index.row(), index.parent(), !show);
+        QModelIndex proxyModelIndex = m_modelProxy->mapFromSource(modelIndex);
+
+        m_browser->treeView->setRowHidden(proxyModelIndex.row(), proxyModelIndex.parent(), !show);
     }
 }
 
@@ -112,62 +132,82 @@ void UAVObjectBrowserWidget::showDescription(bool show)
 
 void UAVObjectBrowserWidget::categorize(bool categorize)
 {
+    // TODO we should update the model instead of rebuilding it
+    // a side effect of rebuilding is that some state is lost (expand state, ...)
+    UAVObjectTreeModel *model = new UAVObjectTreeModel(0, categorize, m_viewoptions->cbScientific->isChecked());
+
+    model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
+    model->setManuallyChangedColor(m_manuallyChangedColor);
+    model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
+    model->setOnlyHilightChangedValues(m_onlyHilightChangedValues);
+    model->setUnknowObjectColor(m_unknownObjectColor);
+
     UAVObjectTreeModel *tmpModel = m_model;
-
+    m_model = model;
-    m_model = new UAVObjectTreeModel(0, categorize, m_viewoptions->cbScientific->isChecked());
+    m_modelProxy->setSourceModel(m_model);
-    m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
-    m_model->setManuallyChangedColor(m_manuallyChangedColor);
-    m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
-    m_model->setOnlyHilightChangedValues(m_onlyHilightChangedValues);
-    m_model->setUnknowObjectColor(m_unknownObjectColor);
-    m_browser->treeView->setModel(m_model);
-    showMetaData(m_viewoptions->cbMetaData->isChecked());
-    connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)), this, SLOT(currentChanged(QModelIndex, QModelIndex)), Qt::UniqueConnection);
-
     delete tmpModel;
+
+    showMetaData(m_viewoptions->cbMetaData->isChecked());
+
+    // force an expand all if search text is not empty
+    if (!m_browser->searchLine->text().isEmpty()) {
+        searchLineChanged(m_browser->searchLine->text());
+    }
 }
 
 void UAVObjectBrowserWidget::useScientificNotation(bool scientific)
 {
+    // TODO we should update the model instead of rebuilding it
+    // a side effect of rebuilding is that some state is lost (expand state, ...)
+    UAVObjectTreeModel *model = new UAVObjectTreeModel(0, m_viewoptions->cbCategorized->isChecked(), scientific);
+
+    model->setManuallyChangedColor(m_manuallyChangedColor);
+    model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
+    model->setUnknowObjectColor(m_unknownObjectColor);
+
     UAVObjectTreeModel *tmpModel = m_model;
-
+    m_model = model;
-    m_model = new UAVObjectTreeModel(0, m_viewoptions->cbCategorized->isChecked(), scientific);
+    m_modelProxy->setSourceModel(m_model);
-    m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
-    m_model->setManuallyChangedColor(m_manuallyChangedColor);
-    m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
-    m_model->setUnknowObjectColor(m_unknownObjectColor);
-    m_browser->treeView->setModel(m_model);
-    showMetaData(m_viewoptions->cbMetaData->isChecked());
-    connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)), this, SLOT(currentChanged(QModelIndex, QModelIndex)), Qt::UniqueConnection);
-
     delete tmpModel;
+
+    showMetaData(m_viewoptions->cbMetaData->isChecked());
+
+    // force an expand all if search text is not empty
+    if (!m_browser->searchLine->text().isEmpty()) {
+        searchLineChanged(m_browser->searchLine->text());
+    }
 }
 
 void UAVObjectBrowserWidget::sendUpdate()
 {
+    // TODO why steal focus ?
     this->setFocus();
+
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
-    Q_ASSERT(objItem);
+
-    objItem->apply();
+    if (objItem != NULL) {
-    UAVObject *obj = objItem->object();
+        objItem->apply();
-    Q_ASSERT(obj);
+        UAVObject *obj = objItem->object();
-    obj->updated();
+        Q_ASSERT(obj);
+        obj->updated();
+    }
 }
 
 void UAVObjectBrowserWidget::requestUpdate()
 {
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
 
-    Q_ASSERT(objItem);
+    if (objItem != NULL) {
-    UAVObject *obj = objItem->object();
+        UAVObject *obj = objItem->object();
-    Q_ASSERT(obj);
+        Q_ASSERT(obj);
-    obj->requestUpdate();
+        obj->requestUpdate();
+    }
 }
 
 ObjectTreeItem *UAVObjectBrowserWidget::findCurrentObjectTreeItem()
 {
     QModelIndex current     = m_browser->treeView->currentIndex();
-    TreeItem *item = static_cast<TreeItem *>(current.internalPointer());
+    TreeItem *item = static_cast<TreeItem *>(current.data(Qt::UserRole).value<void *>());
     ObjectTreeItem *objItem = 0;
 
     while (item) {
@@ -193,15 +233,20 @@ QString UAVObjectBrowserWidget::loadFileIntoString(QString fileName)
 
 void UAVObjectBrowserWidget::saveObject()
 {
+    // TODO why steal focus ?
     this->setFocus();
+
     // Send update so that the latest value is saved
     sendUpdate();
+
     // Save object
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
-    Q_ASSERT(objItem);
+
-    UAVObject *obj = objItem->object();
+    if (objItem != NULL) {
-    Q_ASSERT(obj);
+        UAVObject *obj = objItem->object();
-    updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
+        Q_ASSERT(obj);
+        updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
+    }
 }
 
 void UAVObjectBrowserWidget::loadObject()
@@ -209,22 +254,24 @@ void UAVObjectBrowserWidget::loadObject()
     // Load object
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
 
-    Q_ASSERT(objItem);
+    if (objItem != NULL) {
-    UAVObject *obj = objItem->object();
+        UAVObject *obj = objItem->object();
-    Q_ASSERT(obj);
+        Q_ASSERT(obj);
-    updateObjectPersistance(ObjectPersistence::OPERATION_LOAD, obj);
+        updateObjectPersistance(ObjectPersistence::OPERATION_LOAD, obj);
-    // Retrieve object so that latest value is displayed
+        // Retrieve object so that latest value is displayed
-    requestUpdate();
+        requestUpdate();
+    }
 }
 
 void UAVObjectBrowserWidget::eraseObject()
 {
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
 
-    Q_ASSERT(objItem);
+    if (objItem != NULL) {
-    UAVObject *obj = objItem->object();
+        UAVObject *obj = objItem->object();
-    Q_ASSERT(obj);
+        Q_ASSERT(obj);
-    updateObjectPersistance(ObjectPersistence::OPERATION_DELETE, obj);
+        updateObjectPersistance(ObjectPersistence::OPERATION_DELETE, obj);
+    }
 }
 
 void UAVObjectBrowserWidget::updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj)
@@ -248,9 +295,9 @@ void UAVObjectBrowserWidget::currentChanged(const QModelIndex &current, const QM
 {
     Q_UNUSED(previous);
 
-    TreeItem *item = static_cast<TreeItem *>(current.internalPointer());
+    TreeItem *item = static_cast<TreeItem *>(current.data(Qt::UserRole).value<void *>());
     bool enable    = true;
-    if (current == QModelIndex()) {
+    if (!current.isValid()) {
         enable = false;
     }
     TopTreeItem *top     = dynamic_cast<TopTreeItem *>(item);
@@ -388,3 +435,94 @@ void UAVObjectBrowserWidget::updateDescription()
     }
     m_browser->descriptionText->setText("");
 }
+
+/**
+ * @brief UAVObjectBrowserWidget::searchTextChanged Looks for matching text in the UAVO fields
+ */
+
+void UAVObjectBrowserWidget::searchLineChanged(QString searchText)
+{
+    m_modelProxy->setFilterRegExp(QRegExp(searchText, Qt::CaseInsensitive, QRegExp::FixedString));
+    if (!searchText.isEmpty()) {
+        m_browser->treeView->expandAll();
+    } else {
+        m_browser->treeView->collapseAll();
+    }
+}
+
+void UAVObjectBrowserWidget::searchTextCleared()
+{
+    m_browser->searchLine->clear();
+}
+
+TreeSortFilterProxyModel::TreeSortFilterProxyModel(QObject *p) :
+    QSortFilterProxyModel(p)
+{
+    Q_ASSERT(p);
+}
+
+/**
+ * @brief TreeSortFilterProxyModel::filterAcceptsRow  Taken from
+ * http://qt-project.org/forums/viewthread/7782. This proxy model
+ * will accept rows:
+ *   - That match themselves, or
+ *   - That have a parent that matches (on its own), or
+ *   - That have a child that matches.
+ * @param sourceRow
+ * @param sourceParent
+ * @return
+ */
+bool TreeSortFilterProxyModel::filterAcceptsRow(int source_row, const QModelIndex &source_parent) const
+{
+    if (filterAcceptsRowItself(source_row, source_parent)) {
+        return true;
+    }
+
+    // accept if any of the parents is accepted on it's own merits
+    QModelIndex parent = source_parent;
+    while (parent.isValid()) {
+        if (filterAcceptsRowItself(parent.row(), parent.parent())) {
+            return true;
+        }
+        parent = parent.parent();
+    }
+
+    // accept if any of the children is accepted on it's own merits
+    if (hasAcceptedChildren(source_row, source_parent)) {
+        return true;
+    }
+
+    return false;
+}
+
+bool TreeSortFilterProxyModel::filterAcceptsRowItself(int source_row, const QModelIndex &source_parent) const
+{
+    return QSortFilterProxyModel::filterAcceptsRow(source_row, source_parent);
+}
+
+bool TreeSortFilterProxyModel::hasAcceptedChildren(int source_row, const QModelIndex &source_parent) const
+{
+    QModelIndex item = sourceModel()->index(source_row, 0, source_parent);
+
+    if (!item.isValid()) {
+        return false;
+    }
+
+    // check if there are children
+    int childCount = item.model()->rowCount(item);
+    if (childCount == 0) {
+        return false;
+    }
+
+    for (int i = 0; i < childCount; ++i) {
+        if (filterAcceptsRowItself(i, item)) {
+            return true;
+        }
+
+        if (hasAcceptedChildren(i, item)) {
+            return true;
+        }
+    }
+
+    return false;
+}

ground/gcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h

@@ -2,7 +2,9 @@
  ******************************************************************************
  *
  * @file       uavobjectbrowserwidget.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             Tau Labs, http://taulabs.org, Copyright (C) 2013
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVObjectBrowserPlugin UAVObject Browser Plugin
@@ -28,16 +30,30 @@
 #ifndef UAVOBJECTBROWSERWIDGET_H_
 #define UAVOBJECTBROWSERWIDGET_H_
 
+#include "uavobjecttreemodel.h"
+
+#include "objectpersistence.h"
+
 #include <QWidget>
 #include <QTreeView>
-#include "objectpersistence.h"
+#include <QKeyEvent>
-#include "uavobjecttreemodel.h"
+#include <QSortFilterProxyModel>
 
 class QPushButton;
 class ObjectTreeItem;
 class Ui_UAVObjectBrowser;
 class Ui_viewoptions;
 
+class TreeSortFilterProxyModel : public QSortFilterProxyModel {
+public:
+    TreeSortFilterProxyModel(QObject *parent);
+
+protected:
+    bool filterAcceptsRow(int source_row, const QModelIndex &source_parent) const;
+    bool filterAcceptsRowItself(int source_row, const QModelIndex &source_parent) const;
+    bool hasAcceptedChildren(int source_row, const QModelIndex &source_parent) const;
+};
+
 class UAVObjectBrowserWidget : public QWidget {
     Q_OBJECT
 
@@ -72,6 +88,7 @@ public:
     }
     void setViewOptions(bool categorized, bool scientific, bool metadata, bool description);
     void setSplitterState(QByteArray state);
+
 public slots:
     void showMetaData(bool show);
     void showDescription(bool show);
@@ -87,18 +104,21 @@ private slots:
     void currentChanged(const QModelIndex &current, const QModelIndex &previous);
     void viewSlot();
     void viewOptionsChangedSlot();
+    void searchLineChanged(QString searchText);
+    void searchTextCleared();
     void splitterMoved();
     QString createObjectDescription(UAVObject *object);
+
 signals:
     void viewOptionsChanged(bool categorized, bool scientific, bool metadata, bool description);
     void splitterChanged(QByteArray state);
+
 private:
-    QPushButton *m_requestUpdate;
-    QPushButton *m_sendUpdate;
     Ui_UAVObjectBrowser *m_browser;
     Ui_viewoptions *m_viewoptions;
     QDialog *m_viewoptionsDialog;
     UAVObjectTreeModel *m_model;
+    TreeSortFilterProxyModel *m_modelProxy;
 
     int m_recentlyUpdatedTimeout;
     QColor m_unknownObjectColor;

ground/gcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp

@@ -68,20 +68,23 @@ UAVObjectTreeModel::~UAVObjectTreeModel()
 
 void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
 {
+    m_settingsTree = new TopTreeItem(tr("Settings"));
+    m_settingsTree->setHighlightManager(m_highlightManager);
+    connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
+
+    m_nonSettingsTree = new TopTreeItem(tr("Data Objects"));
+    m_nonSettingsTree->setHighlightManager(m_highlightManager);
+    connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
+
     // root
     QList<QVariant> rootData;
     rootData << tr("Property") << tr("Value") << tr("Unit");
-    m_rootItem        = new TreeItem(rootData);
+    m_rootItem = new TreeItem(rootData);
-
-    m_settingsTree    = new TopTreeItem(tr("Settings"), m_rootItem);
-    m_settingsTree->setHighlightManager(m_highlightManager);
-    m_rootItem->appendChild(m_settingsTree);
-    m_nonSettingsTree = new TopTreeItem(tr("Data Objects"), m_rootItem);
-    m_nonSettingsTree->setHighlightManager(m_highlightManager);
-    m_rootItem->appendChild(m_nonSettingsTree);
     m_rootItem->setHighlightManager(m_highlightManager);
-    connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
+
-    connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
+    // tree item takes ownership of its children
+    m_rootItem->appendChild(m_settingsTree);
+    m_rootItem->appendChild(m_nonSettingsTree);
 
     QList< QList<UAVDataObject *> > objList = objManager->getDataObjects();
     foreach(QList<UAVDataObject *> list, objList) {
@@ -258,8 +261,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
     parent->appendChild(item);
 }
 
-QModelIndex UAVObjectTreeModel::index(int row, int column, const QModelIndex &parent)
+QModelIndex UAVObjectTreeModel::index(int row, int column, const QModelIndex &parent) const
-const
 {
     if (!hasIndex(row, column, parent)) {
         return QModelIndex();
@@ -306,10 +308,11 @@ QModelIndex UAVObjectTreeModel::parent(const QModelIndex &index) const
         return QModelIndex();
     }
 
-    TreeItem *childItem  = static_cast<TreeItem *>(index.internalPointer());
+    TreeItem *item = static_cast<TreeItem *>(index.internalPointer());
-    TreeItem *parentItem = childItem->parent();
 
-    if (parentItem == m_rootItem) {
+    TreeItem *parentItem = item->parent();
+    if (!parentItem) {
+        // item is root has no parent...
         return QModelIndex();
     }
 
@@ -363,50 +366,56 @@ QVariant UAVObjectTreeModel::data(const QModelIndex &index, int role) const
 
     TreeItem *item = static_cast<TreeItem *>(index.internalPointer());
 
-    if (index.column() == TreeItem::DATA_COLUMN && role == Qt::EditRole) {
+    switch (role) {
+    case Qt::DisplayRole:
+        if (index.column() == TreeItem::DATA_COLUMN) {
+            EnumFieldTreeItem *fieldItem = dynamic_cast<EnumFieldTreeItem *>(item);
+            if (fieldItem) {
+                int enumIndex = fieldItem->data(index.column()).toInt();
+                return fieldItem->enumOptions(enumIndex);
+            }
+        }
         return item->data(index.column());
-    }
 
-    if (role == Qt::ToolTipRole) {
+    case Qt::EditRole:
+        if (index.column() == TreeItem::DATA_COLUMN) {
+            return item->data(index.column());
+        }
+        return QVariant();
+
+    case Qt::ToolTipRole:
         return item->description();
-    }
 
-    if (role == Qt::ForegroundRole) {
+    case Qt::ForegroundRole:
         if (!dynamic_cast<TopTreeItem *>(item) && !item->isKnown()) {
-            return QVariant(m_unknownObjectColor);
+            return m_unknownObjectColor;
         }
-    }
+        return QVariant();
 
-    if (index.column() == 0 && role == Qt::BackgroundRole) {
+    case Qt::BackgroundRole:
-        if (!dynamic_cast<TopTreeItem *>(item) && item->highlighted()) {
+        if (index.column() == TreeItem::TITLE_COLUMN) {
-            return QVariant(m_recentlyUpdatedColor);
+            if (!dynamic_cast<TopTreeItem *>(item) && item->highlighted()) {
+                return m_recentlyUpdatedColor;
+            }
+        } else if (index.column() == TreeItem::DATA_COLUMN) {
+            FieldTreeItem *fieldItem = dynamic_cast<FieldTreeItem *>(item);
+            if (fieldItem && fieldItem->highlighted()) {
+                return m_recentlyUpdatedColor;
+            }
+            if (fieldItem && fieldItem->changed()) {
+                return m_manuallyChangedColor;
+            }
         }
-    }
+        return QVariant();
 
-    if (index.column() == TreeItem::DATA_COLUMN && role == Qt::BackgroundRole) {
+    case Qt::UserRole:
-        FieldTreeItem *fieldItem = dynamic_cast<FieldTreeItem *>(item);
+        // UserRole gives access to TreeItem
-        if (fieldItem && fieldItem->highlighted()) {
+        // cast to void* is necessary
-            return QVariant(m_recentlyUpdatedColor);
+        return qVariantFromValue((void *)item);
-        }
 
-        if (fieldItem && fieldItem->changed()) {
+    default:
-            return QVariant(m_manuallyChangedColor);
-        }
-    }
-
-    if (role != Qt::DisplayRole) {
         return QVariant();
     }
-
-    if (index.column() == TreeItem::DATA_COLUMN) {
-        EnumFieldTreeItem *fieldItem = dynamic_cast<EnumFieldTreeItem *>(item);
-        if (fieldItem) {
-            int enumIndex = fieldItem->data(index.column()).toInt();
-            return fieldItem->enumOptions(enumIndex);
-        }
-    }
-
-    return item->data(index.column());
 }
 
 bool UAVObjectTreeModel::setData(const QModelIndex &index, const QVariant & value, int role)