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Code Issues Releases Activity

GCS/MapLib - Several fixes, changes and enhancements.

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This commit is contained in:
PT_Dreamer 2012-06-06 20:51:04 +01:00
parent 08040ab5cf
commit 5da9efd673
20 changed files with 913 additions and 454 deletions
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19
ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.h
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@ -1 +1,20 @@
#ifndef OPMAP_CONTROL_H_
#define OPMAP_CONTROL_H_
#include "src/mapwidget/opmapwidget.h" #include "src/mapwidget/opmapwidget.h"
namespace mapcontrol
{
struct customData
{
float velocity;
int mode;
float mode_params[4];
int condition;
float condition_params[4];
int command;
int jumpdestination;
int errordestination;
};
}
Q_DECLARE_METATYPE(mapcontrol::customData)
#endif

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ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/images/waypoint_marker3.png Normal file
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3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
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@ -267,6 +267,7 @@ namespace mapcontrol
if(!selectedArea.IsEmpty() && event->modifiers() == Qt::ShiftModifier) if(!selectedArea.IsEmpty() && event->modifiers() == Qt::ShiftModifier)
{ {
SetZoomToFitRect(SelectedArea()); SetZoomToFitRect(SelectedArea());
selectedArea=internals::RectLatLng::Empty;
} }
} }
@ -276,6 +277,8 @@ namespace mapcontrol
{ {
if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier)) if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))
this->setCursor(Qt::CrossCursor); this->setCursor(Qt::CrossCursor);
if(event->key()==Qt::Key_Escape)
selectedArea=internals::RectLatLng::Empty;
QGraphicsItem::keyPressEvent(event); QGraphicsItem::keyPressEvent(event);
} }
void MapGraphicItem::keyReleaseEvent(QKeyEvent *event) void MapGraphicItem::keyReleaseEvent(QKeyEvent *event)

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
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@ -12,6 +12,9 @@
<file>images/mapquad.png</file> <file>images/mapquad.png</file>
<file>images/dragons1.jpg</file> <file>images/dragons1.jpg</file>
<file>images/dragons2.jpeg</file> <file>images/dragons2.jpeg</file>
<file>images/waypoint_marker1.png</file>
<file>images/waypoint_marker2.png</file>
<file>images/waypoint_marker3.png</file>
</qresource> </qresource>
<qresource prefix="/uavs"> <qresource prefix="/uavs">
<file>images/airplanepip.png</file> <file>images/airplanepip.png</file>

32
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
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@ -38,14 +38,17 @@ WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius,bool c
connect(radius,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations())); connect(radius,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted())); connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted())); connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
refreshLocations();
} }
WayPointCircle::WayPointCircle(HomeItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color):my_center(center), WayPointCircle::WayPointCircle(HomeItem *radius, WayPointItem *center, bool clockwise, MapGraphicItem *map, QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise) my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{ {
connect(center,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(refreshLocations())); connect(radius,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations())); connect(center,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted())); connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
refreshLocations();
} }
int WayPointCircle::type() const int WayPointCircle::type() const
@ -53,21 +56,13 @@ int WayPointCircle::type() const
// Enable the use of qgraphicsitem_cast with this item. // Enable the use of qgraphicsitem_cast with this item.
return Type; return Type;
} }
QPainterPath WayPointCircle::shape() const
{
QPainterPath path = QGraphicsEllipseItem::shape();
path.addPolygon(arrowHead);
return path;
}
void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget) void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{ {
QPointF p1; QPointF p1;
QPointF p2; QPointF p2;
p1=my_center->pos(); p1=QPointF(line.p1().x(),line.p1().y()+line.length());
p2=my_center->pos(); p2=QPointF(line.p1().x(),line.p1().y()-line.length());
QLineF line(my_radius->pos(),my_center->pos());
p1.ry()=p1.ry()+line.length();
p2.ry()=p2.ry()-line.length();
QPen myPen = pen(); QPen myPen = pen();
myPen.setColor(myColor); myPen.setColor(myColor);
qreal arrowSize = 10; qreal arrowSize = 10;
@ -75,10 +70,8 @@ void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
QBrush brush=painter->brush(); QBrush brush=painter->brush();
painter->setBrush(myColor); painter->setBrush(myColor);
double angle =0; double angle =0;
if(myClockWise) if(!myClockWise)
angle+=Pi; angle+=Pi;
if (line.dy() >= 0)
angle = (Pi) - angle;
QPointF arrowP1 = p1 + QPointF(sin(angle + Pi / 3) * arrowSize, QPointF arrowP1 = p1 + QPointF(sin(angle + Pi / 3) * arrowSize,
cos(angle + Pi / 3) * arrowSize); cos(angle + Pi / 3) * arrowSize);
@ -104,8 +97,9 @@ void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
void WayPointCircle::refreshLocations() void WayPointCircle::refreshLocations()
{ {
QLineF line(my_center->pos(),my_radius->pos()); line=QLineF(my_center->pos(),my_radius->pos());
this->setRect(my_center->pos().x(),my_center->pos().y(),2*line.length(),2*line.length()); this->setRect(my_center->pos().x(),my_center->pos().y(),2*line.length(),2*line.length());
this->update();
} }
void WayPointCircle::waypointdeleted() void WayPointCircle::waypointdeleted()

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.h
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@ -47,7 +47,6 @@ public:
WayPointCircle(WayPointItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green); WayPointCircle(WayPointItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green);
WayPointCircle(HomeItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green); WayPointCircle(HomeItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green);
int type() const; int type() const;
QPainterPath shape() const;
void setColor(const QColor &color) void setColor(const QColor &color)
{ myColor = color; } { myColor = color; }
private: private:
@ -57,6 +56,7 @@ private:
QPolygonF arrowHead; QPolygonF arrowHead;
QColor myColor; QColor myColor;
bool myClockWise; bool myClockWise;
QLineF line;
protected: protected:
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget); void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
public slots: public slots:

16
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
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@ -297,8 +297,10 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(fals
emit WPValuesChanged(this); emit WPValuesChanged(this);
if(value) if(value)
picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png")); picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png"));
else else if(this->flags() & QGraphicsItem::ItemIsMovable==QGraphicsItem::ItemIsMovable)
picture.load(QString::fromUtf8(":/markers/images/marker.png")); picture.load(QString::fromUtf8(":/markers/images/marker.png"));
else
picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
this->update(); this->update();
} }
@ -403,5 +405,17 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(fals
setToolTip(QString("Magic WayPoint\nCoordinate:%1\nFrom Home:%2\nAltitude:%3\nType:%4\n%5").arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString)); setToolTip(QString("Magic WayPoint\nCoordinate:%1\nFrom Home:%2\nAltitude:%3\nType:%4\n%5").arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
} }
void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
{
if(flag==QGraphicsItem::ItemIsMovable)
{
if(enabled)
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
else
picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
}
QGraphicsItem::setFlag(flag,enabled);
}
int WayPointItem::snumber=0; int WayPointItem::snumber=0;
} }

4
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h
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@ -155,10 +155,9 @@ public:
void RefreshPos(); void RefreshPos();
void RefreshToolTip(); void RefreshToolTip();
QPixmap picture; QPixmap picture;
QVariant customData(){return myCustomData;}
void setCustomData(QVariant arg){myCustomData=arg;}
QString customString(){return myCustomString;} QString customString(){return myCustomString;}
void setCustomString(QString arg){myCustomString=arg;} void setCustomString(QString arg){myCustomString=arg;}
void setFlag(GraphicsItemFlag flag, bool enabled);
~WayPointItem(); ~WayPointItem();
static int snumber; static int snumber;
@ -188,7 +187,6 @@ private:
QTransform transf; QTransform transf;
HomeItem * myHome; HomeItem * myHome;
wptype myType; wptype myType;
QVariant myCustomData;
QString myCustomString; QString myCustomString;
public slots: public slots:

2
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
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@ -34,11 +34,9 @@
#include "objectpersistence.h" #include "objectpersistence.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
//#include <QtWebKit/QWebView>
#include <QTextBrowser> #include <QTextBrowser>
#include "utils/pathutils.h" #include "utils/pathutils.h"
#include <QMessageBox> #include <QMessageBox>
//#include "fancytabwidget.h"
#include "utils/mytabbedstackwidget.h" #include "utils/mytabbedstackwidget.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"

2
ground/openpilotgcs/src/plugins/opmap/opmap.pro
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@ -1,6 +1,6 @@
QT += webkit network
TEMPLATE = lib TEMPLATE = lib
TARGET = OPMapGadget TARGET = OPMapGadget
include(../../openpilotgcsplugin.pri) include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri) include(../../plugins/coreplugin/coreplugin.pri)
include(../../libs/opmapcontrol/opmapcontrol.pri) include(../../libs/opmapcontrol/opmapcontrol.pri)

284
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
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@ -27,8 +27,15 @@
#include "opmap_edit_waypoint_dialog.h" #include "opmap_edit_waypoint_dialog.h"
#include "ui_opmap_edit_waypoint_dialog.h" #include "ui_opmap_edit_waypoint_dialog.h"
#include "opmapcontrol/opmapcontrol.h"
// ********************************************************************* // *********************************************************************
typedef enum { MODE_FLYENDPOINT=0, MODE_FLYVECTOR=1, MODE_FLYCIRCLERIGHT=2, MODE_FLYCIRCLELEFT=3,
MODE_DRIVEENDPOINT=4, MODE_DRIVEVECTOR=5, MODE_DRIVECIRCLELEFT=6, MODE_DRIVECIRCLERIGHT=7,
MODE_FIXEDATTITUDE=8, MODE_SETACCESSORY=9, MODE_DISARMALARM=10 } ModeOptions;
typedef enum { ENDCONDITION_NONE=0, ENDCONDITION_TIMEOUT=1, ENDCONDITION_DISTANCETOTARGET=2,
ENDCONDITION_LEGREMAINING=3, ENDCONDITION_ABOVEALTITUDE=4, ENDCONDITION_POINTINGTOWARDSNEXT=5,
ENDCONDITION_PYTHONSCRIPT=6, ENDCONDITION_IMMEDIATE=7 } EndConditionOptions;
// constructor // constructor
opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent) : opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent) :
@ -36,8 +43,33 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent) :
ui(new Ui::opmap_edit_waypoint_dialog) ui(new Ui::opmap_edit_waypoint_dialog)
{ {
ui->setupUi(this); ui->setupUi(this);
waypoint_item = NULL; my_waypoint = NULL;
connect(ui->rbRelative,SIGNAL(toggled(bool)),this,SLOT(setupWidgets(bool))); connect(ui->rbRelative,SIGNAL(toggled(bool)),this,SLOT(setupPositionWidgets(bool)));
connect(ui->cbMode,SIGNAL(currentIndexChanged(int)),this,SLOT(setupModeWidgets()));
connect(ui->cbCondition,SIGNAL(currentIndexChanged(int)),this,SLOT(setupConditionWidgets()));
ui->cbMode->addItem("Fly Direct",MODE_FLYENDPOINT);
ui->cbMode->addItem("Fly Vector",MODE_FLYVECTOR);
ui->cbMode->addItem("Fly Circle Right",MODE_FLYCIRCLERIGHT);
ui->cbMode->addItem("Fly Circle Left",MODE_FLYCIRCLELEFT);
ui->cbMode->addItem("Drive Direct",MODE_DRIVEENDPOINT);
ui->cbMode->addItem("Drive Vector",MODE_DRIVEVECTOR);
ui->cbMode->addItem("Drive Circle Right",MODE_DRIVECIRCLELEFT);
ui->cbMode->addItem("Drive Circle Left",MODE_DRIVECIRCLERIGHT);
ui->cbMode->addItem("Fixed Attitude",MODE_FIXEDATTITUDE);
ui->cbMode->addItem("Set Accessory",MODE_SETACCESSORY);
ui->cbMode->addItem("Disarm Alarm",MODE_DISARMALARM);
ui->cbCondition->addItem("None",ENDCONDITION_NONE);
ui->cbCondition->addItem("Timeout",ENDCONDITION_TIMEOUT);
ui->cbCondition->addItem("Distance to tgt",ENDCONDITION_DISTANCETOTARGET);
ui->cbCondition->addItem("Leg remaining",ENDCONDITION_LEGREMAINING);
ui->cbCondition->addItem("Above Altitude",ENDCONDITION_ABOVEALTITUDE);
ui->cbCondition->addItem("Pointing towards next",ENDCONDITION_POINTINGTOWARDSNEXT);
ui->cbCondition->addItem("Python script",ENDCONDITION_PYTHONSCRIPT);
ui->cbCondition->addItem("Immediate",ENDCONDITION_IMMEDIATE);
} }
// destrutor // destrutor
@ -65,7 +97,7 @@ void opmap_edit_waypoint_dialog::on_pushButtonOK_clicked()
int res = saveSettings(); int res = saveSettings();
if (res < 0) return; if (res < 0) return;
waypoint_item = NULL; my_waypoint = NULL;
close(); close();
} }
@ -77,17 +109,10 @@ void opmap_edit_waypoint_dialog::on_pushButtonApply_clicked()
void opmap_edit_waypoint_dialog::on_pushButtonRevert_clicked() void opmap_edit_waypoint_dialog::on_pushButtonRevert_clicked()
{ {
ui->checkBoxLocked->setChecked(original_locked); loadFromWP(my_waypoint);
ui->spinBoxNumber->setValue(original_number);
ui->doubleSpinBoxLatitude->setValue(original_coord.Lat());
ui->doubleSpinBoxLongitude->setValue(original_coord.Lng());
ui->doubleSpinBoxAltitude->setValue(original_altitude);
ui->lineEditDescription->setText(original_description);
saveSettings();
} }
void opmap_edit_waypoint_dialog::setupWidgets(bool isRelative) void opmap_edit_waypoint_dialog::setupPositionWidgets(bool isRelative)
{ {
ui->lbLong->setVisible(!isRelative); ui->lbLong->setVisible(!isRelative);
ui->lbDegLong->setVisible(!isRelative); ui->lbDegLong->setVisible(!isRelative);
@ -103,85 +128,216 @@ void opmap_edit_waypoint_dialog::setupWidgets(bool isRelative)
ui->doubleSpinBoxBearing->setVisible(isRelative); ui->doubleSpinBoxBearing->setVisible(isRelative);
} }
void opmap_edit_waypoint_dialog::setupModeWidgets()
{
ModeOptions mode=(ModeOptions)ui->cbMode->itemData(ui->cbMode->currentIndex()).toInt();
switch(mode)
{
case MODE_FLYENDPOINT:
case MODE_FLYVECTOR:
case MODE_FLYCIRCLERIGHT:
case MODE_FLYCIRCLELEFT:
case MODE_DRIVEENDPOINT:
case MODE_DRIVEVECTOR:
case MODE_DRIVECIRCLELEFT:
case MODE_DRIVECIRCLERIGHT:
case MODE_DISARMALARM:
ui->modeParam1->setVisible(false);
ui->modeParam2->setVisible(false);
ui->modeParam3->setVisible(false);
ui->modeParam4->setVisible(false);
ui->dsb_modeParam1->setVisible(false);
ui->dsb_modeParam2->setVisible(false);
ui->dsb_modeParam3->setVisible(false);
ui->dsb_modeParam4->setVisible(false);
break;
case MODE_FIXEDATTITUDE:
ui->modeParam1->setText("pitch");
ui->modeParam2->setText("roll");
ui->modeParam3->setText("yaw");
ui->modeParam4->setText("throttle");
ui->modeParam1->setVisible(true);
ui->modeParam2->setVisible(true);
ui->modeParam3->setVisible(true);
ui->modeParam4->setVisible(true);
ui->dsb_modeParam1->setVisible(true);
ui->dsb_modeParam2->setVisible(true);
ui->dsb_modeParam3->setVisible(true);
ui->dsb_modeParam4->setVisible(true);
break;
case MODE_SETACCESSORY:
ui->modeParam1->setText("Acc.channel");
ui->modeParam2->setText("Value");
ui->modeParam1->setVisible(true);
ui->modeParam2->setVisible(true);
ui->modeParam3->setVisible(false);
ui->modeParam4->setVisible(false);
ui->dsb_modeParam1->setVisible(true);
ui->dsb_modeParam2->setVisible(true);
ui->dsb_modeParam3->setVisible(false);
ui->dsb_modeParam4->setVisible(false);
break;
}
}
void opmap_edit_waypoint_dialog::setupConditionWidgets()
{
EndConditionOptions mode=(EndConditionOptions)ui->cbCondition->itemData(ui->cbCondition->currentIndex()).toInt();
switch(mode)
{
case ENDCONDITION_NONE:
case ENDCONDITION_IMMEDIATE:
case ENDCONDITION_PYTHONSCRIPT:
ui->condParam1->setVisible(false);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(false);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
break;
case ENDCONDITION_TIMEOUT:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Timeout(ms)");
break;
case ENDCONDITION_DISTANCETOTARGET:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(true);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(true);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Distance(m)");
ui->condParam2->setText("Flag(0=2D,1=3D)");//FIXME
break;
case ENDCONDITION_LEGREMAINING:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Relative Distance(0=complete,1=just starting)");
break;
case ENDCONDITION_ABOVEALTITUDE:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Altitude in meters (negative)");
break;
case ENDCONDITION_POINTINGTOWARDSNEXT:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Degrees variation allowed");
break;
default:
break;
}
}
void opmap_edit_waypoint_dialog::on_pushButtonCancel_clicked() void opmap_edit_waypoint_dialog::on_pushButtonCancel_clicked()
{ {
waypoint_item = NULL; my_waypoint = NULL;
close(); close();
} }
// *********************************************************************
int opmap_edit_waypoint_dialog::saveSettings() int opmap_edit_waypoint_dialog::saveSettings()
{ {
// ********************
// fetch the various ui item values
bool locked = ui->checkBoxLocked->isChecked();
int number = ui->spinBoxNumber->value(); int number = ui->spinBoxNumber->value();
if (number < 0) if (number < 0)
{ {
return -1; return -1;
} }
customData data;
data.mode=ui->cbMode->itemData(ui->cbMode->currentIndex()).toInt();
data.mode_params[0]=ui->dsb_modeParam1->value();
data.mode_params[1]=ui->dsb_modeParam2->value();
data.mode_params[2]=ui->dsb_modeParam3->value();
data.mode_params[3]=ui->dsb_modeParam4->value();
double latitude = ui->doubleSpinBoxLatitude->value(); data.condition=ui->cbCondition->itemData(ui->cbCondition->currentIndex()).toInt();
double longitude = ui->doubleSpinBoxLongitude->value(); data.condition_params[0]=ui->dsb_condParam1->value();
data.condition_params[1]=ui->dsb_condParam2->value();
data.condition_params[2]=ui->dsb_condParam3->value();
data.condition_params[3]=ui->dsb_condParam4->value();
double altitude = ui->doubleSpinBoxAltitude->value(); QVariant var;
var.setValue(data);
my_waypoint->setData(0,var);
QString description = ui->lineEditDescription->displayText().simplified(); my_waypoint->SetNumber(ui->spinBoxNumber->value());
my_waypoint->SetCoord(internals::PointLatLng(ui->doubleSpinBoxLatitude->value(), ui->doubleSpinBoxLongitude->value()));
// ******************** my_waypoint->SetAltitude(ui->doubleSpinBoxAltitude->value());
// transfer the settings to the actual waypoint my_waypoint->SetDescription(ui->lineEditDescription->displayText().simplified());
my_waypoint->setFlag(QGraphicsItem::ItemIsMovable, !ui->checkBoxLocked->isChecked());
waypoint_item->SetNumber(number);
waypoint_item->SetCoord(internals::PointLatLng(latitude, longitude));
waypoint_item->SetAltitude(altitude);
waypoint_item->SetDescription(description);
waypoint_item->setFlag(QGraphicsItem::ItemIsMovable, !locked);
if(ui->rbAbsolute->isChecked()) if(ui->rbAbsolute->isChecked())
waypoint_item->setWPType(mapcontrol::WayPointItem::absolute); my_waypoint->setWPType(mapcontrol::WayPointItem::absolute);
else else
waypoint_item->setWPType(mapcontrol::WayPointItem::relative); my_waypoint->setWPType(mapcontrol::WayPointItem::relative);
mapcontrol::distBearing pt; mapcontrol::distBearing pt;
pt.distance=ui->spinBoxDistance->value(); pt.distance=ui->spinBoxDistance->value();
pt.bearing=ui->doubleSpinBoxBearing->value()/180*M_PI; pt.bearing=ui->doubleSpinBoxBearing->value()/180*M_PI;
this->waypoint_item->setRelativeCoord(pt); my_waypoint->setRelativeCoord(pt);
// ********************
return 0; // all ok return 0; // all ok
} }
// ********************************************************************* void opmap_edit_waypoint_dialog::loadFromWP(mapcontrol::WayPointItem *waypoint_item)
// public functions {
customData data=waypoint_item->data(0).value<customData>();
ui->spinBoxNumber->setValue(waypoint_item->Number());
ui->doubleSpinBoxLatitude->setValue(waypoint_item->Coord().Lat());
ui->doubleSpinBoxLongitude->setValue(waypoint_item->Coord().Lng());
ui->doubleSpinBoxAltitude->setValue(waypoint_item->Altitude());
ui->lineEditDescription->setText(waypoint_item->Description());
if(waypoint_item->WPType()==mapcontrol::WayPointItem::absolute)
ui->rbAbsolute->setChecked(true);
else
ui->rbRelative->setChecked(true);
ui->doubleSpinBoxBearing->setValue(waypoint_item->getRelativeCoord().bearing*180/M_PI);
ui->spinBoxDistance->setValue(waypoint_item->getRelativeCoord().distance);
ui->cbMode->setCurrentIndex(ui->cbMode->findData(data.mode));
ui->dsb_modeParam1->setValue(data.mode_params[0]);
ui->dsb_modeParam2->setValue(data.mode_params[1]);
ui->dsb_modeParam3->setValue(data.mode_params[2]);
ui->dsb_modeParam4->setValue(data.mode_params[3]);
ui->cbCondition->setCurrentIndex(ui->cbCondition->findData(data.condition));
ui->dsb_condParam1->setValue(data.condition_params[0]);
ui->dsb_condParam2->setValue(data.condition_params[1]);
ui->dsb_condParam3->setValue(data.condition_params[2]);
ui->dsb_condParam4->setValue(data.condition_params[3]);
}
void opmap_edit_waypoint_dialog::editWaypoint(mapcontrol::WayPointItem *waypoint_item) void opmap_edit_waypoint_dialog::editWaypoint(mapcontrol::WayPointItem *waypoint_item)
{ {
if (!waypoint_item) return; if (!waypoint_item) return;
this->waypoint_item = waypoint_item; this->my_waypoint = waypoint_item;
loadFromWP(waypoint_item);
original_number = this->waypoint_item->Number(); setupPositionWidgets(ui->rbRelative->isChecked());
original_locked = (this->waypoint_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
original_coord = this->waypoint_item->Coord();
original_altitude = this->waypoint_item->Altitude();
original_description = this->waypoint_item->Description().simplified();
original_type=this->waypoint_item->WPType();
original_distance=this->waypoint_item->getRelativeCoord().distance;
original_bearing=this->waypoint_item->getRelativeCoord().bearing*180/M_PI;
ui->checkBoxLocked->setChecked(original_locked);
ui->spinBoxNumber->setValue(original_number);
ui->doubleSpinBoxLatitude->setValue(original_coord.Lat());
ui->doubleSpinBoxLongitude->setValue(original_coord.Lng());
ui->doubleSpinBoxAltitude->setValue(original_altitude);
ui->lineEditDescription->setText(original_description);
if(original_type==mapcontrol::WayPointItem::absolute)
ui->rbAbsolute->setChecked(true);
else
ui->rbRelative->setChecked(true);
ui->doubleSpinBoxBearing->setValue(original_bearing);
ui->spinBoxDistance->setValue(original_distance);
setupWidgets(ui->rbRelative->isChecked());
show(); show();
} }

21
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h
View File

@ -35,6 +35,7 @@
namespace Ui { namespace Ui {
class opmap_edit_waypoint_dialog; class opmap_edit_waypoint_dialog;
} }
using namespace mapcontrol;
class opmap_edit_waypoint_dialog : public QDialog class opmap_edit_waypoint_dialog : public QDialog
{ {
@ -50,31 +51,21 @@ public:
*/ */
void editWaypoint(mapcontrol::WayPointItem *waypoint_item); void editWaypoint(mapcontrol::WayPointItem *waypoint_item);
void loadFromWP(mapcontrol::WayPointItem *waypoint_item);
protected: protected:
void changeEvent(QEvent *e); void changeEvent(QEvent *e);
private: private:
Ui::opmap_edit_waypoint_dialog *ui; Ui::opmap_edit_waypoint_dialog *ui;
mapcontrol::WayPointItem * my_waypoint;
int original_number;
bool original_locked;
internals::PointLatLng original_coord;
double original_altitude;
QString original_description;
double original_distance;
double original_bearing;
mapcontrol::WayPointItem::wptype original_type;
mapcontrol::WayPointItem *waypoint_item;
int saveSettings(); int saveSettings();
private slots: private slots:
private slots: private slots:
void setupWidgets(bool isRelative); void setupModeWidgets();
void setupPositionWidgets(bool isRelative);
void setupConditionWidgets();
void on_pushButtonCancel_clicked(); void on_pushButtonCancel_clicked();
void on_pushButtonRevert_clicked(); void on_pushButtonRevert_clicked();
void on_pushButtonApply_clicked(); void on_pushButtonApply_clicked();

842
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui
View File

@ -9,8 +9,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>546</width> <width>571</width>
<height>261</height> <height>375</height>
</rect> </rect>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
@ -31,258 +31,604 @@
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
<item> <item>
<layout class="QGridLayout" name="gridLayout"> <widget class="QTabWidget" name="tabWidget">
<item row="0" column="0"> <property name="currentIndex">
<widget class="QLabel" name="label_7"> <number>2</number>
<property name="sizePolicy"> </property>
<sizepolicy hsizetype="Minimum" vsizetype="Preferred"> <widget class="QWidget" name="tab_3">
<horstretch>0</horstretch> <attribute name="title">
<verstretch>0</verstretch> <string>Position</string>
</sizepolicy> </attribute>
</property> <widget class="QWidget" name="layoutWidget">
<property name="text"> <property name="geometry">
<string>Number </string> <rect>
</property> <x>0</x>
<property name="alignment"> <y>10</y>
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> <width>528</width>
<height>266</height>
</rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout">
<item row="2" column="0">
<widget class="QLabel" name="lbLat">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Latitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="lbLong">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Longitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Altitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLabel" name="label_6">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Description </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="2" colspan="2">
<widget class="QLineEdit" name="lineEditDescription"/>
</item>
<item row="0" column="2">
<widget class="QSpinBox" name="spinBoxNumber">
<property name="maximum">
<number>200</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLatitude">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLongitude">
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxAltitude">
<property name="minimum">
<double>-5000.000000000000000</double>
</property>
<property name="maximum">
<double>5000.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLabel" name="lbDegLong">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="lbDegLat">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="Type">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Type </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QRadioButton" name="rbRelative">
<property name="text">
<string>Relative</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QRadioButton" name="rbAbsolute">
<property name="text">
<string>Absolute</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBoxDistance">
<property name="maximum">
<number>999999999</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLabel" name="lbDistanceMeters">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLabel" name="lbBearingDeg">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="lbBearing">
<property name="text">
<string>Bearing </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxBearing">
<property name="maximum">
<double>360.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="lbDistance">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Distance </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QCheckBox" name="checkBoxLocked">
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Locked</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Number </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</widget> </widget>
</item> </widget>
<item row="2" column="0"> <widget class="QWidget" name="tab_4">
<widget class="QLabel" name="lbLat"> <attribute name="title">
<property name="sizePolicy"> <string>Mode</string>
<sizepolicy hsizetype="Minimum" vsizetype="Preferred"> </attribute>
<horstretch>0</horstretch> <widget class="QWidget" name="gridLayoutWidget">
<verstretch>0</verstretch> <property name="geometry">
</sizepolicy> <rect>
</property> <x>-1</x>
<property name="text"> <y>-1</y>
<string>Latitude </string> <width>511</width>
</property> <height>281</height>
<property name="alignment"> </rect>
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property> </property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Mode</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="cbMode"/>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="dsb_modeParam1">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="modeParam1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param1</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="modeParam2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param2</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="modeParam3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param3</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="modeParam4">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param4</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="dsb_modeParam2">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="dsb_modeParam3">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="dsb_modeParam4">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget> </widget>
</item> </widget>
<item row="3" column="0"> <widget class="QWidget" name="tab">
<widget class="QLabel" name="lbLong"> <attribute name="title">
<property name="enabled"> <string>End condition</string>
<bool>true</bool> </attribute>
</property> <widget class="QWidget" name="gridLayoutWidget_2">
<property name="sizePolicy"> <property name="geometry">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred"> <rect>
<horstretch>0</horstretch> <x>0</x>
<verstretch>0</verstretch> <y>0</y>
</sizepolicy> <width>551</width>
</property> <height>291</height>
<property name="text"> </rect>
<string>Longitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property> </property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="Condition">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Condition</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="cbCondition"/>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="dsb_condParam1">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="condParam1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param1</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="condParam2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param2</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="condParam3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param3</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="condParam4">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>param4</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="dsb_condParam2">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="dsb_condParam3">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="dsb_condParam4">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget> </widget>
</item> </widget>
<item row="6" column="0"> <widget class="QWidget" name="tab_2">
<widget class="QLabel" name="label_3"> <attribute name="title">
<property name="sizePolicy"> <string>Page</string>
<sizepolicy hsizetype="Minimum" vsizetype="Preferred"> </attribute>
<horstretch>0</horstretch> </widget>
<verstretch>0</verstretch> </widget>
</sizepolicy>
</property>
<property name="text">
<string>Altitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLabel" name="label_6">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Description </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="2" colspan="4">
<widget class="QLineEdit" name="lineEditDescription"/>
</item>
<item row="0" column="5">
<widget class="QCheckBox" name="checkBoxLocked">
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>Locked</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QSpinBox" name="spinBoxNumber">
<property name="maximum">
<number>200</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLatitude">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLongitude">
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxAltitude">
<property name="minimum">
<double>-5000.000000000000000</double>
</property>
<property name="maximum">
<double>5000.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLabel" name="lbDegLong">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="lbDegLat">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="Type">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Type </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QRadioButton" name="rbRelative">
<property name="text">
<string>Relative</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QRadioButton" name="rbAbsolute">
<property name="text">
<string>Absolute</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBoxDistance">
<property name="maximum">
<number>999999999</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLabel" name="lbDistanceMeters">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLabel" name="lbBearingDeg">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="lbBearing">
<property name="text">
<string>Bearing </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxBearing">
<property name="maximum">
<double>360.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="lbDistance">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Distance </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item> </item>
<item> <item>
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QHBoxLayout" name="horizontalLayout">

2
ground/openpilotgcs/src/plugins/opmap/opmap_overlay_widget.cpp
View File

@ -32,7 +32,7 @@ opmap_overlay_widget::opmap_overlay_widget(QWidget *parent) :
QWidget(parent), QWidget(parent),
ui(new Ui::opmap_overlay_widget) ui(new Ui::opmap_overlay_widget)
{ {
ui->setupUi(this);
} }
opmap_overlay_widget::~opmap_overlay_widget() opmap_overlay_widget::~opmap_overlay_widget()

88
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -206,14 +206,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals
connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals
connect(m_map, SIGNAL(OnMapDrag()), this, SLOT(OnMapDrag())); // map drag signals
connect(m_map, SIGNAL(OnMapZoomChanged()), this, SLOT(OnMapZoomChanged())); // map zoom changed
connect(m_map, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SLOT(OnMapTypeChanged(MapType::Types))); // map type changed
connect(m_map, SIGNAL(OnEmptyTileError(int, core::Point)), this, SLOT(OnEmptyTileError(int, core::Point))); // tile error
connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals
// connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
// connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
// connect(m_map, SIGNAL(WPDeleted(int,WayPointItem*)), this, SLOT(WPDeleted(int,WayPointItem*)));
connect(m_map,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)),this,SLOT(wpDoubleClickEvent(WayPointItem*))); connect(m_map,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)),this,SLOT(wpDoubleClickEvent(WayPointItem*)));
m_map->SetCurrentPosition(m_home_position.coord); // set the map position m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
@ -490,7 +483,7 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
contextMenu.addSeparator()->setText(tr("Waypoints")); contextMenu.addSeparator()->setText(tr("Waypoints"));
contextMenu.addAction(wayPointEditorAct); contextMenu.addAction(wayPointEditorAct);
contextMenu.addAction(addWayPointAct); contextMenu.addAction(addWayPointActFromContextMenu);
if (m_mouse_waypoint) if (m_mouse_waypoint)
{ // we have a waypoint under the mouse { // we have a waypoint under the mouse
@ -701,10 +694,6 @@ void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level
} }
void OPMapGadgetWidget::OnMapDrag()
{
}
void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point) void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
@ -754,47 +743,6 @@ void OPMapGadgetWidget::OnTileLoadComplete()
m_widget->progressBarMap->setVisible(false); m_widget->progressBarMap->setVisible(false);
} }
void OPMapGadgetWidget::OnMapZoomChanged()
{
}
void OPMapGadgetWidget::OnMapTypeChanged(MapType::Types type)
{
Q_UNUSED(type);
}
void OPMapGadgetWidget::OnEmptyTileError(int zoom, core::Point pos)
{
Q_UNUSED(zoom);
Q_UNUSED(pos);
}
void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumber, WayPointItem *waypoint)
{
Q_UNUSED(oldnumber);
Q_UNUSED(newnumber);
Q_UNUSED(waypoint);
}
/**
TODO: slot to do something upon Waypoint insertion
*/
void OPMapGadgetWidget::WPInserted(int const &number, WayPointItem *waypoint)
{
Q_UNUSED(number);
Q_UNUSED(waypoint);
}
/**
TODO: slot to do something upon Waypoint deletion
*/
void OPMapGadgetWidget::WPDeleted(int const &number, WayPointItem *waypoint)
{
Q_UNUSED(number);
Q_UNUSED(waypoint);
}
void OPMapGadgetWidget::on_toolButtonZoomP_clicked() void OPMapGadgetWidget::on_toolButtonZoomP_clicked()
{ {
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -1334,11 +1282,16 @@ void OPMapGadgetWidget::createActions()
wayPointEditorAct->setEnabled(true); // temporary wayPointEditorAct->setEnabled(true); // temporary
connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered())); connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered()));
addWayPointAct = new QAction(tr("&Add waypoint"), this); addWayPointActFromContextMenu = new QAction(tr("&Add waypoint"), this);
addWayPointAct->setShortcut(tr("Ctrl+A")); addWayPointActFromContextMenu->setShortcut(tr("Ctrl+A"));
addWayPointAct->setStatusTip(tr("Add waypoint")); addWayPointActFromContextMenu->setStatusTip(tr("Add waypoint"));
connect(addWayPointAct, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggered())); connect(addWayPointActFromContextMenu, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggeredFromContextMenu()));
this->addAction(addWayPointAct);
addWayPointActFromThis = new QAction(tr("&Add waypoint"), this);
addWayPointActFromThis->setShortcut(tr("Ctrl+A"));
addWayPointActFromThis->setStatusTip(tr("Add waypoint"));
connect(addWayPointActFromThis, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggeredFromThis()));
this->addAction(addWayPointActFromThis);
editWayPointAct = new QAction(tr("&Edit waypoint"), this); editWayPointAct = new QAction(tr("&Edit waypoint"), this);
editWayPointAct->setShortcut(tr("Ctrl+E")); editWayPointAct->setShortcut(tr("Ctrl+E"));
@ -1738,8 +1691,16 @@ void OPMapGadgetWidget::onOpenWayPointEditorAct_triggered()
{ {
waypoint_editor_dialog.show(); waypoint_editor_dialog.show();
} }
void OPMapGadgetWidget::onAddWayPointAct_triggeredFromContextMenu()
{
onAddWayPointAct_triggered(m_context_menu_lat_lon);
}
void OPMapGadgetWidget::onAddWayPointAct_triggeredFromThis()
{
onAddWayPointAct_triggered(lastLatLngMouse);
}
void OPMapGadgetWidget::onAddWayPointAct_triggered() void OPMapGadgetWidget::onAddWayPointAct_triggered(internals::PointLatLng coord)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
@ -1747,20 +1708,11 @@ void OPMapGadgetWidget::onAddWayPointAct_triggered()
if (m_map_mode != Normal_MapMode) if (m_map_mode != Normal_MapMode)
return; return;
// m_waypoint_list_mutex.lock();
// create a waypoint on the map at the last known mouse position
internals::PointLatLng coord;
if(this->contextMenu.isVisible())
coord = m_context_menu_lat_lon;
else
coord=lastLatLngMouse;
m_map->WPCreate(coord, 0, ""); m_map->WPCreate(coord, 0, "");
//wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png")); //wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
//wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png")); //wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
} }

18
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -153,19 +153,8 @@ private slots:
void OnCurrentPositionChanged(internals::PointLatLng point); void OnCurrentPositionChanged(internals::PointLatLng point);
void OnTileLoadComplete(); void OnTileLoadComplete();
void OnTileLoadStart(); void OnTileLoadStart();
void OnMapDrag();
void OnMapZoomChanged();
void OnMapTypeChanged(MapType::Types type);
void OnEmptyTileError(int zoom, core::Point pos);
void OnTilesStillToLoad(int number); void OnTilesStillToLoad(int number);
/**
* Unused for now, hooks for future waypoint support
*/
void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
void WPInserted(int const& number, WayPointItem* waypoint);
void WPDeleted(int const& number, WayPointItem* waypoint);
/** /**
* @brief mouse right click context menu signals * @brief mouse right click context menu signals
*/ */
@ -190,7 +179,9 @@ private slots:
void onFollowUAVheadingAct_toggled(bool checked); void onFollowUAVheadingAct_toggled(bool checked);
void onOpenWayPointEditorAct_triggered(); void onOpenWayPointEditorAct_triggered();
void onAddWayPointAct_triggered(); void onAddWayPointAct_triggeredFromContextMenu();
void onAddWayPointAct_triggeredFromThis();
void onAddWayPointAct_triggered(internals::PointLatLng coord);
void onEditWayPointAct_triggered(); void onEditWayPointAct_triggered();
void onLockWayPointAct_triggered(); void onLockWayPointAct_triggered();
void onDeleteWayPointAct_triggered(); void onDeleteWayPointAct_triggered();
@ -280,7 +271,8 @@ private:
QAction *followUAVheadingAct; QAction *followUAVheadingAct;
QAction *wayPointEditorAct; QAction *wayPointEditorAct;
QAction *addWayPointAct; QAction *addWayPointActFromThis;
QAction *addWayPointActFromContextMenu;
QAction *editWayPointAct; QAction *editWayPointAct;
QAction *lockWayPointAct; QAction *lockWayPointAct;
QAction *deleteWayPointAct; QAction *deleteWayPointAct;

14
ground/openpilotgcs/src/plugins/opmap/pathplanmanager.cpp
View File

@ -64,21 +64,25 @@ void pathPlanManager::on_WPInserted(int wp_number, WayPointItem * wp)
data.mode=PathAction::MODE_FLYENDPOINT; data.mode=PathAction::MODE_FLYENDPOINT;
data.condition=PathAction::ENDCONDITION_NONE; data.condition=PathAction::ENDCONDITION_NONE;
data.velocity=0; data.velocity=0;
wp->customData().setValue(data); QVariant var;
var.setValue(data);
wp->setData(0,var);
refreshOverlays(); refreshOverlays();
} }
void pathPlanManager::on_WPValuesChanged(WayPointItem * wp) void pathPlanManager::on_WPValuesChanged(WayPointItem * wp)
{ {
} }
//typedef enum { MODE_FLYENDPOINT=0, MODE_FLYVECTOR=1, MODE_FLYCIRCLERIGHT=2,
//MODE_FLYCIRCLELEFT=3, MODE_DRIVEENDPOINT=4, MODE_DRIVEVECTOR=5, MODE_DRIVECIRCLELEFT=6,
//MODE_DRIVECIRCLERIGHT=7, MODE_FIXEDATTITUDE=8, MODE_SETACCESSORY=9, MODE_DISARMALARM=10 } ModeOptions;
void pathPlanManager::refreshOverlays() void pathPlanManager::refreshOverlays()
{ {
QMutexLocker locker(&wplistmutex); QMutexLocker locker(&wplistmutex);
myMap->deleteAllOverlays(); myMap->deleteAllOverlays();
foreach(WayPointItem * wp,*waypoints) foreach(WayPointItem * wp,*waypoints)
{ {
customData data=wp->customData().value<customData>(); customData data=wp->data(0).value<customData>();
switch(data.mode) switch(data.mode)
{ {
case PathAction::MODE_FLYENDPOINT: case PathAction::MODE_FLYENDPOINT:
@ -92,10 +96,14 @@ void pathPlanManager::refreshOverlays()
break; break;
case PathAction::MODE_FLYCIRCLERIGHT: case PathAction::MODE_FLYCIRCLERIGHT:
case PathAction::MODE_DRIVECIRCLERIGHT: case PathAction::MODE_DRIVECIRCLERIGHT:
if(wp->Number()==0)
myMap->WPCircleCreate((HomeItem*)myMap->Home,wp,true);
myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,true); myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,true);
break; break;
case PathAction::MODE_FLYCIRCLELEFT: case PathAction::MODE_FLYCIRCLELEFT:
case PathAction::MODE_DRIVECIRCLELEFT: case PathAction::MODE_DRIVECIRCLELEFT:
if(wp->Number()==0)
myMap->WPCircleCreate((HomeItem*)myMap->Home,wp,false);
myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,false); myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,false);
break; break;
default: default:

15
ground/openpilotgcs/src/plugins/opmap/pathplanmanager.h
View File

@ -34,22 +34,7 @@
#include "waypoint.h" #include "waypoint.h"
#include "QMutexLocker" #include "QMutexLocker"
#include "QPointer" #include "QPointer"
namespace mapcontrol
{
struct customData
{
float velocity;
int mode;
float mode_params[4];
int condition;
float condition_params[4];
int command;
int jumpdestination;
int errordestination;
};
}
Q_DECLARE_METATYPE(mapcontrol::customData)
namespace Ui { namespace Ui {
class pathPlanManager; class pathPlanManager;
} }