PathAction editor: make easy selection of actions per waypoint

ground/openpilotgcs/src/plugins/pathactioneditor/fieldtreeitem.h

@@ -270,4 +270,58 @@ private:
     UAVObjectField *m_field;
 };
 
+class ActionFieldTreeItem : public FieldTreeItem
+{
+Q_OBJECT
+public:
+    ActionFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, QStringList *actions,
+                      TreeItem *parent = 0) :
+    FieldTreeItem(index, data, parent), m_field(field) { m_enumOptions=actions; }
+    ActionFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, QStringList *actions,
+                      TreeItem *parent = 0) :
+    FieldTreeItem(index, data, parent), m_field(field) { m_enumOptions=actions; }
+    void setData(QVariant value, int column) {
+        int tmpValIndex = m_field->getValue(m_index).toInt();
+        TreeItem::setData(value, column);
+        setChanged(tmpValIndex != value);
+    }
+    QString enumOptions(int index) {
+        if((index < 0) || (index >= m_enumOptions->length())) {
+            return QString("Invalid Value (") + QString().setNum(index) + QString(")");
+        }
+        return m_enumOptions->at(index);
+    }
+    void apply() {
+        int value = data(dataColumn).toInt();
+        m_field->setValue(value, m_index);
+        setChanged(false);
+    }
+    void update() {
+        int valIndex = m_field->getValue(m_index).toInt();
+        if (data() != valIndex || changed()) {
+            TreeItem::setData(valIndex);
+            setHighlight(true);
+        }
+    }
+    QWidget *createEditor(QWidget *parent) {
+        QComboBox *editor = new QComboBox(parent);
+        foreach (QString option, *m_enumOptions)
+            editor->addItem(option);
+        return editor;
+    }
+
+    QVariant getEditorValue(QWidget *editor) {
+        QComboBox *comboBox = static_cast<QComboBox*>(editor);
+        return comboBox->currentIndex();
+    }
+
+    void setEditorValue(QWidget *editor, QVariant value) {
+        QComboBox *comboBox = static_cast<QComboBox*>(editor);
+        comboBox->setCurrentIndex(value.toInt());
+    }
+private:
+    QStringList *m_enumOptions;
+    UAVObjectField *m_field;
+};
+
 #endif // FIELDTREEITEM_H

ground/openpilotgcs/src/plugins/pathactioneditor/pathactioneditor.pro

@@ -23,6 +23,7 @@ SOURCES += treeitem.cpp
 SOURCES += fieldtreeitem.cpp
 SOURCES += browseritemdelegate.cpp
 
+
 OTHER_FILES += pathactioneditor.pluginspec
 
 FORMS += pathactioneditor.ui

ground/openpilotgcs/src/plugins/pathactioneditor/pathactioneditorgadgetwidget.cpp

@@ -45,6 +45,7 @@ PathActionEditorGadgetWidget::PathActionEditorGadgetWidget(QWidget *parent) : QL
     m_model = new PathActionEditorTreeModel();
     m_pathactioneditor->pathactions->setModel(m_model);
     m_pathactioneditor->pathactions->setColumnWidth(0, 300);
+    m_pathactioneditor->pathactions->setColumnWidth(1, 500);
     m_pathactioneditor->pathactions->expandAll();
     BrowserItemDelegate *m_delegate = new BrowserItemDelegate();
     m_pathactioneditor->pathactions->setItemDelegate(m_delegate);

ground/openpilotgcs/src/plugins/pathactioneditor/pathactioneditortreemodel.cpp

@@ -48,12 +48,14 @@ PathActionEditorTreeModel::PathActionEditorTreeModel(QObject *parent) :
         m_manuallyChangedColor(QColor(230, 230, 255))
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    m_objManager = pm->getObject<UAVObjectManager>();
 
-    connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newInstance(UAVObject*)));
+    connect(m_objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newInstance(UAVObject*)));
-    connect(objManager->getObject("WaypointActive"),SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objUpdated(UAVObject*)));
+    connect(m_objManager->getObject("WaypointActive"),SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objUpdated(UAVObject*)));
+    connect(m_objManager->getObject("PathAction"),SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objUpdated(UAVObject*)));
+    connect(m_objManager->getObject("Waypoint"),SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objUpdated(UAVObject*)));
 
-    setupModelData(objManager);
+    setupModelData();
 }
 
 PathActionEditorTreeModel::~PathActionEditorTreeModel()
@@ -61,8 +63,12 @@ PathActionEditorTreeModel::~PathActionEditorTreeModel()
     delete m_rootItem;
 }
 
-void PathActionEditorTreeModel::setupModelData(UAVObjectManager *objManager)
+void PathActionEditorTreeModel::setupModelData()
 {
+
+    m_actions = new QStringList();
+    updateActions();
+
     // root
     QList<QVariant> rootData;
     rootData << tr("Property") << tr("Value") << tr("Unit");
@@ -77,19 +83,36 @@ void PathActionEditorTreeModel::setupModelData(UAVObjectManager *objManager)
     connect(m_waypointsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
 
     {
-        QList<UAVObject*> list = objManager->getObjectInstances("PathAction");
+        QList<UAVObject*> list = m_objManager->getObjectInstances("PathAction");
         foreach (UAVObject* obj, list) {
             addInstance(obj,m_pathactionsTree);
         }
     }
     {
-        QList<UAVObject*> list = objManager->getObjectInstances("Waypoint");
+        QList<UAVObject*> list = m_objManager->getObjectInstances("Waypoint");
         foreach (UAVObject* obj, list) {
             addInstance(obj,m_waypointsTree);
         }
     }
 }
 
+void PathActionEditorTreeModel::updateActions() {
+	m_actions->clear();
+        QList<UAVObject*> list = m_objManager->getObjectInstances("PathAction");
+        foreach (UAVObject* obj, list) {
+	    QString title;
+	    title.append((QVariant(obj->getInstID()).toString()));
+	    title.append(" ");
+	    title.append((obj->getField("Mode")->getValue().toString()));
+	    title.append(" ");
+	    title.append((obj->getField("Command")->getValue().toString()));
+	    title.append(":");
+	    title.append((obj->getField("EndCondition")->getValue().toString()));
+	    title.append(" ");
+	    m_actions->append(title);
+        }
+}
+
 void PathActionEditorTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
 {
     connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
@@ -128,6 +151,12 @@ void PathActionEditorTreeModel::addSingleField(int index, UAVObjectField *field,
 
     FieldTreeItem *item;
     UAVObjectField::FieldType type = field->getType();
+    // hack: list available actions in an enum
+    if (field->getName().compare("Action")==0 && type==UAVObjectField::UINT8) {
+	data.append( field->getValue(index).toInt());
+        data.append( field->getUnits());
+        item = new ActionFieldTreeItem(field, index, data, m_actions);
+    } else {
     switch (type) {
     case UAVObjectField::ENUM: {
         QStringList options = field->getOptions();
@@ -155,6 +184,7 @@ void PathActionEditorTreeModel::addSingleField(int index, UAVObjectField *field,
     default:
         Q_ASSERT(false);
     }
+    }
     connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     parent->appendChild(item);
 }
@@ -272,6 +302,12 @@ QVariant PathActionEditorTreeModel::data(const QModelIndex &index, int role) con
         if (fieldItem) {
             int enumIndex = fieldItem->data(index.column()).toInt();
             return fieldItem->enumOptions(enumIndex);
+        } else {
+            ActionFieldTreeItem *afieldItem = dynamic_cast<ActionFieldTreeItem*>(item);
+            if (afieldItem) {
+                int enumIndex = afieldItem->data(index.column()).toInt();
+                return afieldItem->enumOptions(enumIndex);
+            }
 	}
     }
 
@@ -356,14 +392,14 @@ void PathActionEditorTreeModel::newInstance(UAVObject *obj)
         addInstance(obj,m_pathactionsTree);
         m_pathactionsTree->update();
     }
+    updateActions();
     emit layoutChanged();
 }
 
 void PathActionEditorTreeModel::objUpdated(UAVObject *obj)
 {
-    if (obj->getName().compare("WaypointActive")==0) {
+    quint16 index = m_objManager->getObject("WaypointActive")->getField("Index")->getValue().toInt();
-        qint16 index = obj->getField("Index")->getValue().toInt();
+    quint16 action;
-        qint16 action;
     foreach (TreeItem *child,m_waypointsTree->treeChildren()) {
         ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(child);
         if (index == objItem->object()->getInstID()) {
@@ -381,7 +417,7 @@ void PathActionEditorTreeModel::objUpdated(UAVObject *obj)
             child->setActive(false);
         }
     }
-    }
+    updateActions();
     emit layoutChanged();
 }
 

ground/openpilotgcs/src/plugins/pathactioneditor/pathactioneditortreemodel.h

@@ -82,7 +82,11 @@ private:
     void addSingleField(int index, UAVObjectField *field, TreeItem *parent);
     void addInstance(UAVObject *obj, TreeItem *parent);
     //QString updateMode(quint8 updateMode);
-    void setupModelData(UAVObjectManager *objManager);
+    void setupModelData();
+    void updateActions();
+
+    UAVObjectManager *m_objManager;
+    QStringList *m_actions;
 
     TreeItem *m_rootItem;
     TopTreeItem *m_pathactionsTree;