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Code Issues Releases Activity

Update the MagicWaypoint gadget to use PathDesired instead of PositionDesired

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This commit is contained in:
James Cotton 2012-05-09 10:58:24 -05:00
parent 406b5a00f5
commit a857530832
2 changed files with 38 additions and 32 deletions
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63
ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
View File

@ -47,7 +47,7 @@ MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(p
m_magicwaypoint->setupUi(this);
// Connect object updated event from UAVObject to also update check boxes
connect(getPositionDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
connect(getPathDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
connect(getPositionActual(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
// Connect updates from the position widget to this widget
@ -57,6 +57,9 @@ MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(p
// Catch changes in scale for visualization
connect(m_magicwaypoint->horizontalSliderScale, SIGNAL(valueChanged(int)), this, SLOT(scaleChanged(int)));
// Make sure the scale is correctly visualized
m_magicwaypoint->horizontalSliderScale->setValue(10);
}
MagicWaypointGadgetWidget::~MagicWaypointGadgetWidget()
@ -67,11 +70,12 @@ MagicWaypointGadgetWidget::~MagicWaypointGadgetWidget()
/*!
\brief Returns the @ref PositionDesired UAVObject
*/
PositionDesired* MagicWaypointGadgetWidget::getPositionDesired()
PathDesired* MagicWaypointGadgetWidget::getPathDesired()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
PositionDesired* obj = dynamic_cast<PositionDesired*>( objManager->getObject(QString("PositionDesired")) );
PathDesired* obj = PathDesired::GetInstance(objManager);
Q_ASSERT(obj != NULL); // Save crashes later
return obj;
}
@ -82,7 +86,8 @@ PositionActual* MagicWaypointGadgetWidget::getPositionActual()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
PositionActual* obj = dynamic_cast<PositionActual*>( objManager->getObject(QString("PositionActual")) );
PositionActual *obj = PositionActual::GetInstance(objManager);
Q_ASSERT(obj != NULL);
return obj;
}
@ -91,45 +96,45 @@ PositionActual* MagicWaypointGadgetWidget::getPositionActual()
*/
void MagicWaypointGadgetWidget::scaleChanged(int scale) {
Q_UNUSED(scale);
positionObjectChanged(getPositionDesired());
positionObjectChanged(getPositionActual());
pathDesiredChanged(getPathDesired());
positionActualChanged(getPositionActual());
}
/**
* Emit a position changed signal when @ref PositionDesired or @ref PositionActual object is changed
* Emit a position changed signal when @ref PositionActual object is changed
*/
void MagicWaypointGadgetWidget::positionObjectChanged(UAVObject* obj)
void MagicWaypointGadgetWidget::positionActualChanged(UAVObject *)
{
PositionActual::DataFields positionActual = getPositionActual()->getData();
double scale = m_magicwaypoint->horizontalSliderScale->value();
double north = obj->getField("North")->getDouble() / scale;
double east = obj->getField("East")->getDouble() / scale;
if(obj->getName().compare("PositionDesired")) {
emit positionDesiredObjectChanged(north,east);
} else {
emit positionActualObjectChanged(north,east);
}
emit positionActualObjectChanged(positionActual.North / scale,
positionActual.East / scale);
}
/**
* Slot called by visualization when a new @ref PositionDesired is requested
* Emit a position changed signal when @ref PathDesired is changed
*/
void MagicWaypointGadgetWidget::pathDesiredChanged(UAVObject *)
{
PathDesired::DataFields pathDesired = getPathDesired()->getData();
double scale = m_magicwaypoint->horizontalSliderScale->value();
emit positionDesiredObjectChanged(pathDesired.End[PathDesired::END_NORTH] / scale,
pathDesired.End[PathDesired::END_EAST] / scale);
}
/**
* Slot called by visualization when a new @ref PathDesired is requested
*/
void MagicWaypointGadgetWidget::positionSelected(double north, double east) {
double scale = m_magicwaypoint->horizontalSliderScale->value();
PositionDesired * posDesired = getPositionDesired();
if(posDesired) {
UAVObjectField * field = posDesired->getField("North");
if(field)
field->setDouble(north * scale);
field = posDesired->getField("East");
if(field)
field->setDouble(east * scale);
posDesired->updated();
}
PathDesired::DataFields pathDesired = getPathDesired()->getData();
pathDesired.End[PathDesired::END_NORTH] = north * scale;
pathDesired.End[PathDesired::END_EAST] = east * scale;
pathDesired.Mode = PathDesired::MODE_ENDPOINT;
getPathDesired()->setData(pathDesired);
}
/**

7
ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
View File

@ -29,7 +29,7 @@
#define MagicWaypointGADGETWIDGET_H_
#include <QtGui/QLabel>
#include "positiondesired.h"
#include "pathdesired.h"
#include "positionactual.h"
class Ui_MagicWaypoint;
@ -48,11 +48,12 @@ signals:
protected slots:
void scaleChanged(int scale);
void positionObjectChanged(UAVObject *);
void positionActualChanged(UAVObject *);
void pathDesiredChanged(UAVObject *);
void positionSelected(double north, double east);
private:
PositionDesired * getPositionDesired();
PathDesired * getPathDesired();
PositionActual * getPositionActual();
Ui_MagicWaypoint * m_magicwaypoint;
};