Added MoveToMagicWaypointPosition function and GUI button.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1928 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/opmap/opmap.qrc

@@ -22,7 +22,8 @@
         <file>images/minus.png</file>
         <file>images/plus.png</file>
         <file>images/waypoint_marker3.png</file>
-        <file>images/center_wp.png</file>
         <file>images/home_wp.png</file>
+        <file>images/move_to_wp.png</file>
+        <file>images/center_wp.png</file>
     </qresource>
 </RCC>

ground/src/plugins/opmap/opmap_widget.ui

@@ -380,6 +380,32 @@ border-radius: 2px;
           </property>
          </widget>
         </item>
+        <item>
+         <widget class="QToolButton" name="toolButtonMoveToWP">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Click to move the UAV to the magic waypoint position</string>
+          </property>
+          <property name="text">
+           <string>Move to WP</string>
+          </property>
+          <property name="icon">
+           <iconset resource="opmap.qrc">
+            <normaloff>:/opmap/images/move_to_wp.png</normaloff>:/opmap/images/move_to_wp.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>28</width>
+            <height>28</height>
+           </size>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QToolButton" name="toolButtonHomeWaypoint">
           <property name="sizePolicy">

ground/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -189,6 +189,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
             m_widget->toolButtonNormalMapMode->setChecked(true);
             m_widget->toolButtonHomeWaypoint->setEnabled(false);
             m_widget->toolButtonCenterWaypoint->setEnabled(false);
+            m_widget->toolButtonMoveToWP->setEnabled(false);
             break;
 
         case MagicWaypoint_MapMode:
@@ -196,6 +197,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
             m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
             m_widget->toolButtonHomeWaypoint->setEnabled(true);
             m_widget->toolButtonCenterWaypoint->setEnabled(true);
+            m_widget->toolButtonMoveToWP->setEnabled(true);
             break;
 
         default:
@@ -204,6 +206,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
             m_widget->toolButtonNormalMapMode->setChecked(true);
             m_widget->toolButtonHomeWaypoint->setEnabled(false);
             m_widget->toolButtonCenterWaypoint->setEnabled(false);
+            m_widget->toolButtonMoveToWP->setEnabled(false);
             break;
     }
 
@@ -446,7 +449,6 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
         return;	// not a mouse click event
 
     // current mouse position
-//    QPoint p = m_map->mapFromGlobal(QCursor::pos());
     QPoint p = m_map->mapFromGlobal(event->globalPos());
     context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
 //    context_menu_lat_lon = m_map->currentMousePosition();
@@ -472,7 +474,7 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
 
     QMenu menu(this);
 
-    menu.addAction(closeAct);
+    menu.addAction(closeAct1);
 
     menu.addSeparator();
 
@@ -610,7 +612,9 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
 
     // *********
 
-//    menu.addSeparator();
+    menu.addSeparator();
+
+    menu.addAction(closeAct2);
 
     menu.exec(event->globalPos());  // popup the menu
 
@@ -832,6 +836,9 @@ void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
                 magic_waypoint.coord = waypoint->Coord();
                 magic_waypoint.altitude = waypoint->Altitude();
                 magic_waypoint.description = waypoint->Description();
+
+                // move the UAV to the magic waypoint position
+//                moveToMagicWaypointPosition();
             }
             break;
     }
@@ -1069,6 +1076,11 @@ void OPMapGadgetWidget::on_toolButtonCenterWaypoint_clicked()
     centerMagicWaypoint();
 }
 
+void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
+{
+    moveToMagicWaypointPosition();
+}
+
 // *************************************************************************************
 // public functions
 
@@ -1244,6 +1256,7 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
 
             m_widget->toolButtonHomeWaypoint->setEnabled(false);
             m_widget->toolButtonCenterWaypoint->setEnabled(false);
+            m_widget->toolButtonMoveToWP->setEnabled(false);
 
             // delete the magic waypoint from the map
             if (magic_waypoint.map_wp_item)
@@ -1281,6 +1294,7 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
 
             m_widget->toolButtonHomeWaypoint->setEnabled(true);
             m_widget->toolButtonCenterWaypoint->setEnabled(true);
+            m_widget->toolButtonMoveToWP->setEnabled(true);
 
             // delete the normal waypoints from the map
             m_waypoint_list_mutex.lock();
@@ -1317,9 +1331,11 @@ void OPMapGadgetWidget::createActions()
     // ***********************
     // create menu actions
 
-    closeAct = new QAction(tr("&Close menu"), this);
+    closeAct1 = new QAction(tr("Close menu"), this);
-//    closeAct->setShortcuts(QKeySequence::New);
+    closeAct1->setStatusTip(tr("Close the context menu"));
-    closeAct->setStatusTip(tr("Close the context menu"));
+
+    closeAct2 = new QAction(tr("Close menu"), this);
+    closeAct2->setStatusTip(tr("Close the context menu"));
 
     reloadAct = new QAction(tr("&Reload map"), this);
     reloadAct->setShortcut(tr("F5"));
@@ -1979,6 +1995,25 @@ void OPMapGadgetWidget::centerMagicWaypoint()
         magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
 }
 
+// *************************************************************************************
+// move the UAV to the magic waypoint position
+
+void OPMapGadgetWidget::moveToMagicWaypointPosition()
+{
+    if (!m_widget || !m_map)
+        return;
+
+    if (m_map_mode != MagicWaypoint_MapMode)
+        return;
+
+//    internals::PointLatLng coord = magic_waypoint.coord;
+//    double altitude = magic_waypoint.altitude;
+
+
+    // ToDo:
+
+}
+
 // *************************************************************************************
 // temporary until an object is created for managing the save/restore
 

ground/src/plugins/opmap/opmapgadgetwidget.h

@@ -157,6 +157,7 @@ private slots:
     void on_toolButtonNormalMapMode_clicked();
     void on_toolButtonHomeWaypoint_clicked();
     void on_toolButtonCenterWaypoint_clicked();
+    void on_toolButtonMoveToWP_clicked();
 
     /**
     * @brief signals received from the map object
@@ -267,7 +268,8 @@ private:
 
     void createActions();
 
-    QAction *closeAct;
+    QAction *closeAct1;
+    QAction *closeAct2;
     QAction *reloadAct;
     QAction *copyMouseLatLonToClipAct;
     QAction *copyMouseLatToClipAct;
@@ -314,6 +316,8 @@ private:
     void homeMagicWaypoint();
     void centerMagicWaypoint();
 
+    void moveToMagicWaypointPosition();
+
     void loadComboBoxLines(QComboBox *comboBox, QString filename);
     void saveComboBoxLines(QComboBox *comboBox, QString filename);