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Code Issues Releases Activity

GCS/MapLib - Added path plan manager.

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This commit is contained in:
PT_Dreamer 2012-06-02 22:32:56 +01:00
parent 3b8ca57eef
commit d0e012cbdb
12 changed files with 217 additions and 79 deletions
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52
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -101,17 +101,32 @@ namespace mapcontrol
UAV->SetUavPic(UAVPic);
if(GPS!=0)
GPS->SetUavPic(UAVPic);
}
WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to)
{
if(!from|!to)
return NULL;
return new WayPointLine(from,to,map);
}
WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *from, WayPointItem *to, bool clockwise)
WayPointLine * OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to)
{
return new WayPointCircle(from,to,clockwise,map);
if(!from|!to)
return NULL;
return new WayPointLine(from,to,map);
}
WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise)
{
if(!center|!radius)
return NULL;
return new WayPointCircle(center,radius,clockwise,map);
}
WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise)
{
if(!center|!radius)
return NULL;
return new WayPointCircle(center,radius,clockwise,map);
}
void OPMapWidget::SetShowUAV(const bool &value)
{
@ -201,18 +216,24 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(this->CurrentPosition(),0,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
return item;
}
void OPMapWidget::WPCreate(WayPointItem* item)
{
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
}
WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude)
{
WayPointItem* item=new WayPointItem(coord,altitude,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
return item;
}
WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description)
@ -220,6 +241,8 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(coord,altitude,description,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
return item;
}
WayPointItem* OPMapWidget::WPCreate(const distBearing &relativeCoord, const int &altitude, const QString &description)
@ -227,6 +250,8 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(relativeCoord,altitude,description,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
return item;
}
WayPointItem* OPMapWidget::WPInsert(const int &position)
@ -266,7 +291,7 @@ namespace mapcontrol
}
void OPMapWidget::WPDelete(WayPointItem *item)
{
emit WPDeleted(item->Number());
emit WPDeleted(item->Number(),item);
delete item;
}
void OPMapWidget::WPDeleteAll()
@ -278,6 +303,21 @@ namespace mapcontrol
delete w;
}
}
void OPMapWidget::deleteAllOverlays()
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointLine* w=qgraphicsitem_cast<WayPointLine*>(i);
if(w)
delete w;
else
{
WayPointCircle* ww=qgraphicsitem_cast<WayPointCircle*>(i);
if(ww)
delete ww;
}
}
}
QList<WayPointItem*> OPMapWidget::WPSelected()
{
QList<WayPointItem*> list;
@ -300,7 +340,7 @@ namespace mapcontrol
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)));
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)));
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)));
connect(this,SIGNAL(WPDeleted(int)),item,SLOT(WPDeleted(int)));
connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)));
}
void OPMapWidget::diagRefresh()
{

10
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -362,7 +362,10 @@ namespace mapcontrol
void SetShowDiagnostics(bool const& value);
void SetUavPic(QString UAVPic);
WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to);
WayPointCircle *WPCircleCreate(WayPointItem *from, WayPointItem *to,bool clockwise);
WayPointLine * WPLineCreate(HomeItem *from,WayPointItem *to);
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise);
WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise);
void deleteAllOverlays();
private:
internals::Core *core;
MapGraphicItem *map;
@ -412,6 +415,9 @@ namespace mapcontrol
* @param waypoint WayPoint inserted
*/
void WPReached(WayPointItem* waypoint);
void WPCreated(int const& number,WayPointItem* waypoint);
/**
* @brief Fires when a new WayPoint is inserted
*
@ -424,7 +430,7 @@ namespace mapcontrol
*
* @param number number of the deleted WayPoint
*/
void WPDeleted(int const& number);
void WPDeleted(int const& number,WayPointItem* waypoint);
/**
* @brief Fires When a WayPoint is Reached
*

55
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
View File

@ -26,21 +26,28 @@
*/
#include "waypointcircle.h"
#include <math.h>
#include "homeitem.h"
const qreal Pi = 3.14;
namespace mapcontrol
{
WayPointCircle::WayPointCircle(WayPointItem *from, WayPointItem *to,bool clockwise, MapGraphicItem *map,QColor color):source(from),
destination(to),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius,bool clockwise, MapGraphicItem *map,QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{
QLineF line(from->pos(),to->pos());
this->setRect(from->pos().x(),from->pos().y(),2*line.length(),2*line.length());
connect(source,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(destination,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(source,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(destination,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(center,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
}
WayPointCircle::WayPointCircle(HomeItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{
connect(center,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
}
int WayPointCircle::type() const
{
// Enable the use of qgraphicsitem_cast with this item.
@ -54,28 +61,40 @@ QPainterPath WayPointCircle::shape() const
}
void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
QLineF line(destination->pos(),source->pos());
QPointF p1;
QPointF p2;
p1=my_center->pos();
p2=my_center->pos();
QLineF line(my_radius->pos(),my_center->pos());
p1.ry()=p1.ry()+line.length();
p2.ry()=p2.ry()-line.length();
QPen myPen = pen();
myPen.setColor(myColor);
qreal arrowSize = 10;
painter->setPen(myPen);
QBrush brush=painter->brush();
painter->setBrush(myColor);
double angle = ::acos(line.dx() / line.length());
angle=angle+90*2*Pi/360;
double angle =0;
if(myClockWise)
angle+=Pi;
if (line.dy() >= 0)
angle = (Pi) - angle;
QPointF arrowP1 = line.p1() + QPointF(sin(angle + Pi / 3) * arrowSize,
QPointF arrowP1 = p1 + QPointF(sin(angle + Pi / 3) * arrowSize,
cos(angle + Pi / 3) * arrowSize);
QPointF arrowP2 = line.p1() + QPointF(sin(angle + Pi - Pi / 3) * arrowSize,
QPointF arrowP2 = p1 + QPointF(sin(angle + Pi - Pi / 3) * arrowSize,
cos(angle + Pi - Pi / 3) * arrowSize);
QPointF arrowP21 = p2 + QPointF(sin(angle + Pi + Pi / 3) * arrowSize,
cos(angle + Pi + Pi / 3) * arrowSize);
QPointF arrowP22 = p2 + QPointF(sin(angle + Pi + Pi - Pi / 3) * arrowSize,
cos(angle + Pi + Pi - Pi / 3) * arrowSize);
arrowHead.clear();
arrowHead << line.p1() << arrowP1 << arrowP2;
arrowHead << p1 << arrowP1 << arrowP2;
painter->drawPolygon(arrowHead);
arrowHead.clear();
arrowHead << p2 << arrowP21 << arrowP22;
painter->drawPolygon(arrowHead);
painter->translate(-line.length(),-line.length());
painter->setBrush(brush);
@ -85,8 +104,8 @@ void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
void WayPointCircle::refreshLocations()
{
QLineF line(source->pos(),destination->pos());
this->setRect(source->pos().x(),source->pos().y(),2*line.length(),2*line.length());
QLineF line(my_center->pos(),my_radius->pos());
this->setRect(my_center->pos().x(),my_center->pos().y(),2*line.length(),2*line.length());
}
void WayPointCircle::waypointdeleted()

7
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.h
View File

@ -44,14 +44,15 @@ class WayPointCircle:public QObject,public QGraphicsEllipseItem
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 9 };
WayPointCircle(WayPointItem * from, WayPointItem * to,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);
int type() const;
QPainterPath shape() const;
void setColor(const QColor &color)
{ myColor = color; }
private:
WayPointItem * source;
WayPointItem * destination;
QGraphicsItem * my_center;
QGraphicsItem * my_radius;
MapGraphicItem * my_map;
QPolygonF arrowHead;
QColor myColor;

33
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -247,12 +247,14 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
}
void WayPointItem::SetNumber(const int &value)
{
emit WPNumberChanged(number,value,this);
int oldnumber=number;
number=value;
RefreshToolTip();
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
this->update();
qDebug()<<"emit"<<oldnumber<<value;
emit WPNumberChanged(oldnumber,value,this);
}
void WayPointItem::SetReached(const bool &value)
{
@ -288,22 +290,16 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
}
this->update();
}
void WayPointItem::WPDeleted(const int &onumber)
void WayPointItem::WPDeleted(const int &onumber,WayPointItem *waypoint)
{
if(number>onumber) --number;
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
RefreshToolTip();
this->update();
Q_UNUSED(waypoint);
if(number>onumber) SetNumber(--number);
}
void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
{
if(waypoint!=this)
{
if(onumber<=number) ++number;
numberI->setText(QString::number(number));
RefreshToolTip();
this->update();
if(onumber<=number) SetNumber(++number);
}
}
@ -324,25 +320,16 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
{
if(((oldnumber>number) && (newnumber<=number)))
{
++number;
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
RefreshToolTip();
SetNumber(++number);
}
else if (((oldnumber<number) && (newnumber>number)))
{
--number;
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
RefreshToolTip();
SetNumber(--number);
}
else if (newnumber==number)
{
++number;
numberI->setText(QString::number(number));
RefreshToolTip();
SetNumber(++number);
}
this->update();
}
}
int WayPointItem::type() const

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h
View File

@ -196,7 +196,7 @@ public slots:
*
* @param number number of the WayPoint that was deleted
*/
void WPDeleted(int const& number);
void WPDeleted(int const& number,WayPointItem *waypoint);
/**
* @brief Called when a WayPoint is renumbered
*

19
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
View File

@ -26,7 +26,7 @@
*/
#include "waypointline.h"
#include <math.h>
#include "homeitem.h"
const qreal Pi = 3.14;
namespace mapcontrol
@ -35,10 +35,19 @@ WayPointLine::WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem
destination(to),my_map(map),QGraphicsLineItem(map),myColor(color)
{
this->setLine(to->pos().x(),to->pos().y(),from->pos().x(),from->pos().y());
connect(source,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(destination,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(source,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(destination,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(from,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(to,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(from,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(to,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
}
WayPointLine::WayPointLine(HomeItem *from, WayPointItem *to, MapGraphicItem *map, QColor color):source(from),
destination(to),my_map(map),QGraphicsLineItem(map),myColor(color)
{
this->setLine(to->pos().x(),to->pos().y(),from->pos().x(),from->pos().y());
connect(from,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(refreshLocations()));
connect(to,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(to,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
}
int WayPointLine::type() const
{

5
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.h
View File

@ -44,13 +44,14 @@ class WayPointLine:public QObject,public QGraphicsLineItem
public:
enum { Type = UserType + 8 };
WayPointLine(WayPointItem * from, WayPointItem * to,MapGraphicItem * map,QColor color=Qt::green);
WayPointLine(HomeItem * from, WayPointItem * to,MapGraphicItem * map,QColor color=Qt::green);
int type() const;
QPainterPath shape() const;
void setColor(const QColor &color)
{ myColor = color; }
private:
WayPointItem * source;
WayPointItem * destination;
QGraphicsItem * source;
QGraphicsItem * destination;
MapGraphicItem * my_map;
QPolygonF arrowHead;
QColor myColor;

13
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -48,7 +48,7 @@
#include "positionactual.h"
#include "homelocation.h"
#include "pathplanmanager.h"
#define allow_manual_home_location_move
// *************************************************************************************
@ -263,13 +263,18 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
connect(m_map, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(WPValuesChanged(WayPointItem*)));
connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
connect(m_map, SIGNAL(WPDeleted(int,WayPointItem*)), this, SLOT(WPDeleted(int,WayPointItem*)));
connect(m_map,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)),this,SLOT(wpDoubleClickEvent(WayPointItem*)));
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->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
if(m_map->GPS)
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
pathPlanManager * plan=new pathPlanManager(new QWidget(),m_map);
plan->show();
distBearing db;
db.distance=100;
db.bearing=0;
@ -285,6 +290,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
wp=new t_waypoint;
wp->map_wp_item=p2;
m_waypoint_list.append(wp);
// **************
// create various context menu (mouse right click menu) actions
@ -959,9 +965,10 @@ void OPMapGadgetWidget::WPInserted(int const &number, WayPointItem *waypoint)
/**
TODO: slot to do something upon Waypoint deletion
*/
void OPMapGadgetWidget::WPDeleted(int const &number)
void OPMapGadgetWidget::WPDeleted(int const &number, WayPointItem *waypoint)
{
Q_UNUSED(number);
Q_UNUSED(waypoint);
}

2
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -176,7 +176,7 @@ private slots:
void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
void WPValuesChanged(WayPointItem* waypoint);
void WPInserted(int const& number, WayPointItem* waypoint);
void WPDeleted(int const& number);
void WPDeleted(int const& number, WayPointItem* waypoint);
/**
* @brief mouse right click context menu signals

73
ground/openpilotgcs/src/plugins/opmap/pathplanmanager.cpp
View File

@ -28,27 +28,37 @@
#include "ui_pathplanmanager.h"
pathPlanManager::pathPlanManager(QWidget *parent,OPMapWidget *map):
QWidget(parent),myMap(map),
QDialog(parent, Qt::Dialog),myMap(map),
ui(new Ui::pathPlanManager)
{
waypoints=new QList<WayPointItem*>();
ui->setupUi(this);
connect(myMap,SIGNAL(WPDeleted(int)),this,SLOT(on_WPDeleted(int)));
connect(myMap,SIGNAL(WPDeleted(int,WayPointItem*)),this,SLOT(on_WPDeleted(int,WayPointItem*)));
connect(myMap,SIGNAL(WPInserted(int,WayPointItem*)),this,SLOT(on_WPInserted(int,WayPointItem*)));
connect(myMap,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SLOT(on_WPNumberChanged(int,int,WayPointItem*)));
connect(myMap,SIGNAL(WPValuesChanged(WayPointItem*)),this,SLOT(on_WPValuesChanged(WayPointItem*)));
}
connect(myMap,SIGNAL(WPCreated(int,WayPointItem*)),this,SLOT(on_WPInserted(int,WayPointItem*)));
connect(myMap,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SLOT(refreshOverlays()));
connect(myMap,SIGNAL(WPValuesChanged(WayPointItem*)),this,SLOT(refreshOverlays()));
}
pathPlanManager::~pathPlanManager()
{
delete ui;
}
void pathPlanManager::on_WPDeleted(int wp_number)
void pathPlanManager::on_WPDeleted(int wp_numberint,WayPointItem * wp)
{
waypoints->removeOne(wp);
}
void pathPlanManager::on_WPInserted(int wp_number, WayPointItem * wp)
{
qDebug()<<"pathplanner waypoint added";
waypoints->append(wp);
customData data;
data.mode=PathAction::MODE_FLYENDPOINT;
data.condition=PathAction::ENDCONDITION_NONE;
data.velocity=0;
wp->customData().setValue(data);
refreshOverlays();
}
void pathPlanManager::on_WPNumberChanged(int oldNumber, int newNumber, WayPointItem * wp)
@ -58,3 +68,52 @@ void pathPlanManager::on_WPNumberChanged(int oldNumber, int newNumber, WayPointI
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()
{
myMap->deleteAllOverlays();
qDebug()<<"foreach start";
foreach(WayPointItem * wp,*waypoints)
{
qDebug()<<"wp:"<<wp->Number();
customData data=wp->customData().value<customData>();
switch(data.mode)
{
case PathAction::MODE_FLYENDPOINT:
case PathAction::MODE_FLYVECTOR:
case PathAction::MODE_DRIVEENDPOINT:
case PathAction::MODE_DRIVEVECTOR:
qDebug()<<"addline";
if(wp->Number()==0)
myMap->WPLineCreate((HomeItem*)myMap->Home,wp);
else
myMap->WPLineCreate(findWayPointNumber(wp->Number()-1),wp);
break;
case PathAction::MODE_FLYCIRCLERIGHT:
case PathAction::MODE_DRIVECIRCLERIGHT:
myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,true);
break;
case PathAction::MODE_FLYCIRCLELEFT:
case PathAction::MODE_DRIVECIRCLELEFT:
myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,false);
break;
default:
break;
}
}
qDebug()<<"foreach end";
}
WayPointItem * pathPlanManager::findWayPointNumber(int number)
{
foreach(WayPointItem * wp,*waypoints)
{
if(wp->Number()==number)
return wp;
}
return NULL;
}

25
ground/openpilotgcs/src/plugins/opmap/pathplanmanager.h
View File

@ -30,14 +30,10 @@
#include <QWidget>
#include "opmapcontrol/opmapcontrol.h"
namespace Ui {
class pathPlanManager;
}
using namespace mapcontrol;
class pathPlanManager : public QWidget
#include "pathaction.h"
#include "waypoint.h"
namespace mapcontrol
{
Q_OBJECT
struct customData
{
float velocity;
@ -49,17 +45,30 @@ class pathPlanManager : public QWidget
int jumpdestination;
int errordestination;
};
}
Q_DECLARE_METATYPE(mapcontrol::customData)
namespace Ui {
class pathPlanManager;
}
using namespace mapcontrol;
class pathPlanManager : public QDialog
{
Q_OBJECT
public:
explicit pathPlanManager(QWidget *parent,OPMapWidget * map);
~pathPlanManager();
WayPointItem *findWayPointNumber(int number);
private slots:
void on_WPDeleted(int);
void refreshOverlays();
void on_WPDeleted(int wp_numberint, WayPointItem *);
void on_WPInserted(int,WayPointItem*);
void on_WPNumberChanged(int,int,WayPointItem*);
void on_WPValuesChanged(WayPointItem*);
private:
Ui::pathPlanManager *ui;
OPMapWidget * myMap;
QList<WayPointItem*> * waypoints;
};
#endif // PATHPLANMANAGER_H