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Working on fixing last interaction issues with Google Earth view

QGC4.4
LM 14 years ago
parent
6cd0d9f68c
commit
1337acc26f
4 changed files with 63 additions and 61 deletions
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  1. 106
      src/uas/UASWaypointManager.cc
  2. 6
      src/ui/WaypointList.cc
  3. 2
      src/ui/WaypointList.h
  4. 10
      src/ui/map3D/QGCGoogleEarthView.cc

106
src/uas/UASWaypointManager.cc
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@ -241,13 +241,10 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m @@ -241,13 +241,10 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
}
}
}
//// // qDebug() << "Updated waypoints list";
}
emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
//emit update to UI widgets
emit currentWaypointChanged(wpc->seq);
//// // qDebug() << "new current waypoint" << wpc->seq;
}
}
@ -343,13 +340,15 @@ Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive) @@ -343,13 +340,15 @@ Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
int UASWaypointManager::removeWaypoint(quint16 seq)
{
if (seq < waypoints.size()) {
if (seq < waypoints.size())
{
Waypoint *t = waypoints[seq];
waypoints.remove(seq);
delete t;
t = NULL;
for(int i = seq; i < waypoints.size(); i++) {
for(int i = seq; i < waypoints.size(); i++)
{
waypoints[i]->setId(i);
}
@ -362,21 +361,23 @@ int UASWaypointManager::removeWaypoint(quint16 seq) @@ -362,21 +361,23 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
{
if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size()) {
if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size())
{
Waypoint *t = waypoints[cur_seq];
if (cur_seq < new_seq) {
for (int i = cur_seq; i < new_seq; i++) {
for (int i = cur_seq; i < new_seq; i++)
{
waypoints[i] = waypoints[i+1];
//waypoints[i]->setId(i); // let the local IDs stay the same so that they can be found more easily by the user
}
} else {
for (int i = cur_seq; i > new_seq; i--) {
}
else
{
for (int i = cur_seq; i > new_seq; i--)
{
waypoints[i] = waypoints[i-1];
// waypoints[i]->setId(i);
}
}
waypoints[new_seq] = t;
//waypoints[new_seq]->setId(new_seq);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
@ -394,7 +395,8 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile) @@ -394,7 +395,8 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile)
//write the waypoint list version to the first line for compatibility check
out << "QGC WPL 110\r\n";
for (int i = 0; i < waypoints.size(); i++) {
for (int i = 0; i < waypoints.size(); i++)
{
waypoints[i]->setId(i);
waypoints[i]->save(out);
}
@ -417,16 +419,22 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) @@ -417,16 +419,22 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
const QStringList &version = in.readLine().split(" ");
if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "110")) {
if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "110"))
{
emit updateStatusString(tr("The waypoint file is not compatible with the current version of QGroundControl."));
//MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),tr("The waypoint file is not compatible with the current version of QGroundControl."));
} else {
while (!in.atEnd()) {
}
else
{
while (!in.atEnd())
{
Waypoint *t = new Waypoint();
if(t->load(in)) {
if(t->load(in))
{
t->setId(waypoints.size());
waypoints.insert(waypoints.size(), t);
} else {
}
else
{
emit updateStatusString(tr("The waypoint file is corrupted. Load operation only partly succesful."));
//MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),);
break;
@ -441,29 +449,10 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) @@ -441,29 +449,10 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
emit waypointListChanged(uas.getUASID());
}
//void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
//{
// // FIXME Will be removed
// Q_UNUSED(wp);
//}
//int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
//{
// // FIXME Will be removed
// Q_UNUSED(seq);
// return 0;
//}
//void UASWaypointManager::waypointUpdated(Waypoint*)
//{
// // FIXME Add rate limiter
// emit waypointListChanged(uas.getUASID());
//}
void UASWaypointManager::clearWaypointList()
{
if(current_state == WP_IDLE) {
if(current_state == WP_IDLE)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
@ -482,8 +471,10 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList() @@ -482,8 +471,10 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList()
// with complete waypoint list
// instead of filtering on each request
QVector<Waypoint*> wps;
foreach (Waypoint* wp, waypoints) {
if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
foreach (Waypoint* wp, waypoints)
{
if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
{
wps.append(wp);
}
}
@ -496,8 +487,10 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointLi @@ -496,8 +487,10 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointLi
// with complete waypoint list
// instead of filtering on each request
QVector<Waypoint*> wps;
foreach (Waypoint* wp, waypoints) {
if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT && wp->isNavigationType()) {
foreach (Waypoint* wp, waypoints)
{
if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
{
wps.append(wp);
}
}
@ -510,8 +503,10 @@ const QVector<Waypoint *> UASWaypointManager::getNavTypeWaypointList() @@ -510,8 +503,10 @@ const QVector<Waypoint *> UASWaypointManager::getNavTypeWaypointList()
// with complete waypoint list
// instead of filtering on each request
QVector<Waypoint*> wps;
foreach (Waypoint* wp, waypoints) {
if (wp->isNavigationType()) {
foreach (Waypoint* wp, waypoints)
{
if (wp->isNavigationType())
{
wps.append(wp);
}
}
@ -548,7 +543,7 @@ int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp) @@ -548,7 +543,7 @@ int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp)
// counting only those in global frame
int i = 0;
foreach (Waypoint* p, waypoints) {
if (p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT && p->isNavigationType())
if ((p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
{
if (p == wp)
{
@ -566,9 +561,12 @@ int UASWaypointManager::getNavTypeIndexOf(Waypoint* wp) @@ -566,9 +561,12 @@ int UASWaypointManager::getNavTypeIndexOf(Waypoint* wp)
// Search through all waypoints,
// counting only those in global frame
int i = 0;
foreach (Waypoint* p, waypoints) {
if (p->isNavigationType()) {
if (p == wp) {
foreach (Waypoint* p, waypoints)
{
if (p->isNavigationType())
{
if (p == wp)
{
return i;
}
i++;
@ -583,7 +581,8 @@ int UASWaypointManager::getGlobalFrameCount() @@ -583,7 +581,8 @@ int UASWaypointManager::getGlobalFrameCount()
// Search through all waypoints,
// counting only those in global frame
int i = 0;
foreach (Waypoint* p, waypoints) {
foreach (Waypoint* p, waypoints)
{
if (p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
{
i++;
@ -599,7 +598,7 @@ int UASWaypointManager::getGlobalFrameAndNavTypeCount() @@ -599,7 +598,7 @@ int UASWaypointManager::getGlobalFrameAndNavTypeCount()
// counting only those in global frame
int i = 0;
foreach (Waypoint* p, waypoints) {
if (p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT && p->isNavigationType())
if ((p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
{
i++;
}
@ -647,7 +646,8 @@ int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp) @@ -647,7 +646,8 @@ int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp)
{
if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
{
if (p == wp) {
if (p == wp)
{
return i;
}
i++;

6
src/ui/WaypointList.cc
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@ -63,7 +63,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) : @@ -63,7 +63,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(add()));
// ADD WAYPOINT AT CURRENT POSITION
connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositonWaypoint()));
connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositionWaypoint()));
// SEND WAYPOINTS
connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(transmit()));
@ -185,12 +185,12 @@ void WaypointList::add() @@ -185,12 +185,12 @@ void WaypointList::add()
else
{
// Create first waypoint at current MAV position
addCurrentPositonWaypoint();
addCurrentPositionWaypoint();
}
}
}
void WaypointList::addCurrentPositonWaypoint()
void WaypointList::addCurrentPositionWaypoint()
{
if (uas)
{

2
src/ui/WaypointList.h
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@ -74,7 +74,7 @@ public slots: @@ -74,7 +74,7 @@ public slots:
/** @brief Add a waypoint */
void add();
/** @brief Add a waypoint at the current MAV position */
void addCurrentPositonWaypoint();
void addCurrentPositionWaypoint();
/** @brief Add a waypoint by mouse click over the map */
//Update events

10
src/ui/map3D/QGCGoogleEarthView.cc
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@ -232,7 +232,7 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas) @@ -232,7 +232,7 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp)
{
// Only accept waypoints in global coordinate frame
if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT && wp->isNavigationType())
if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
{
// We're good, this is a global waypoint
@ -664,10 +664,12 @@ void QGCGoogleEarthView::updateState() @@ -664,10 +664,12 @@ void QGCGoogleEarthView::updateState()
// Add new waypoint
if (mav)
{
int nextIndex = mav->getWaypointManager()->getWaypointList().count();
Waypoint* wp = new Waypoint(nextIndex, latitude, longitude, altitude, true);
Waypoint* wp = mav->getWaypointManager()->createWaypoint();
wp->setFrame(MAV_FRAME_GLOBAL);
mav->getWaypointManager()->addWaypoint(wp);
wp->setAction(MAV_CMD_NAV_WAYPOINT);
wp->setLatitude(latitude);
wp->setLongitude(longitude);
wp->setAltitude(altitude);
}
}
javaScript("setNewWaypointPending(false);");

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