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Merge pull request #98 from Trof/offline-wplist 

Substantially improves waypoint interface.
QGC4.4
QGroundControl 14 years ago
parent
fbad0e1bce 6187d71c84
commit
4d41cb2052
9 changed files with 389 additions and 135 deletions
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  1. 17
      src/uas/UASWaypointManager.cc
  2. 6
      src/ui/MainWindow.cc
  3. 65
      src/ui/WaypointEditableView.cc
  4. 44
      src/ui/WaypointEditableView.ui
  5. 58
      src/ui/WaypointList.cc
  6. 2
      src/ui/WaypointList.h
  7. 54
      src/ui/WaypointList.ui
  8. 117
      src/ui/WaypointViewOnlyView.cc
  9. 161
      src/ui/WaypointViewOnlyView.ui

17
src/uas/UASWaypointManager.cc
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@ -211,6 +211,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
//all waypoints sent and ack received //all waypoints sent and ack received
protocol_timer.stop(); protocol_timer.stop();
current_state = WP_IDLE; current_state = WP_IDLE;
readWaypoints(false); //Update "Onboard Waypoints"-tab immidiately after the waypoint list has been sent.
emit updateStatusString("done."); emit updateStatusString("done.");
// // qDebug() << "sent all waypoints to ID " << systemId; // // qDebug() << "sent all waypoints to ID " << systemId;
} else if(current_state == WP_CLEARLIST) { } else if(current_state == WP_CLEARLIST) {
@ -405,6 +406,19 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
if (seq < waypointsEditable.size()) if (seq < waypointsEditable.size())
{ {
Waypoint *t = waypointsEditable[seq]; Waypoint *t = waypointsEditable[seq];
if (t->getCurrent() == true) //trying to remove the current waypoint
{
if (seq+1 < waypointsEditable.size()) // setting the next waypoint as current
{
waypointsEditable[seq+1]->setCurrent(true);
}
else if (seq-1 >= 0) //if deleting the last on the list, then setting the previous waypoint as current
{
waypointsEditable[seq-1]->setCurrent(true);
}
}
waypointsEditable.remove(seq); waypointsEditable.remove(seq);
delete t; delete t;
t = NULL; t = NULL;
@ -430,6 +444,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
for (int i = cur_seq; i < new_seq; i++) for (int i = cur_seq; i < new_seq; i++)
{ {
waypointsEditable[i] = waypointsEditable[i+1]; waypointsEditable[i] = waypointsEditable[i+1];
waypointsEditable[i]->setId(i);
} }
} }
else else
@ -437,9 +452,11 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
for (int i = cur_seq; i > new_seq; i--) for (int i = cur_seq; i > new_seq; i--)
{ {
waypointsEditable[i] = waypointsEditable[i-1]; waypointsEditable[i] = waypointsEditable[i-1];
waypointsEditable[i]->setId(i);
} }
} }
waypointsEditable[new_seq] = t; waypointsEditable[new_seq] = t;
waypointsEditable[new_seq]->setId(new_seq);
emit waypointEditableListChanged(); emit waypointEditableListChanged();
emit waypointEditableListChanged(uasid); emit waypointEditableListChanged(uasid);

6
src/ui/MainWindow.cc
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@ -1197,8 +1197,8 @@ void MainWindow::UASCreated(UASInterface* uas)
// Connect the UAS to the full user interface // Connect the UAS to the full user interface
if (uas != NULL) //if (uas != NULL)
{ //{
// The pilot, operator and engineer views were not available on startup, enable them now // The pilot, operator and engineer views were not available on startup, enable them now
ui.actionPilotsView->setEnabled(true); ui.actionPilotsView->setEnabled(true);
ui.actionOperatorsView->setEnabled(true); ui.actionOperatorsView->setEnabled(true);
@ -1346,7 +1346,7 @@ void MainWindow::UASCreated(UASInterface* uas)
} }
} }
} //}
if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true); if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);

65
src/ui/WaypointEditableView.cc
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@ -50,9 +50,9 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END); m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
// add frames // add frames
m_ui->comboBox_frame->addItem("Abs. Alt/Global",MAV_FRAME_GLOBAL); m_ui->comboBox_frame->addItem("Global/Abs. Alt",MAV_FRAME_GLOBAL);
m_ui->comboBox_frame->addItem("Rel. Alt/Global", MAV_FRAME_GLOBAL_RELATIVE_ALT); m_ui->comboBox_frame->addItem("Global/Rel. Alt", MAV_FRAME_GLOBAL_RELATIVE_ALT);
m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL_NED); m_ui->comboBox_frame->addItem("Local(NED)",MAV_FRAME_LOCAL_NED);
m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION); m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION);
// Initialize view correctly // Initialize view correctly
@ -234,6 +234,7 @@ void WaypointEditableView::updateActionView(int action)
*/ */
void WaypointEditableView::changedAction(int index) void WaypointEditableView::changedAction(int index)
{ {
MAV_FRAME cur_frame = (MAV_FRAME) m_ui->comboBox_frame->itemData(m_ui->comboBox_frame->currentIndex()).toUInt();
// set waypoint action // set waypoint action
int actionIndex = m_ui->comboBox_action->itemData(index).toUInt(); int actionIndex = m_ui->comboBox_action->itemData(index).toUInt();
if (actionIndex < MAV_CMD_ENUM_END && actionIndex >= 0) { if (actionIndex < MAV_CMD_ENUM_END && actionIndex >= 0) {
@ -254,8 +255,8 @@ void WaypointEditableView::changedAction(int index)
case MAV_CMD_NAV_LOITER_TURNS: case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME: case MAV_CMD_NAV_LOITER_TIME:
changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV); changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV);
// Update frame view // Update frame view
updateFrameView(m_ui->comboBox_frame->currentIndex()); updateFrameView(cur_frame);
// Update view // Update view
updateActionView(actionIndex); updateActionView(actionIndex);
break; break;
@ -309,30 +310,44 @@ void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode)
} }
void WaypointEditableView::updateFrameView(int frame) void WaypointEditableView::updateFrameView(int frame)
{ {
switch(frame) { switch(frame) {
case MAV_FRAME_GLOBAL: case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT: case MAV_FRAME_GLOBAL_RELATIVE_ALT:
m_ui->posNSpinBox->hide(); if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
m_ui->posESpinBox->hide(); {
m_ui->posDSpinBox->hide(); m_ui->posNSpinBox->hide();
m_ui->lonSpinBox->show(); m_ui->posESpinBox->hide();
m_ui->latSpinBox->show(); m_ui->posDSpinBox->hide();
m_ui->altSpinBox->show(); m_ui->lonSpinBox->show();
// Coordinate frame m_ui->latSpinBox->show();
m_ui->comboBox_frame->show(); m_ui->altSpinBox->show();
m_ui->customActionWidget->hide(); // Coordinate frame
m_ui->comboBox_frame->show();
m_ui->customActionWidget->hide();
}
else // do not hide customActionWidget if Command is set to "Other"
{
m_ui->customActionWidget->show();
}
break; break;
case MAV_FRAME_LOCAL_NED: case MAV_FRAME_LOCAL_NED:
m_ui->lonSpinBox->hide(); if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
m_ui->latSpinBox->hide(); {
m_ui->altSpinBox->hide(); m_ui->lonSpinBox->hide();
m_ui->posNSpinBox->show(); m_ui->latSpinBox->hide();
m_ui->posESpinBox->show(); m_ui->altSpinBox->hide();
m_ui->posDSpinBox->show(); m_ui->posNSpinBox->show();
// Coordinate frame m_ui->posESpinBox->show();
m_ui->comboBox_frame->show(); m_ui->posDSpinBox->show();
m_ui->customActionWidget->hide(); // Coordinate frame
m_ui->comboBox_frame->show();
m_ui->customActionWidget->hide();
}
else // do not hide customActionWidget if Command is set to "Other"
{
m_ui->customActionWidget->show();
}
break; break;
default: default:
std::cerr << "unknown frame" << std::endl; std::cerr << "unknown frame" << std::endl;
@ -526,7 +541,7 @@ void WaypointEditableView::updateValues()
{ {
// Action ID known, update // Action ID known, update
m_ui->comboBox_action->setCurrentIndex(action_index); m_ui->comboBox_action->setCurrentIndex(action_index);
updateActionView(action); updateActionView(action);
} }
} }
} }

44
src/ui/WaypointEditableView.ui
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@ -105,6 +105,18 @@ QPushButton:pressed {
</property> </property>
<item> <item>
<widget class="QCheckBox" name="selectedBox"> <widget class="QCheckBox" name="selectedBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::TabFocus</enum> <enum>Qt::TabFocus</enum>
</property> </property>
@ -127,9 +139,15 @@ QPushButton:pressed {
</item> </item>
<item> <item>
<widget class="QLabel" name="idLabel"> <widget class="QLabel" name="idLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>15</width> <width>25</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
@ -471,6 +489,12 @@ QPushButton:pressed {
</item> </item>
<item> <item>
<widget class="QDoubleSpinBox" name="acceptanceSpinBox"> <widget class="QDoubleSpinBox" name="acceptanceSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Uncertainty radius in meters <string>Uncertainty radius in meters
where to accept this waypoint as reached</string> where to accept this waypoint as reached</string>
@ -488,6 +512,12 @@ where to accept this waypoint as reached</string>
</item> </item>
<item> <item>
<widget class="QDoubleSpinBox" name="holdTimeSpinBox"> <widget class="QDoubleSpinBox" name="holdTimeSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Rotaty wing and ground vehicles only: <string>Rotaty wing and ground vehicles only:
Time to stay at this position before advancing</string> Time to stay at this position before advancing</string>
@ -505,6 +535,12 @@ Time to stay at this position before advancing</string>
</item> </item>
<item> <item>
<widget class="QSpinBox" name="turnsSpinBox"> <widget class="QSpinBox" name="turnsSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Number of turns to loiter</string> <string>Number of turns to loiter</string>
</property> </property>
@ -581,6 +617,12 @@ Time to stay at this position before advancing</string>
</item> </item>
<item> <item>
<widget class="QCheckBox" name="autoContinue"> <widget class="QCheckBox" name="autoContinue">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Automatically continue after this waypoint</string> <string>Automatically continue after this waypoint</string>
</property> </property>

58
src/ui/WaypointList.cc
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@ -47,6 +47,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
mavY(0.0), mavY(0.0),
mavZ(0.0), mavZ(0.0),
mavYaw(0.0), mavYaw(0.0),
showOfflineWarning(false),
m_ui(new Ui::WaypointList) m_ui(new Ui::WaypointList)
{ {
@ -100,7 +101,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
if (uas) if (uas)
{ {
WPM = uas->getWaypointManager(); WPM = uas->getWaypointManager();
setUAS(uas); //setUAS(uas);
} }
else else
{ {
@ -108,13 +109,16 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
m_ui->positionAddButton->hide(); m_ui->positionAddButton->hide();
m_ui->transmitButton->hide(); m_ui->transmitButton->hide();
m_ui->readButton->hide(); m_ui->readButton->hide();
//FIXME: The whole "Onboard Waypoints"-tab should be hidden, instead of "refresh" button
m_ui->refreshButton->hide(); m_ui->refreshButton->hide();
//FIXME: The whole "Onboard Waypoints"-tab should be hidden, instead of "refresh" button
UnconnectedUASInfoWidget* inf = new UnconnectedUASInfoWidget(this); UnconnectedUASInfoWidget* inf = new UnconnectedUASInfoWidget(this);
viewOnlyListLayout->insertWidget(0, inf); viewOnlyListLayout->insertWidget(0, inf); //insert a "NO UAV" info into the Onboard Tab
showOfflineWarning = true;
WPM = new UASWaypointManager(NULL); WPM = new UASWaypointManager(NULL);
} }
setUAS(uas);
// STATUS LABEL // STATUS LABEL
updateStatusLabel(""); updateStatusLabel("");
@ -151,21 +155,21 @@ void WaypointList::updateAttitude(UASInterface* uas, double roll, double pitch,
void WaypointList::setUAS(UASInterface* uas) void WaypointList::setUAS(UASInterface* uas)
{ {
if (this->uas == NULL && uas != NULL) //if (this->uas == NULL && uas != NULL)
if (this->uas == NULL)
{ {
this->uas = uas; this->uas = uas;
if(uas != NULL)
{
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
}
connect(WPM, SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &))); connect(WPM, SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(WPM, SIGNAL(waypointEditableListChanged(void)), this, SLOT(waypointEditableListChanged(void))); connect(WPM, SIGNAL(waypointEditableListChanged(void)), this, SLOT(waypointEditableListChanged(void)));
connect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*))); connect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
connect(WPM, SIGNAL(waypointViewOnlyListChanged(void)), this, SLOT(waypointViewOnlyListChanged(void))); connect(WPM, SIGNAL(waypointViewOnlyListChanged(void)), this, SLOT(waypointViewOnlyListChanged(void)));
connect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*))); connect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
connect(WPM, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointViewOnlyChanged(quint16))); connect(WPM, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointViewOnlyChanged(quint16)));
if (uas != NULL)
{
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
}
//connect(WPM,SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP())); //connect(WPM,SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
//connect(WPM,SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool))); //connect(WPM,SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
} }
@ -181,10 +185,20 @@ void WaypointList::saveWaypoints()
void WaypointList::loadWaypoints() void WaypointList::loadWaypoints()
{ {
//create a popup notifying the user about the limitations of offline editing
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)")); if (showOfflineWarning == true)
WPM->loadWaypoints(fileName); {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Warning);
msgBox.setText("Offline editor!");
msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
int ret = msgBox.exec();
showOfflineWarning = false;
}
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
WPM->loadWaypoints(fileName);
} }
void WaypointList::transmit() void WaypointList::transmit()
@ -237,6 +251,18 @@ void WaypointList::addEditable()
updateStatusLabel(tr("No UAV. Added default LOCAL (NED) waypoint")); updateStatusLabel(tr("No UAV. Added default LOCAL (NED) waypoint"));
wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
WPM->addWaypointEditable(wp); WPM->addWaypointEditable(wp);
//create a popup notifying the user about the limitations of offline editing
if (showOfflineWarning == true)
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Warning);
msgBox.setText("Offline editor!");
msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
int ret = msgBox.exec();
showOfflineWarning = false;
}
} }
} }
@ -267,7 +293,7 @@ void WaypointList::addCurrentPositionWaypoint()
yawGlobal = last->getYaw(); yawGlobal = last->getYaw();
} }
// Create global frame waypoint per default // Create global frame waypoint per default
wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, true, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT); wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
WPM->addWaypointEditable(wp); WPM->addWaypointEditable(wp);
updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint")); updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
} }
@ -281,7 +307,7 @@ void WaypointList::addCurrentPositionWaypoint()
holdTime = last->getHoldTime(); holdTime = last->getHoldTime();
} }
// Create local frame waypoint as second option // Create local frame waypoint as second option
wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT); wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, false, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
WPM->addWaypointEditable(wp); WPM->addWaypointEditable(wp);
updateStatusLabel(tr("Added LOCAL (NED) waypoint")); updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
} }

2
src/ui/WaypointList.h
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@ -43,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
#include "WaypointEditableView.h" #include "WaypointEditableView.h"
#include "WaypointViewOnlyView.h" #include "WaypointViewOnlyView.h"
#include "UnconnectedUASInfoWidget.h" #include "UnconnectedUASInfoWidget.h"
//#include "PopupMessage.h"
namespace Ui namespace Ui
@ -140,6 +141,7 @@ protected:
QPointF centerMapCoordinate; QPointF centerMapCoordinate;
bool loadFileGlobalWP; bool loadFileGlobalWP;
bool readGlobalWP; bool readGlobalWP;
bool showOfflineWarning;
private: private:
Ui::WaypointList *m_ui; Ui::WaypointList *m_ui;

54
src/ui/WaypointList.ui
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@ -74,22 +74,7 @@
<height>316</height> <height>316</height>
</rect> </rect>
</property> </property>
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>4</number>
</property>
<property name="topMargin">
<number>8</number>
</property>
<property name="rightMargin">
<number>4</number>
</property>
<property name="bottomMargin">
<number>4</number>
</property>
<item> <item>
<widget class="QWidget" name="editableListWidget" native="true"> <widget class="QWidget" name="editableListWidget" native="true">
<property name="toolTip"> <property name="toolTip">
@ -287,9 +272,6 @@
<property name="bottomMargin"> <property name="bottomMargin">
<number>6</number> <number>6</number>
</property> </property>
<property name="spacing">
<number>6</number>
</property>
<item row="0" column="0" colspan="3"> <item row="0" column="0" colspan="3">
<widget class="QScrollArea" name="readOnlyScrollArea"> <widget class="QScrollArea" name="readOnlyScrollArea">
<property name="widgetResizable"> <property name="widgetResizable">
@ -307,30 +289,31 @@
<property name="autoFillBackground"> <property name="autoFillBackground">
<bool>true</bool> <bool>true</bool>
</property> </property>
<layout class="QHBoxLayout" name="horizontalLayout_3"> <layout class="QVBoxLayout" name="verticalLayout">
<property name="leftMargin">
<number>4</number>
</property>
<property name="topMargin">
<number>8</number>
</property>
<property name="rightMargin">
<number>4</number>
</property>
<property name="bottomMargin">
<number>4</number>
</property>
<item> <item>
<widget class="QWidget" name="viewOnlyListWidget" native="true"> <widget class="QWidget" name="viewOnlyListWidget" native="true">
<property name="enabled"> <property name="enabled">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
</widget> </widget>
</item> </item>
</layout> </layout>
</widget> </widget>
</widget> </widget>
</item> </item>
<item row="1" column="0">
<widget class="QLabel" name="viewStatusLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1"> <item row="1" column="1">
<spacer name="horizontalSpacer_2"> <spacer name="horizontalSpacer_2">
<property name="orientation"> <property name="orientation">
@ -364,13 +347,6 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="0">
<widget class="QLabel" name="viewStatusLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</widget> </widget>

117
src/ui/WaypointViewOnlyView.cc
Unescape View File

@ -125,6 +125,41 @@ void WaypointViewOnlyView::updateValues()
// update frame // update frame
m_ui->idLabel->setText(QString("%1").arg(wp->getId())); m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
switch (wp->getFrame())
{
case MAV_FRAME_GLOBAL:
{
m_ui->frameLabel->setText(QString("GAA"));
break;
}
case MAV_FRAME_LOCAL_NED:
{
m_ui->frameLabel->setText(QString("NED"));
break;
}
case MAV_FRAME_MISSION:
{
m_ui->frameLabel->setText(QString("MIS"));
break;
}
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
{
m_ui->frameLabel->setText(QString("GRA"));
break;
}
case MAV_FRAME_LOCAL_ENU:
{
m_ui->frameLabel->setText(QString("ENU"));
break;
}
default:
{
m_ui->frameLabel->setText(QString(""));
break;
}
}
if (m_ui->current->isChecked() != wp->getCurrent()) if (m_ui->current->isChecked() != wp->getCurrent())
{ {
@ -143,24 +178,74 @@ void WaypointViewOnlyView::updateValues()
{ {
case MAV_CMD_NAV_WAYPOINT: case MAV_CMD_NAV_WAYPOINT:
{ {
if (wp->getParam1()>0) switch (wp->getFrame())
{ {
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2())); case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL:
{
if (wp->getParam1()>0)
{
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>,lon <b>%2<sup>o</sup></b>,alt <b>%3)</b>; yaw: %4; rad: %5").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()).arg(wp->getParam2()));
}
break;
} }
else case MAV_FRAME_LOCAL_NED:
default:
{ {
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b>; yaw: %4; rad: %5").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4()).arg(wp->getParam2())); if (wp->getParam1()>0)
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b>; yaw: %4; rad: %5").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()).arg(wp->getParam2()));
}
break;
} }
} //end Frame switch
break; break;
} }
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:
{ {
m_ui->displayBar->setText(QString("LAND. Go to (%1, %2, %3) and descent; yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4())); switch (wp->getFrame())
{
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL:
{
m_ui->displayBar->setText(QString("LAND. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and descent; yaw: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()));
break;
}
case MAV_FRAME_LOCAL_NED:
default:
{
m_ui->displayBar->setText(QString("LAND. Go to <b>(%1, %2, %3)</b> and descent; yaw: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()));
break;
}
} //end Frame switch
break; break;
} }
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
{ {
m_ui->displayBar->setText(QString("TAKEOFF. Go to (%1, %2, %3); yaw: %4").arg(wp->getX()).arg(wp->getY()).arg(wp->getZ()).arg(wp->getParam4())); switch (wp->getFrame())
{
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL:
{
m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b>; yaw: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()));
break;
}
case MAV_FRAME_LOCAL_NED:
default:
{
m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(%1, %2, %3)</b>; yaw: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam4()));
break;
}
} //end Frame switch
break;
break; break;
} }
case MAV_CMD_DO_JUMP: case MAV_CMD_DO_JUMP:
@ -192,7 +277,21 @@ void WaypointViewOnlyView::updateValues()
} }
case 240: //MAV_CMD_DO_SWEEP case 240: //MAV_CMD_DO_SWEEP
{ {
m_ui->displayBar->setText(QString("Sweep. Corners: (%1,%2) and (%3,%4); z: %5; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1())); switch (wp->getFrame())
{
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL:
{
m_ui->displayBar->setText(QString("Sweep. Corners: <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup>)</b> and <b>(</b>lat <b>%3<sup>o</sup></b>, lon <b>%4<sup>o</sup>)</b>; alt: <b>%5</b>; scan radius: %6").arg(wp->getParam3(),0, 'f', 7).arg(wp->getParam4(),0, 'f', 7).arg(wp->getParam5(),0, 'f', 7).arg(wp->getParam6(),0, 'f', 7).arg(wp->getParam7(),0, 'f', 2).arg(wp->getParam1()));
break;
}
case MAV_FRAME_LOCAL_NED:
default:
{
m_ui->displayBar->setText(QString("Sweep. Corners: <b>(%1, %2)</b> and <b>(%3, %4)</b>; z: <b>%5</b>; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1()));
break;
}
} //end Frame switch
break; break;
} }
default: default:

161
src/ui/WaypointViewOnlyView.ui
Unescape View File

@ -6,43 +6,63 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>381</width> <width>704</width>
<height>40</height> <height>31</height>
</rect> </rect>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize">
<size>
<width>200</width>
<height>30</height>
</size>
</property>
<property name="windowTitle"> <property name="windowTitle">
<string>Form</string> <string>Form</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true">QGroupBox {
border: 1px solid #EEEEEE;
border-radius: 5px;
padding: 0px 0px 0px 0px;
margin-top: 1ex; /* leave space at the top for the title */
margin: 0px;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
margin: 0 3px 0px 3px;
padding: 0 3px 0px 0px;
font: bold 8px;
}</string>
</property> </property>
<layout class="QHBoxLayout" name="horizontalLayout_2"> <layout class="QGridLayout" name="gridLayout">
<property name="spacing"> <property name="margin">
<number>0</number>
</property>
<property name="leftMargin">
<number>2</number>
</property>
<property name="topMargin">
<number>0</number> <number>0</number>
</property> </property>
<property name="rightMargin"> <property name="spacing">
<number>2</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item row="0" column="0">
<widget class="QGroupBox" name="groupBox"> <widget class="QGroupBox" name="groupBox">
<property name="enabled"> <property name="enabled">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -55,24 +75,27 @@
<property name="checkable"> <property name="checkable">
<bool>false</bool> <bool>false</bool>
</property> </property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,100,1"> <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,2,100,10,5,1">
<property name="spacing"> <property name="spacing">
<number>6</number>
</property>
<property name="leftMargin">
<number>2</number> <number>2</number>
</property> </property>
<property name="topMargin"> <property name="margin">
<number>0</number> <number>4</number>
</property>
<property name="rightMargin">
<number>2</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property> </property>
<item> <item>
<widget class="QCheckBox" name="current"> <widget class="QCheckBox" name="current">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Currently executed waypoint</string> <string>Currently executed waypoint</string>
</property> </property>
@ -86,40 +109,94 @@
</item> </item>
<item> <item>
<widget class="QLabel" name="idLabel"> <widget class="QLabel" name="idLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="text"> <property name="text">
<string>ID</string> <string>ID</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QTextBrowser" name="displayBar"> <widget class="QLabel" name="displayBar">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding"> <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="maximumSize"> <property name="toolTip">
<string>Mission element description</string>
</property>
<property name="statusTip">
<string>Mission element description</string>
</property>
<property name="whatsThis">
<string/>
</property>
<property name="text">
<string>Mission element description</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size> <size>
<width>16777215</width> <width>79</width>
<height>31</height> <height>17</height>
</size> </size>
</property> </property>
<property name="font"> </spacer>
<font> </item>
<pointsize>8</pointsize> <item>
</font> <widget class="QLabel" name="frameLabel">
<property name="toolTip">
<string comment="Coordinate Frame" extracomment="Coordinate Frame">Coordinate Frame</string>
</property>
<property name="statusTip">
<string>Coordinate Frame</string>
</property>
<property name="whatsThis">
<string/>
</property> </property>
<property name="frameShape"> <property name="text">
<enum>QFrame::NoFrame</enum> <string>Frame</string>
</property> </property>
<property name="frameShadow"> <property name="alignment">
<enum>QFrame::Sunken</enum> <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QCheckBox" name="autoContinue"> <widget class="QCheckBox" name="autoContinue">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Automatically continue after this waypoint</string> <string>Automatically continue after this waypoint</string>
</property> </property>

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