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Fixed 2D map regarding waypoints (almost done), added option to replay image logs in HUD view

QGC4.4
pixhawk 14 years ago
parent
5795eb6be4
commit
69aed4a6a7
15 changed files with 555 additions and 261 deletions
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  1. 53
      images/earth.html
  2. 9
      src/uas/PxQuadMAV.cc
  3. 6
      src/uas/UAS.cc
  4. 3
      src/uas/UAS.h
  5. 2
      src/uas/UASInterface.h
  6. 11
      src/uas/UASWaypointManager.cc
  7. 13
      src/uas/UASWaypointManager.h
  8. 391
      src/ui/HUD.cc
  9. 20
      src/ui/HUD.h
  10. 20
      src/ui/MainWindow.cc
  11. 243
      src/ui/MapWidget.cc
  12. 37
      src/ui/MapWidget.h
  13. 2
      src/ui/QGCMAVLinkLogPlayer.cc
  14. 4
      src/ui/WaypointView.ui
  15. 2
      src/ui/linechart/LinechartWidget.cc

53
images/earth.html
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@ -192,40 +192,38 @@ function setViewRange(dist) @@ -192,40 +192,38 @@ function setViewRange(dist)
function addTrailPosition(id, lat, lon, alt)
{
trails[id].setExtrude(false);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
// Add LineString points
trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
//lineStyle.getColor().set(color);  // aabbggrr format
// Add the feature to Earth
if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
// Add the feature to Earth
if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
}
function initCallback(object)
{
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(5.0);
//ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(5.0);
//ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
initialized = true;
initialized = true;
}
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
@ -247,13 +245,12 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw) @@ -247,13 +245,12 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
}
planeLoc.setLatitude(lat);
planeLoc.setLongitude(lon);
planeLoc.setAltitude(alt);
planeModel.setLocation(planeLoc);
}
}
function enableDaylight(enabled)

9
src/uas/PxQuadMAV.cc
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@ -64,6 +64,15 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -64,6 +64,15 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGERED:
{
// FIXME Kind of a hack to load data from disk
mavlink_image_triggered_t img;
mavlink_msg_image_triggered_decode(&message, &img);
qDebug() << "IMAGE AVAILABLE:" << img.timestamp;
emit imageStarted(img.timestamp);
}
break;
case MAVLINK_MSG_ID_PATTERN_DETECTED:
{
mavlink_pattern_detected_t detected;

6
src/uas/UAS.cc
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@ -464,6 +464,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -464,6 +464,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
emit valueChanged(uasId, "longitude", "deg", pos.lon, time);
// FIXME REMOVE
longitude = pos.lon;
latitude = pos.lat;
altitude = pos.alt;
emit globalPositionChanged(this, longitude, latitude, altitude, time);
if (pos.fix_type > 0)
{
emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);

3
src/uas/UAS.h
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@ -169,7 +169,7 @@ public: @@ -169,7 +169,7 @@ public:
bool isAuto();
public:
UASWaypointManager &getWaypointManager(void) { return waypointManager; }
UASWaypointManager* getWaypointManager() { return &waypointManager; }
int getSystemType();
int getAutopilotType() {return autopilot;}
@ -303,6 +303,7 @@ signals: @@ -303,6 +303,7 @@ signals:
void loadChanged(UASInterface* uas, double load);
/** @brief Propagate a heartbeat received from the system */
void heartbeat(UASInterface* uas);
void imageStarted(quint64 timestamp);
protected:
/** @brief Get the UNIX timestamp in microseconds */

2
src/uas/UASInterface.h
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@ -79,7 +79,7 @@ public: @@ -79,7 +79,7 @@ public:
virtual double getYaw() const = 0;
/** @brief Get reference to the waypoint manager **/
virtual UASWaypointManager &getWaypointManager(void) = 0;
virtual UASWaypointManager* getWaypointManager(void) = 0;
/* COMMUNICATION FLAGS */

11
src/uas/UASWaypointManager.cc
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@ -265,6 +265,13 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m @@ -265,6 +265,13 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
}
}
void UASWaypointManager::notifyOfChange(Waypoint* wp)
{
Q_UNUSED(wp);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
int UASWaypointManager::setCurrentWaypoint(quint16 seq)
{
if (seq < waypoints.size())
@ -313,6 +320,7 @@ void UASWaypointManager::addWaypoint(Waypoint *wp) @@ -313,6 +320,7 @@ void UASWaypointManager::addWaypoint(Waypoint *wp)
waypoints.insert(waypoints.size(), wp);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
}
@ -329,6 +337,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq) @@ -329,6 +337,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
waypoints[i]->setId(i);
}
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
return 0;
}
return -1;
@ -359,6 +368,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq) @@ -359,6 +368,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
//waypoints[new_seq]->setId(new_seq);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
}
@ -425,6 +435,7 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) @@ -425,6 +435,7 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
emit loadWPFile();
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}

13
src/uas/UASWaypointManager.h
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@ -86,11 +86,11 @@ public: @@ -86,11 +86,11 @@ public:
/** @name Waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a const reference to the waypoint list.
void addWaypoint(Waypoint *wp); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
int removeWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void moveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void saveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void loadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
void notifyOfChange(Waypoint* wp); ///< Notifies manager to changes to a waypoint
void localAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
int localRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void localMoveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
@ -99,6 +99,8 @@ public: @@ -99,6 +99,8 @@ public:
/*@}*/
UAS& getUAS() { return this->uas; } ///< Returns the owning UAS
/** @name Global waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; } ///< Returns a const reference to the global waypoint list.
@ -120,14 +122,17 @@ private: @@ -120,14 +122,17 @@ private:
public slots:
void timeout(); ///< Called by the timer if a response times out. Handles send retries.
void addWaypoint(Waypoint *wp); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
signals:
void waypointListChanged(void); ///< emits signal that the local waypoint list has been changed
void waypointListChanged(void); ///< emits signal that the waypoint list has been changed
void waypointListChanged(int uasid); ///< Emits signal that list has been changed
void waypointChanged(int uasid, Waypoint* wp); ///< emits signal that waypoint has been changed
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
void loadWPFile(); ///< emits signal that a file wp has been load
void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS
void loadWPFile(); ///< emits signal that a file wp has been load
void readGlobalWPFromUAS(bool value); ///< emits signal when finish to read Global WP from UAS
private:
UAS &uas; ///< Reference to the corresponding UAS

391
src/ui/HUD.cc
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@ -30,6 +30,10 @@ This file is part of the QGROUNDCONTROL project @@ -30,6 +30,10 @@ This file is part of the QGROUNDCONTROL project
*/
#include <QShowEvent>
#include <QContextMenuEvent>
#include <QMenu>
#include <QDesktopServices>
#include <QFileDialog>
#include <QDebug>
#include <cmath>
@ -39,6 +43,7 @@ This file is part of the QGROUNDCONTROL project @@ -39,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
#include <limits>
#include "UASManager.h"
#include "UAS.h"
#include "HUD.h"
#include "MG.h"
#include "QGC.h"
@ -124,7 +129,13 @@ HUD::HUD(int width, int height, QWidget* parent) @@ -124,7 +129,13 @@ HUD::HUD(int width, int height, QWidget* parent)
lat(0.0),
lon(0.0),
alt(0.0),
load(0.0f)
load(0.0f),
offlineDirectory(""),
nextOfflineImage(""),
hudInstrumentsEnabled(true),
videoEnabled(false),
xImageFactor(1.0),
yImageFactor(1.0)
{
// Set auto fill to false
setAutoFillBackground(false);
@ -183,6 +194,10 @@ HUD::HUD(int width, int height, QWidget* parent) @@ -183,6 +194,10 @@ HUD::HUD(int width, int height, QWidget* parent)
// Connect with UAS
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
createActions();
if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
setVisible(false);
}
@ -212,6 +227,36 @@ void HUD::hideEvent(QHideEvent* event) @@ -212,6 +227,36 @@ void HUD::hideEvent(QHideEvent* event)
refreshTimer->stop();
}
void HUD::contextMenuEvent (QContextMenuEvent* event)
{
QMenu menu(this);
menu.addAction(enableHUDAction);
//menu.addAction(selectHUDColorAction);
menu.addAction(enableVideoAction);
menu.addAction(selectOfflineDirectoryAction);
//menu.addAction(selectVideoChannelAction);
menu.exec(event->globalPos());
}
void HUD::createActions()
{
enableHUDAction = new QAction(tr("Enable HUD"), this);
enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
enableHUDAction->setCheckable(true);
enableHUDAction->setChecked(hudInstrumentsEnabled);
connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));
enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
enableVideoAction->setStatusTip(tr("Show the video live feed"));
enableVideoAction->setCheckable(true);
enableVideoAction->setChecked(videoEnabled);
connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));
selectOfflineDirectoryAction = new QAction(tr("Select image log"), this);
selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
@ -230,22 +275,39 @@ void HUD::setActiveUAS(UASInterface* uas) @@ -230,22 +275,39 @@ void HUD::setActiveUAS(UASInterface* uas)
disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
}
// Now connect the new UAS
// Setup communication
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
// Try to disconnect the image link
UAS* u = dynamic_cast<UAS*>(uas);
if (u)
{
disconnect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
}
}
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
if (uas)
{
// Now connect the new UAS
// Setup communication
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
// Try to connect the image link
UAS* u = dynamic_cast<UAS*>(uas);
if (u)
{
connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
}
// Set new UAS
this->uas = uas;
// Set new UAS
this->uas = uas;
}
}
//void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
@ -609,174 +671,183 @@ void HUD::paintHUD() @@ -609,174 +671,183 @@ void HUD::paintHUD()
glPushMatrix();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Blue / Brown background
if (noCamera)
{
paintCenterBackground(roll, pitch, yawTrans);
}
// else {
// Fill with black background
QString imagePath = "/Users/user/Desktop/frame0000.png";
if (QFileInfo(imagePath).exists())
if (videoEnabled)
{
//qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
QImage fill = QImage(imagePath);
if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists())
{
qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
QImage fill = QImage(nextOfflineImage);
glImage = QGLWidget::convertToGLFormat(fill);
xImageFactor = width() / (float)fill.width();
yImageFactor = height() / (float)fill.height();
float xFactor;
float yFactor;
glImage = QGLWidget::convertToGLFormat(fill);
xFactor = width() / (float)fill.width();
yFactor = height() / (float)fill.height();
// Reset to save load efforts
nextOfflineImage = "";
}
glPixelZoom(xFactor, yFactor);
glPixelZoom(xImageFactor, yImageFactor);
// Resize to correct size and fill with image
glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
// FIXME Adjust viewport to scale image into view
}
else
{
// Blue / brown background
paintCenterBackground(roll, pitch, yawTrans);
}
// }
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
// END OF OPENGL PAINTING
if (hudInstrumentsEnabled)
{
//glEnable(GL_MULTISAMPLE);
// QT PAINTING
//makeCurrent();
QPainter painter;
painter.begin(this);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
//glEnable(GL_MULTISAMPLE);
// QT PAINTING
//makeCurrent();
QPainter painter;
painter.begin(this);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// YAW INDICATOR
//
// .
// . .
// .......
//
const float yawIndicatorWidth = 4.0f;
const float yawIndicatorY = vheight/2.0f - 10.0f;
QPolygon yawIndicator(4);
yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(yawIndicator);
// YAW INDICATOR
//
// .
// . .
// .......
//
const float yawIndicatorWidth = 4.0f;
const float yawIndicatorY = vheight/2.0f - 10.0f;
QPolygon yawIndicator(4);
yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(yawIndicator);
// CENTER
// CENTER
// HEADING INDICATOR
//
// __ __
// \/\/
//
const float hIndicatorWidth = 7.0f;
const float hIndicatorY = -25.0f;
const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
QPolygon hIndicator(7);
hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(hIndicator);
// HEADING INDICATOR
//
// __ __
// \/\/
//
const float hIndicatorWidth = 7.0f;
const float hIndicatorY = -25.0f;
const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
QPolygon hIndicator(7);
hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(hIndicator);
// SETPOINT
const float centerWidth = 4.0f;
painter.setPen(defaultColor);
painter.setBrush(Qt::NoBrush);
// TODO
//painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
// SETPOINT
const float centerWidth = 4.0f;
painter.setPen(defaultColor);
painter.setBrush(Qt::NoBrush);
// TODO
//painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
const float centerCrossWidth = 10.0f;
// left
painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// right
painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// top
painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
const float centerCrossWidth = 10.0f;
// left
painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// right
painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// top
painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
// COMPASS
const float compassY = -vheight/2.0f + 10.0f;
QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
painter.setBrush(Qt::NoBrush);
painter.setPen(Qt::SolidLine);
painter.setPen(defaultColor);
painter.drawRoundedRect(compassRect, 2, 2);
QString yawAngle;
// COMPASS
const float compassY = -vheight/2.0f + 10.0f;
QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
painter.setBrush(Qt::NoBrush);
painter.setPen(Qt::SolidLine);
painter.setPen(defaultColor);
painter.drawRoundedRect(compassRect, 2, 2);
QString yawAngle;
// const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
// const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
// YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, xSpeed, &painter);
// GAUGES
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, xSpeed, &painter);
// GAUGES
// Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -zPos, defaultColor, &painter, false);
// Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -zPos, defaultColor, &painter, false);
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, xSpeed, defaultColor, &painter, false);
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, xSpeed, defaultColor, &painter, false);
// Waypoint name
if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// MOVING PARTS
painter.translate(refToScreenX(yawTrans), 0);
// Rotate view and draw all roll-dependent indicators
painter.rotate((rollLP/M_PI)* -180.0f);
painter.translate(0, (-pitchLP/M_PI)* -180.0f * refToScreenY(1.8));
//qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// PITCH
// Waypoint name
if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// MOVING PARTS
painter.translate(refToScreenX(yawTrans), 0);
// Rotate view and draw all roll-dependent indicators
painter.rotate((rollLP/M_PI)* -180.0f);
painter.translate(0, (-pitchLP/M_PI)* -180.0f * refToScreenY(1.8));
//qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// PITCH
paintPitchLines(pitchLP, &painter);
painter.end();
paintPitchLines(pitchLP, &painter);
painter.end();
}
else
{
QPainter painter;
painter.begin(this);
painter.end();
}
//glDisable(GL_MULTISAMPLE);
//glFlush();
}
}
@ -1517,6 +1588,34 @@ void HUD::saveImage() @@ -1517,6 +1588,34 @@ void HUD::saveImage()
saveImage(fileName);
}
void HUD::startImage(quint64 timestamp)
{
if (videoEnabled && offlineDirectory != "")
{
// Load and diplay image file
nextOfflineImage = QString(offlineDirectory + "/%1.bmp").arg(timestamp);
}
}
void HUD::selectOfflineDirectory()
{
QString fileName = QFileDialog::getExistingDirectory(this, tr("Select image directory"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
if (fileName != "")
{
offlineDirectory = fileName;
}
}
void HUD::enableHUDInstruments(bool enabled)
{
hudInstrumentsEnabled = enabled;
}
void HUD::enableVideo(bool enabled)
{
videoEnabled = enabled;
}
void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
{
Q_UNUSED(imgid);

20
src/ui/HUD.h
Unescape View File

@ -76,11 +76,19 @@ public slots: @@ -76,11 +76,19 @@ public slots:
void updateLoad(UASInterface*, double);
void selectWaypoint(int uasId, int id);
void startImage(quint64 timestamp);
void startImage(int imgid, int width, int height, int depth, int channels);
void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex);
void finishImage();
void saveImage();
void saveImage(QString fileName);
/** @brief Select directory where to load the offline files from */
void selectOfflineDirectory();
/** @brief Enable the HUD instruments */
void enableHUDInstruments(bool enabled);
/** @brief Enable Video */
void enableVideo(bool enabled);
protected slots:
void paintCenterBackground(float roll, float pitch, float yaw);
@ -119,6 +127,8 @@ protected: @@ -119,6 +127,8 @@ protected:
void showEvent(QShowEvent* event);
/** @brief Stop updating widget */
void hideEvent(QHideEvent* event);
void contextMenuEvent (QContextMenuEvent* event);
void createActions();
static const int updateInterval = 50;
@ -192,6 +202,16 @@ protected: @@ -192,6 +202,16 @@ protected:
double lon;
double alt;
float load;
QString offlineDirectory;
QString nextOfflineImage;
bool hudInstrumentsEnabled;
bool videoEnabled;
float xImageFactor;
float yImageFactor;
QAction* enableHUDAction;
QAction* enableVideoAction;
QAction* selectOfflineDirectoryAction;
QAction* selectVideoChannelAction;
void paintEvent(QPaintEvent *event);
};

20
src/ui/MainWindow.cc
Unescape View File

@ -408,17 +408,17 @@ void MainWindow::buildPxWidgets() @@ -408,17 +408,17 @@ void MainWindow::buildPxWidgets()
#ifdef QGC_OSG_ENABLED
if (!_3DWidget)
{
// _3DWidget = Q3DWidgetFactory::get("PIXHAWK");
// addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
}
#endif
#ifdef QGC_OSGEARTH_ENABLED
// if (!_3DMapWidget)
// {
// _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
// addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
// }
if (!_3DMapWidget)
{
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
}
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
@ -853,13 +853,7 @@ void MainWindow::connectCommonWidgets() @@ -853,13 +853,7 @@ void MainWindow::connectCommonWidgets()
if (mapWidget && waypointsDockWidget->widget())
{
// clear path create on the map
connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearWaypoints()));
// add Waypoint widget in the WaypointList widget when mouse clicked
connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
// it notifies that a waypoint global goes to do create and a map graphic too
connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
}
//TODO temporaly debug

243
src/ui/MapWidget.cc
Unescape View File

@ -21,6 +21,7 @@ @@ -21,6 +21,7 @@
#include "UASManager.h"
#include "MAV2DIcon.h"
#include "Waypoint2DIcon.h"
#include "UASWaypointManager.h"
#include "MG.h"
@ -38,7 +39,7 @@ MapWidget::MapWidget(QWidget *parent) : @@ -38,7 +39,7 @@ MapWidget::MapWidget(QWidget *parent) :
mc = new qmapcontrol::MapControl(QSize(320, 240));
// VISUAL MAP STYLE
QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}");
QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)} QAbstractButton:checked { border: 2px solid #379AC3; }");
mc->setPen(QGC::colorCyan.darker(400));
@ -371,7 +372,7 @@ void MapWidget::createPathButtonClicked(bool checked) @@ -371,7 +372,7 @@ void MapWidget::createPathButtonClicked(bool checked)
// emit signal start to create a Waypoint global
emit createGlobalWP(true, mc->currentCoordinate());
//emit createGlobalWP(true, mc->currentCoordinate());
// // Clear the previous WP track
// // TODO: Move this to an actual clear track button and add a warning dialog
@ -406,32 +407,92 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina @@ -406,32 +407,92 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
// Create waypoint name
QString str;
str = QString("%1").arg(waypointPath->numberOfPoints());
// create the WP and set everything in the LineString to display the path
Waypoint2DIcon* tempCirclePoint;
if (mav)
{
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
mav->getWaypointManager()->addWaypoint(new Waypoint(mav->getWaypointManager()->getWaypointList().count(), coordinate.x(), coordinate.y()));
// QVector<Waypoint*> mavWps = mav->getWaypointManager()->getWaypointList();
// str = QString("%1").arg(mavWps.count());
// tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
// //mav->getWaypointManager()->addWaypoint(new Waypoint(mavWps.count(), coordinate.x(), coordinate.y()));
}
else
{
str = QString("%1").arg(waypointPath->numberOfPoints());
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
}
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
wpIndex.insert(str,tempPoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
// if (mav)
// {
// QPen* pathPen = new QPen(mav->getColor());
// pathPen->setWidth(2);
// waypointPath->setPen(pathPen);
// }
// Refresh the screen
mc->updateRequest(tempPoint->boundingBox().toRect());
wpIndex.insert(str,tempPoint);
// Refresh the screen
mc->updateRequest(tempPoint->boundingBox().toRect());
}
// emit signal mouse was clicked
emit captureMapCoordinateClick(coordinate);
//emit captureMapCoordinateClick(coordinate);
}
}
void MapWidget::updateWaypoint(int uas, Waypoint* wp)
{
if (uas == this->mav->getUASID())
{
// Create waypoint name
QString str = QString("%1").arg(wp->getId());
// Check if wp exists yet
if (!wpIndex.contains(str))
{
QPointF coordinate;
coordinate.setX(wp->getX());
coordinate.setY(wp->getY());
createWaypointGraphAtMap(coordinate);
qDebug() << "Waypoint Index did not contain" << str;
}
else
{
// Waypoint exists, update it
if(!waypointIsDrag)
{
qDebug() <<"indice WP= "<< wp->getId() <<"\n";
QPointF coordinate;
coordinate.setX(wp->getX());
coordinate.setY(wp->getY());
Point* waypoint;
waypoint = wpIndex[str];
if (waypoint)
{
// First set waypoint coordinate
waypoint->setCoordinate(coordinate);
// Then waypoint line coordinate
Point* linesegment = waypointPath->points().at(wp->getId());
if (linesegment)
{
linesegment->setCoordinate(coordinate);
}
//point2Find = dynamic_cast <Point*> (mc->layer("Waypoints")->get_Geometry(wp->getId()));
//point2Find->setCoordinate(coordinate);
mc->updateRequest(waypoint->boundingBox().toRect());
}
}
}
}
}
@ -443,7 +504,7 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate) @@ -443,7 +504,7 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
QString str;
str = QString("%1").arg(waypointPath->numberOfPoints());
// create the WP and set everything in the LineString to display the path
//CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
@ -451,10 +512,14 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate) @@ -451,10 +512,14 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
if (mav)
{
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
int uas = mav->getUASID();
str = QString("%1").arg(mav->getWaypointManager()->getWaypointList().count());
qDebug() << "Waypoint list count:" << str;
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, mavPens.value(uas));
}
else
{
str = QString("%1").arg(waypointPath->numberOfPoints());
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
}
@ -469,17 +534,19 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate) @@ -469,17 +534,19 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
// Refresh the screen
mc->updateRequestNew();//(tempPoint->boundingBox().toRect());
mc->updateRequest(tempPoint->boundingBox().toRect());
}
//// // emit signal mouse was clicked
// emit captureMapCoordinateClick(coordinate);
}
int MapWidget::wpExists(const QPointF coordinate){
int MapWidget::wpExists(const QPointF coordinate)
{
for (int i = 0; i < wps.size(); i++){
if (wps.at(i)->latitude() == coordinate.y() &&
wps.at(i)->longitude()== coordinate.x()){
wps.at(i)->longitude()== coordinate.x())
{
return 1;
}
}
@ -493,19 +560,21 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point) @@ -493,19 +560,21 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
Q_UNUSED(point);
mc->setMouseMode(qmapcontrol::MapControl::None);
}
void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
{
waypointIsDrag = true;
// Refresh the screen
mc->updateRequest(geom->boundingBox().toRect());
int temp = 0;
// Get waypoint index in list
bool wpIndexOk;
int index = geom->name().toInt(&wpIndexOk);
qmapcontrol::Point* point2Find;
point2Find = wpIndex[geom->name()];
@ -518,6 +587,21 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate) @@ -518,6 +587,21 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
{
point2Find->setCoordinate(coordinate);
if (wpIndexOk)
{
mc->updateRequest(point2Find->boundingBox().toRect());
if (mav)
{
QVector<Waypoint*> wps = mav->getWaypointManager()->getWaypointList();
if (wps.size() > index)
{
wps.at(index)->setX(coordinate.x());
wps.at(index)->setY(coordinate.y());
mav->getWaypointManager()->notifyOfChange(wps.at(index));
}
}
}
// qDebug() << geom->name();
temp = geom->get_myIndex();
//qDebug() << temp;
@ -553,18 +637,95 @@ MapWidget::~MapWidget() @@ -553,18 +637,95 @@ MapWidget::~MapWidget()
void MapWidget::addUAS(UASInterface* uas)
{
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
//connect(uas->getWaypointManager(), SIGNAL(waypointListChanged()), this, SLOT(redoWaypoints()));
}
void MapWidget::updateWaypointList(int uas)
{
// Get already existing waypoints
UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
if (uasInstance)
{
QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getWaypointList();
// Clear if necessary
if (wpList.count() == 0)
{
clearWaypoints(uas);
return;
}
// Load all existing waypoints into map view
foreach (Waypoint* wp, wpList)
{
updateWaypoint(mav->getUASID(), wp);
}
// Delete now unused wps
if (wpIndex.count() > wpList.count())
{
for (int i = wpList.count(); i < wpIndex.count(); ++i)
{
wpIndex.remove(QString("%i").arg(i));
QRect updateRect = wps.at(i)->boundingBox().toRect();
wps.removeAt(i);
waypointPath->points().removeAt(i);
mc->updateRequest(updateRect);
}
}
}
}
void MapWidget::redoWaypoints(int uas)
{
// QObject* sender = QObject::sender();
// UASWaypointManager* manager = dynamic_cast<UASWaypointManager*>(sender);
// if (sender)
// {
// Get waypoint list for this MAV
// Clear all waypoints
clearWaypoints();
// Re-add the updated waypoints
// }
updateWaypointList(uas);
}
void MapWidget::activeUASSet(UASInterface* uas)
{
// Disconnect old MAV
if (mav)
{
// clear path create on the map
disconnect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
// add Waypoint widget in the WaypointList widget when mouse clicked
disconnect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
// it notifies that a waypoint global goes to do create and a map graphic too
//connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
}
if (uas)
{
mav = uas;
QColor color = mav->getColor();
QColor color = mav->getColor().lighter(100);
color.setAlphaF(0.6);
QPen* pen = new QPen(color);
pen->setWidth(3.0);
// FIXME Load waypoints of this system
pen->setWidth(2.0);
mavPens.insert(mav->getUASID(), pen);
// FIXME Remove after refactoring
waypointPath->setPen(pen);
// Delete all waypoints and start fresh
redoWaypoints();
// clear path create on the map
connect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
// add Waypoint widget in the WaypointList widget when mouse clicked
connect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
}
}
@ -738,13 +899,13 @@ void MapWidget::changeEvent(QEvent *e) @@ -738,13 +899,13 @@ void MapWidget::changeEvent(QEvent *e)
}
}
void MapWidget::clearWaypoints()
void MapWidget::clearWaypoints(int uas)
{
// Clear the previous WP track
mc->layer("Waypoints")->clearGeometries();
wps.clear();
waypointPath->setPoints(wps);
waypointPath->points().clear();
mc->layer("Waypoints")->addGeometry(waypointPath);
wpIndex.clear();
mc->updateRequestNew();//(waypointPath->boundingBox().toRect());
@ -753,9 +914,11 @@ void MapWidget::clearWaypoints() @@ -753,9 +914,11 @@ void MapWidget::clearWaypoints()
{
createPath->click();
}
qDebug() << "CLEARING WAYPOINTS";
}
void MapWidget::clearPath()
void MapWidget::clearPath(int uas)
{
mc->layer("Tracking")->clearGeometries();
foreach (qmapcontrol::LineString* ls, uasTrails)
@ -769,30 +932,6 @@ void MapWidget::clearPath() @@ -769,30 +932,6 @@ void MapWidget::clearPath()
mc->updateRequestNew();//(QRect(0, 0, width(), height()));
}
void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon)
{
if(!waypointIsDrag)
{
qDebug() <<"indice WP= "<<index <<"\n";
QPointF coordinate;
coordinate.setX(lon);
coordinate.setY(lat);
Point* point2Find;
point2Find = wpIndex[QString::number(index)];
point2Find->setCoordinate(coordinate);
point2Find = dynamic_cast <Point*> (mc->layer("Waypoints")->get_Geometry(index));
point2Find->setCoordinate(coordinate);
// Refresh the screen
mc->updateRequestNew();//(point2Find->boundingBox().toRect());
}
}
void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
{
// FIXME Mariano

37
src/ui/MapWidget.h
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@ -44,6 +44,7 @@ This file is part of the QGROUNDCONTROL project @@ -44,6 +44,7 @@ This file is part of the QGROUNDCONTROL project
class QMenu;
class Waypoint;
namespace Ui {
class MapWidget;
@ -72,10 +73,18 @@ public slots: @@ -72,10 +73,18 @@ public slots:
QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
/** @brief Clear the waypoints overlay layer */
void clearWaypoints();
void clearWaypoints(int uas=0);
/** @brief Clear the UAV tracks on the map */
void clearPath();
void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
void clearPath(int uas=0);
/** @brief Update waypoint list */
void updateWaypointList(int uas);
/** @brief Clear all waypoints and re-add them from updated list */
void redoWaypoints(int uas=0);
/** @brief Update waypoint */
void updateWaypoint(int uas, Waypoint* wp);
void drawBorderCamAtMap(bool status);
/** @brief Bring up dialog to go to a specific location */
void goTo();
@ -105,12 +114,12 @@ protected: @@ -105,12 +114,12 @@ protected:
QMenu* mapMenu;
QPushButton* mapButton;
qmapcontrol::MapControl* mc; ///< QMapControl widget
qmapcontrol::MapAdapter* mapadapter; ///< Adapter to load the map data
qmapcontrol::Layer* l; ///< Current map layer (background)
qmapcontrol::Layer* overlay; ///< Street overlay (foreground)
qmapcontrol::Layer* tracks; ///< Layer for UAV tracks
qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
qmapcontrol::MapControl* mc; ///< QMapControl widget
qmapcontrol::MapAdapter* mapadapter; ///< Adapter to load the map data
qmapcontrol::Layer* l; ///< Current map layer (background)
qmapcontrol::Layer* overlay; ///< Street overlay (foreground)
qmapcontrol::Layer* tracks; ///< Layer for UAV tracks
qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
//only for experiment
qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
@ -124,6 +133,9 @@ protected: @@ -124,6 +133,9 @@ protected:
QMap<int, qmapcontrol::Point*> uasIcons;
QMap<int, qmapcontrol::LineString*> uasTrails;
QMap<int, QPen*> mavPens;
//QMap<int, QList<qmapcontrol::Point*> > mavWps;
//QMap<int, qmapcontrol::LineString*> waypointPaths;
UASInterface* mav;
quint64 lastUpdate;
@ -135,13 +147,14 @@ protected: @@ -135,13 +147,14 @@ protected:
void createPathButtonClicked(bool checked);
void createWaypointGraphAtMap (const QPointF coordinate);
void createWaypointGraphAtMap(const QPointF coordinate);
void mapproviderSelected(QAction* action);
signals:
//void movePoint(QPointF newCoord);
void captureMapCoordinateClick(const QPointF coordinate); //ROCA
void createGlobalWP(bool value, QPointF centerCoordinate);
//void captureMapCoordinateClick(const QPointF coordinate); //ROCA
//void createGlobalWP(bool value, QPointF centerCoordinate);
void waypointCreated(Waypoint* wp);
void sendGeometryEndDrag(const QPointF coordinate, const int index);

2
src/ui/QGCMAVLinkLogPlayer.cc
Unescape View File

@ -319,7 +319,7 @@ void QGCMAVLinkLogPlayer::logLoop() @@ -319,7 +319,7 @@ void QGCMAVLinkLogPlayer::logLoop()
//qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
if (nextExecutionTime < 5)
if (nextExecutionTime < 2)
{
logLoop();
}

4
src/ui/WaypointView.ui
Unescape View File

@ -7,7 +7,7 @@ @@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1389</width>
<height>33</height>
<height>39</height>
</rect>
</property>
<property name="sizePolicy">
@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar { @@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar {
<string>m</string>
</property>
<property name="decimals">
<number>7</number>
<number>2</number>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>

2
src/ui/linechart/LinechartWidget.cc
Unescape View File

@ -483,7 +483,7 @@ void LinechartWidget::startLogging() @@ -483,7 +483,7 @@ void LinechartWidget::startLogging()
fileName.append(".csv");
}
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort)
while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort && fileName != "")
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);

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