From 79948c12c4fcadeadc5551f523351aa00c015273 Mon Sep 17 00:00:00 2001
From: lm <mail@qgroundcontrol.org>
Date: Fri, 22 Apr 2011 17:05:09 +0200
Subject: [PATCH] Working on 2D map

---
 src/comm/UDPLink.cc    | 15 +++++++++++----
 src/ui/QGCMapWidget.cc | 14 +++++++++++++-
 2 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 2a73334..56fa9f8 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -143,7 +143,6 @@ void UDPLink::removeHost(const QString& hostname)
     }
 }
 
-
 void UDPLink::writeBytes(const char* data, qint64 size)
 {
     // Broadcast to all connected systems
@@ -151,18 +150,26 @@ void UDPLink::writeBytes(const char* data, qint64 size)
     {
         QHostAddress currentHost = hosts.at(h);
         quint16 currentPort = ports.at(h);
+//#define UDPLINK_DEBUG
+#ifdef UDPLINK_DEBUG
         QString bytes;
         QString ascii;
-        //qDebug() << "WRITING DATA TO" << currentHost.toString() << currentPort;
         for (int i=0; i<size; i++) {
             unsigned char v = data[i];
             bytes.append(QString().sprintf("%02x ", v));
-            ascii.append(data[i]);
+            if (data[i] > 31 && data[i] < 127)
+            {
+                ascii.append(data[i]);
+            }
+            else
+            {
+                ascii.append(219);
+            }
         }
         qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
         qDebug() << bytes;
         qDebug() << "ASCII:" << ascii;
-
+#endif
         socket->writeDatagram(data, size, currentHost, currentPort);
     }
 }
diff --git a/src/ui/QGCMapWidget.cc b/src/ui/QGCMapWidget.cc
index 711ec9e..82ab2a6 100644
--- a/src/ui/QGCMapWidget.cc
+++ b/src/ui/QGCMapWidget.cc
@@ -1,9 +1,19 @@
 #include "QGCMapWidget.h"
 #include "UASInterface.h"
+#include "UASManager.h"
 
 QGCMapWidget::QGCMapWidget(QWidget *parent) :
     mapcontrol::OPMapWidget(parent)
 {
+    //UAV = new mapcontrol::UAVItem();
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+    foreach (UASInterface* uas, UASManager::instance()->getUASList())
+    {
+        addUAS(uas);
+    }
+    UAV->setVisible(true);
+    UAV->setPos(40, 8);
+    UAV->show();
 }
 
 /**
@@ -31,7 +41,9 @@ void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lo
     Q_UNUSED(usec);
     Q_UNUSED(alt); // FIXME Use altitude
 
-
+    UAV->setPos(lat, lon);
+    UAV->show();
+    qDebug() << "Updating 2D map position";
 
 //        QPointF coordinate;
 //        coordinate.setX(lon);