Reverted buggy changes

src/Waypoint.h

@@ -44,7 +44,7 @@ class Waypoint : public QObject
 
 public:
     Waypoint(quint16 id = 0, double x = 0.0, double y = 0.0, double z = 0.0, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0,
-             bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
+             bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
     ~Waypoint();
 
     quint16 getId() const { return id; }

src/ui/MapWidget.cc

@@ -93,8 +93,6 @@ void MapWidget::init()
         geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
         mc->addLayer(geomLayer);
 
-        homePosition = new qmapcontrol::GeometryLayer("Station", mapadapter);
-        mc->addLayer(homePosition);
 
 
         //
@@ -115,16 +113,6 @@ void MapWidget::init()
         lastZoom = settings.value("LAST_ZOOM", lastZoom).toInt();
         settings.endGroup();
 
-        index = 0;
-        settings.beginGroup("QGC_MAPINDEX");
-        index = settings.value("MAP_INDEX", index).toInt();
-        settings.endGroup();
-
-        settings.beginGroup("QGC_HOMEPOSITION");
-        homeCoordinate.setY(settings.value("HOME_LATITUDE", homeCoordinate.y()).toDouble());
-        homeCoordinate.setX(settings.value("HOME_LONGITUDE", homeCoordinate.x()).toDouble());
-        settings.endGroup();
-
         // SET INITIAL POSITION AND ZOOM
         // Set default zoom level
         mc->setZoom(lastZoom);
@@ -150,14 +138,6 @@ void MapWidget::init()
         connect(mapproviderGroup, SIGNAL(triggered(QAction*)),
                 this, SLOT(mapproviderSelected(QAction*)));
 
-
-        //mapSettings.beginGroup("Map_Widget");
-        //QAction *act = new QAction(mapSettings.value("QAction").toString(), this);
-        //mapproviderSelected(act);
-        //mapSettings.endGroup();
-
-
-
         // Overlay seems currently broken
         //    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
         //    yahooActionOverlay->setCheckable(true);
@@ -203,17 +183,11 @@ void MapWidget::init()
         goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
         goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));
 
-        setHome = new QPushButton(QIcon(":/images/actions/go-home.svg"), "", this);
-        setHome->setStyleSheet(buttonStyle);
-        setHome->setToolTip(tr("Set home"));
-        setHome->setStatusTip(tr("Set home"));
-
         zoomin->setMaximumWidth(30);
         zoomout->setMaximumWidth(30);
         createPath->setMaximumWidth(30);
         //    clearTracking->setMaximumWidth(30);
         followgps->setMaximumWidth(30);
-        setHome->setMaximumWidth(30);
         goToButton->setMaximumWidth(30);
 
         // Set checkable buttons
@@ -221,7 +195,6 @@ void MapWidget::init()
         //       create a style and the slots to change the background so it is easier to distinguish
         followgps->setCheckable(true);
         createPath->setCheckable(true);
-        setHome->setCheckable(true);
 
         // add buttons to control the map (zoom, GPS tracking and WP capture)
         QGridLayout* innerlayout = new QGridLayout(mc);
@@ -231,7 +204,6 @@ void MapWidget::init()
         innerlayout->addWidget(zoomout, 1, 0);
         innerlayout->addWidget(followgps, 2, 0);
         innerlayout->addWidget(createPath, 3, 0);
-        innerlayout->addWidget(setHome, 4, 0);
         //innerlayout->addWidget(clearTracking, 4, 0);
         // Add spacers to compress buttons on the top left
         innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
@@ -248,6 +220,17 @@ void MapWidget::init()
         waypointPath = new qmapcontrol::LineString (wps, "Waypoint path", pointPen);
         mc->layer("Waypoints")->addGeometry(waypointPath);
 
+        //Camera Control
+        // CAMERA INDICATOR LAYER
+        // create a layer with the mapadapter and type GeometryLayer (for camera indicator)
+        camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
+        mc->addLayer(camLayer);
+
+        //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
+
+        drawCamBorder = false;
+        radioCamera = 10;
+
         // Done set state
         initialized = true;
 
@@ -279,12 +262,6 @@ void MapWidget::init()
         connect(createPath, SIGNAL(clicked(bool)),
                 this, SLOT(createPathButtonClicked(bool)));
 
-        connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePositionClick(bool)));
-
-        connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*,QPointF)), this,
-                SLOT(createHomePosition(const QMouseEvent*,QPointF)));
-        //connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePosition(bool)));
-
 
         connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
                 this, SLOT(captureGeometryClick(Geometry*, QPoint)));
@@ -295,44 +272,10 @@ void MapWidget::init()
         connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
                 this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
 
-        connect(homePosition, SIGNAL(geometryClicked(Geometry*,QPoint)),
-                this, SLOT(captureGeometryClick(Geometry*, QPoint)));
-
-        connect(homePosition, SIGNAL(geometryDragged(Geometry*, QPointF)),
-                this, SLOT(captureGeometryDragHome(Geometry*, QPointF)));
-
-        connect(homePosition, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
-                this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
-
-        this->loadSettingsMap(index);
-        this->createHomePosition(homeCoordinate);
-
         qDebug() << "CHECK END";
     }
 }
 
-void MapWidget::loadSettingsMap(int8_t index)
-{
-    switch(index)
-    {
-    case 0:
-        mapproviderSelected(osmAction);
-        break;
-    case 1:
-        mapproviderSelected(yahooActionMap);
-        break;
-    case 2:
-        mapproviderSelected(yahooActionSatellite);
-        break;
-    case 3:
-        mapproviderSelected(googleActionMap);
-        break;
-    case 4:
-        mapproviderSelected(googleSatAction);
-        break;
-    }
-}
-
 void MapWidget::goTo()
 {
     bool ok;
@@ -373,8 +316,6 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::OSMMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
-            homePosition->setMapAdapter(mapadapter);
-            index = 0;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -391,8 +332,6 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::YahooMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
-            homePosition->setMapAdapter(mapadapter);
-            index = 1;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -409,8 +348,6 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
-            homePosition->setMapAdapter(mapadapter);
-            index = 2;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -424,8 +361,6 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::GoogleMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
-            homePosition->setMapAdapter(mapadapter);
-            index = 3;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -440,8 +375,6 @@ void MapWidget::mapproviderSelected(QAction* action)
             mapadapter = new qmapcontrol::GoogleSatMapAdapter();
             l->setMapAdapter(mapadapter);
             geomLayer->setMapAdapter(mapadapter);
-            homePosition->setMapAdapter(mapadapter);
-            index = 4;
 
             if (isVisible()) mc->updateRequestNew();
             mc->setZoom(zoom);
@@ -497,6 +430,7 @@ void MapWidget::createPathButtonClicked(bool checked)
  * @param coordinate The coordinate in which it occured the mouse event
  * @note  This slot is connected to the mouseEventCoordinate of the QMapControl object
  */
+
 void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
 {
     if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
@@ -534,6 +468,7 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
             // Refresh the screen
             if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
         }
+
         // emit signal mouse was clicked
         //emit captureMapCoordinateClick(coordinate);
     }
@@ -757,38 +692,6 @@ void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
         mc->setMouseMode(qmapcontrol::MapControl::Panning);
     }
 
-    if (!setHome->isChecked())
-    {
-        mc->setMouseMode(qmapcontrol::MapControl::Panning);
-
-        if(mav)
-        {
-            // Update homePosition
-            UASManager::instance()->setHomePosition(
-                                static_cast<double>(homeCoordinate.y()),
-                                static_cast<double>(homeCoordinate.x()), 0);
-        }
-    }
-
-}
-
-void MapWidget::captureGeometryDragHome(Geometry *geom, QPointF coordinate)
-{
-    if (isVisible()) mc->updateRequest(geom->boundingBox().toRect());
-
-    Waypoint2DIcon* point2Find = dynamic_cast <Waypoint2DIcon*> (geom);
-
-    if (point2Find)// && wps.count() > index)
-    {
-        // Update visual
-        point2Find->setCoordinate(coordinate);
-        homeCoordinate.setX(coordinate.x());
-        homeCoordinate.setY(coordinate.y());
-
-        qmapcontrol::Point* tempPoint = new qmapcontrol::Point(homeCoordinate.x(), homeCoordinate.y(),"g");
-
-        if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
-    }
 }
 
 MapWidget::~MapWidget()
@@ -796,7 +699,6 @@ MapWidget::~MapWidget()
     delete mc;
     delete m_ui;
 }
-
 /**
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
@@ -1093,7 +995,7 @@ void MapWidget::wheelEvent(QWheelEvent *event)
         detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
 
         // visual field of camera
-        //updateCameraPosition(20*newZoom,0,"no");
+        updateCameraPosition(20*newZoom,0,"no");
     }
 }
 
@@ -1160,19 +1062,7 @@ void MapWidget::hideEvent(QHideEvent* event)
         settings.setValue("LAST_LONGITUDE", currentPos.x());
         settings.setValue("LAST_ZOOM", mc->currentZoom());
         settings.endGroup();
-
-        settings.beginGroup("QGC_MAPINDEX");
-        settings.setValue("MAP_INDEX", index);
-        settings.endGroup();
-
-        settings.beginGroup("QGC_HOMEPOSITION");
-        settings.setValue("HOME_LATITUDE", homeCoordinate.y());
-        settings.setValue("HOME_LONGITUDE", homeCoordinate.x());
-        settings.endGroup();
-
         settings.sync();
-
-
     }
 }
 
@@ -1241,55 +1131,72 @@ void MapWidget::clearPath(int uas)
     }
 }
 
-void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
+void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
 {
-    if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
+    Q_UNUSED(dir);
+    Q_UNUSED(bearing);
+    if (mc)
     {
-        this->createHomePosition(coordinate);
-    }
-}
+        // FIXME Mariano
+        //camPoints.clear();
+        QPointF currentPos = mc->currentCoordinate();
+        //    QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
 
-void MapWidget::createHomePosition(const QPointF coordinate)
-{
-    homeCoordinate= coordinate;
-    Waypoint2DIcon* tempCirclePoint;
+        //    qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
+        //    qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
 
-    double latitude = homeCoordinate.y();
-    double longitude = homeCoordinate.x();
+        //    camPoints.append(tempPoint1);
+        //    camPoints.append(tempPoint2);
 
-    tempCirclePoint = new Waypoint2DIcon(
-             longitude,
-             latitude,
-             20, "g", qmapcontrol::Point::Middle);
+        //    camLine->setPoints(camPoints);
 
-    QPen* pencil = new QPen(Qt::blue);
-    tempCirclePoint->setPen(pencil);
+        QPen* camBorderPen = new QPen(QColor(255,0,0));
+        camBorderPen->setWidth(2);
 
-    mc->layer("Station")->clearGeometries();
-    mc->layer("Station")->addGeometry(tempCirclePoint);
+        //radio = mc->currentZoom()
 
-    qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitude, longitude,"g");
+        if(drawCamBorder)
+        {
+            //clear camera borders
+            mc->layer("Camera")->clearGeometries();
 
-    if (isVisible())
-    {
-        mc->updateRequest(tempPoint->boundingBox().toRect());
+            //create a camera borders
+            qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
+
+            //camBorder->setCoordinate(currentPos);
+
+            mc->layer("Camera")->addGeometry(camBorder);
+            // mc->layer("Camera")->addGeometry(camLine);
+            if (isVisible()) mc->updateRequestNew();
+
+        }
+        else
+        {
+            //clear camera borders
+            mc->layer("Camera")->clearGeometries();
+            if (isVisible()) mc->updateRequestNew();
+
+        }
     }
 }
 
-void MapWidget::createHomePositionClick(bool click)
+void MapWidget::drawBorderCamAtMap(bool status)
 {
-    Q_UNUSED(click);
+    drawCamBorder = status;
+    updateCameraPosition(20,0,"no");
 
-    if (!setHome->isChecked())
-    {
-        if(mav)
-        {
-            UASManager::instance()->setHomePosition(
-                    static_cast<double>(homeCoordinate.y()),
-                    static_cast<double>(homeCoordinate.x()), 0);
+}
+
+QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance)
+{
+    QPointF temp;
 
+    double rad = M_PI/180;
 
-            //qDebug()<<"Set home position "<<homeCoordinate.y()<<" "<<homeCoordinate.x();
-        }
-    }
+    bearing = bearing*rad;
+    temp.setX((lon1 + ((distance/60) * (sin(bearing)))));
+    temp.setY((lat1 + ((distance/60) * (cos(bearing)))));
+
+    return temp;
 }
+

src/ui/MapWidget.h

@@ -40,7 +40,8 @@ This file is part of the QGROUNDCONTROL project
 #include "QPointF"
 
 #include <qmath.h>
-#include <QSettings>
+
+
 
 class QMenu;
 class Waypoint;
@@ -75,8 +76,8 @@ public slots:
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
-    //void updateCameraPosition(double distance, double bearing, QString dir);
-    //QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
+    void updateCameraPosition(double distance, double bearing, QString dir);
+    QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
 
     /** @brief Clear the waypoints overlay layer */
     void clearWaypoints(int uas=0);
@@ -92,7 +93,7 @@ public slots:
     void updateWaypoint(int uas, Waypoint* wp);
     void updateWaypoint(int uas, Waypoint* wp, bool updateView);
 
-    //void drawBorderCamAtMap(bool status);
+    void drawBorderCamAtMap(bool status);
     /** @brief Bring up dialog to go to a specific location */
     void goTo();
 
@@ -117,7 +118,6 @@ protected:
     QPushButton* followgps;
     QPushButton* createPath;
     QPushButton* clearTracking;
-    QPushButton* setHome;
     QLabel* gpsposition;
     QMenu* mapMenu;
     QPushButton* mapButton;
@@ -128,7 +128,9 @@ protected:
     qmapcontrol::Layer* overlay;            ///< Street overlay (foreground)
     qmapcontrol::Layer* tracks;             ///< Layer for UAV tracks
     qmapcontrol::GeometryLayer* geomLayer;  ///< Layer for waypoints
-    qmapcontrol::GeometryLayer* homePosition;       ///< Layer for station control
+
+    //only for experiment
+    qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
 
     int zoomLevel;
     int detailZoom; ///< Steps zoomed in further than qMapControl allows
@@ -140,6 +142,8 @@ 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;
     bool initialized;
@@ -153,23 +157,20 @@ protected:
     void captureGeometryDrag(Geometry* geom, QPointF coordinate);
     void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
 
-    void captureGeometryDragHome(Geometry* geom, QPointF coordinate);
-
     void createPathButtonClicked(bool checked);
 
     /** @brief Create the graphic representation of the waypoint */
     void createWaypointGraphAtMap(int id, const QPointF coordinate);
     void mapproviderSelected(QAction* action);
 
-    void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
-    void createHomePosition(const QPointF coordinate);
-    void createHomePositionClick(bool click);
-    void loadSettingsMap(int8_t index);
-
   signals:
+    //void movePoint(QPointF newCoord);
+    //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
+    //void createGlobalWP(bool value, QPointF centerCoordinate);
     void waypointCreated(Waypoint* wp);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
+
 private:
     Ui::MapWidget *m_ui;
     QList<qmapcontrol::Point*> wps;
@@ -179,8 +180,14 @@ private:
     QPen* pointPen;
     int wpExists(const QPointF coordinate);
     bool waypointIsDrag;
-    QPointF homeCoordinate;
-    int8_t index;
+
+
+    qmapcontrol::LineString* camLine;
+    QList<qmapcontrol::Point*> camPoints;
+    QPointF lastCamBorderPos;
+    bool drawCamBorder;
+    int radioCamera;
+
 };
 
 #endif // MAPWIDGET_H

src/ui/WaypointList.cc

@@ -190,13 +190,12 @@ void WaypointList::add()
             // Create global frame waypoint per default
             wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0.0, 0.0, 0.0, 0.0, true, true, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT);
             uas->getWaypointManager()->addWaypoint(wp);
-
         }
     }
 }
 
-void WaypointList::addCurrentPositonWaypoint(){
-
+void WaypointList::addCurrentPositonWaypoint()
+{
     /* TODO: implement with new waypoint structure
     if (uas)
     {
@@ -463,9 +462,6 @@ void WaypointList::moveUp(Waypoint* wp)
             uas->getWaypointManager()->moveWaypoint(i, i-1);
         }
     }
-
-    //emitir seal de cambio orden en la lista,
-    //la debe capturar el mapwidget para volver a dibujar la ruta
 }
 
 void WaypointList::moveDown(Waypoint* wp)
@@ -525,6 +521,13 @@ void WaypointList::on_clearWPListButton_clicked()
                 widget->remove();
         }
     }
+    else
+    {
+//        if(isGlobalWP)
+//        {
+//           emit clearPathclicked();
+//        }
+    }
 }
 
 ///** @brief The MapWidget informs that a waypoint global was changed on the map */

src/ui/WaypointList.h

@@ -108,7 +108,7 @@ public slots:
 signals:
   void clearPathclicked();
   void createWaypointAtMap(const QPointF coordinate);
-    void changePointList();
+
 protected:
     virtual void changeEvent(QEvent *e);