Changeset 77 in flair-src for branches/mavlink/tools/Controller/Mavlink/src/GuiInterface.cpp

Timestamp:

09/21/16 11:40:56 (7 years ago)

Author:

Thomas Fuhrmann

Message:

Change the GUI of MavPlanner to match with mission planning (only GUI is working)

File:

• branches/mavlink/tools/Controller/Mavlink/src/GuiInterface.cpp (modified) (4 diffs)

branches/mavlink/tools/Controller/Mavlink/src/GuiInterface.cpp

@@ -29 +29 @@
 #include <GroupBox.h>
 #include <ListWidget.h>
+#include <Label.h>
+#include <ComboBox.h>
 
 #include <string>
@@ -48 +50 @@
   // Controls group
   controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
-  btnInitialize = new PushButton(controlsGroupBox->LastRowLastCol(), "Initialize");
   btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
   btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
-  btnKill = new PushButton(controlsGroupBox->LastRowLastCol(), "Kill");
+  btnResumeMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Resume mission");
 
-  // Add wpt group
-  addWptGroupBox = new GroupBox(settingsTab->NewRow(), "Add waypoint");
-  latField = new DoubleSpinBox(addWptGroupBox->NewRow(), "Latitude",
-                                -90, 90, 0.001, 3, 3);
-  lonField = new DoubleSpinBox(addWptGroupBox->LastRowLastCol(), "Longitude",
-                                -180, 180, 0.001, 3, 3);
-  btnAddMissionWpt = new PushButton(addWptGroupBox->NewRow(), "Add mission wpt");
-  btnAddEntranceWpt = new PushButton(addWptGroupBox->LastRowLastCol(), "Add entrance wpt");
-  btnAddExitWpt = new PushButton(addWptGroupBox->LastRowLastCol(), "Add exit wpt");
+  // Add cmd group
+  addCmdGroupBox = new GroupBox(settingsTab->NewRow(), "Add mission command");
+  // commandLabel = new Label(addCmdGroupBox->NewRow(), "Command label");
+  // commandLabel->SetText("Command");
+  // param1Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param1 label");
+  // commandLabel->SetText("Param1");
+  // param2Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param2 label");
+  // commandLabel->SetText("Param2");
+  // param3Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param3 label");
+  // commandLabel->SetText("Param3");
+  comboCmd = new ComboBox(addCmdGroupBox->NewRow(), "Select command");
+  // Fill the ComboBox
+  for (auto &command : commandsAvailable) {
+    comboCmd->AddItem(command);    
+  }
+  // comboCmd->AddItem("WAYPOINT");
+  // comboCmd->AddItem("TAKEOFF");
+  // comboCmd->AddItem("LAND");
+  // comboCmd->AddItem("RETURN");
+  // comboCmd->AddItem("JUMP");
+  param1Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param1",
+                                -90, 90, 0.5, 1, 3);
+  param2Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param2",
+                                -90, 90, 0.5, 1, 3);
+  param3Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param3",
+                                -90, 90, 0.5, 1, 3);
+  btnAddMissionCmd = new PushButton(addCmdGroupBox->NewRow(), "Add mission cmd");
+  btnDelMissionCmd = new PushButton(addCmdGroupBox->LastRowLastCol(), "Del mission cmd");
+  btnSendMission = new PushButton(addCmdGroupBox->LastRowLastCol(), "Send mission");
 
   // Show wpt group
-  showWptGroupBox = new GroupBox(settingsTab->NewRow(), "Show waypoints");
-  listMissionWpt = new ListWidget(showWptGroupBox->NewRow(), "Mission wpt");
-  listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
-  listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
-  btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
-  btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
-  btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");
+  showItemsGroupBox = new GroupBox(settingsTab->NewRow(), "Show mission items");
+  listMissionItems = new ListWidget(showItemsGroupBox->NewRow(), "Mission cmd list");
 
-  // Action wpt group
-  actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
-  btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
-  btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
-  btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");
+  // listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
+  // listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
+  // btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
+  // btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
+  // btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");
+
+  // // Action wpt group
+  // actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
+  // btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
+  // btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
+  // btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");
 
   //TODO IP & PORT from config.h file
@@ -97 +119 @@
     Thread::SleepMS(500);
     // Buttons to control GUI
-        if (btnAddMissionWpt->Clicked()) {
-                listMissionWpt->AddItem(GetWptLatLon());
+        if (btnAddMissionCmd->Clicked()) {
+                //TODO
+      listMissionItems->AddItem(MissionCmdGet());
     }
-        if (btnAddEntranceWpt->Clicked()) {
-                listEntranceWpt->AddItem(GetWptLatLon());
-    }
-        if (btnAddExitWpt->Clicked()) {
-                listExitWpt->AddItem(GetWptLatLon());
-    }
-    if (btnRemoveMissionWpt->Clicked()) {
-      listMissionWpt->RemoveItem();
-    }
-    if (btnRemoveEntranceWpt->Clicked()) {
-      listEntranceWpt->RemoveItem();
-    }
-    if (btnRemoveExitWpt->Clicked()) {
-      listExitWpt->RemoveItem();
+    if (btnDelMissionCmd->Clicked()) {
+      listMissionItems->RemoveItem();
     }
     // Buttons to send commands
-        if (btnInitialize->Clicked()) {
-                MissionInitialize();
-    }
         if (btnStartMission->Clicked()) {
                 MissionStart();
@@ -125 +133 @@
                 MissionStop();
     }
-        if (btnKill->Clicked()) {
-                MissionKill();
+        if (btnResumeMission->Clicked()) {
+                MissionResume();
     }
-    if (btnSendWpt->Clicked()) {
-                WptSend();
-    }
-        if (btnClearWpt->Clicked()) {
-                WptClear();
-    }
-        if (btnLoop->Clicked()) {
-                WptLoopSend();
+    if (btnSendMission->Clicked()) {
+                MissionSend();
     }
   }
 }
 
-std::string GuiInterface::GetWptLatLon() {
+std::string GuiInterface::MissionCmdGet() {
   std::ostringstream stringStream;
-  stringStream.precision(3);
+  stringStream.precision(1);
   stringStream << fixed;
-  stringStream << latField->Value() << " - " << lonField->Value();
+  stringStream << commandsAvailable[comboCmd->CurrentIndex()] << "|" << param1Field->Value() << "|" << param2Field->Value() << "|" << param3Field->Value();
   return stringStream.str();
 }
-