new interaction for waypoints

sw/ground_segment/cockpit/live.ml

@@ -104,20 +104,24 @@ let resize_track = fun ac track ->
     None -> ()
   | Some s -> track#resize (int_of_string s)
 
+
+let send_move_waypoint_msg = fun ac i w ->
+  let wgs84 = w#pos in
+  let vs = ["ac_id", Pprz.String ac;
+	    "wp_id", Pprz.Int i;
+	    "lat", Pprz.Float ((Rad>>Deg)wgs84.posn_lat);
+	    "long", Pprz.Float ((Rad>>Deg)wgs84.posn_long);
+	    "alt", Pprz.Float w#alt
+	  ] in
+  Ground_Pprz.message_send "map2d" "MOVE_WAYPOINT" vs
+
 let commit_changes = fun ac ->
   let a = Hashtbl.find live_aircrafts ac in
   List.iter 
     (fun w ->
       let (i, w) = a.fp_group#index w in
       if w#moved then 
-	let wgs84 = w#pos in
+	send_move_waypoint_msg ac i w)
-	let vs = ["ac_id", Pprz.String ac;
-		  "wp_id", Pprz.Int i;
-		  "lat", Pprz.Float ((Rad>>Deg)wgs84.posn_lat);
-		  "long", Pprz.Float ((Rad>>Deg)wgs84.posn_long);
-		  "alt", Pprz.Float w#alt
-		] in
-	Ground_Pprz.message_send "map2d" "MOVE_WAYPOINT" vs)
     a.fp_group#waypoints
 
 let center = fun geomap track () ->
@@ -307,6 +311,13 @@ let create_ac = fun (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id:strin
       let id = list_casso block blocks in
       jump_to_block ac_id id);
   ignore (reset_wp_menu#connect#activate (reset_waypoints fp));
+
+  (** Monitor waypoints changes *)
+   List.iter 
+    (fun w ->
+      let (i, w) = fp#index w in
+      w#set_commit_callback (fun () -> send_move_waypoint_msg ac_id i w))
+    fp#waypoints;
   
   (** Add the short cut buttons in the strip *)
   List.iter (fun b ->

sw/lib/ocaml/mapCanvas.ml

@@ -397,7 +397,7 @@ class basic_widget = fun ?(height=800) ?width ?(projection = Mercator) ?georef (
 		let current_point = LL.utm_of LL.WGS84 (self#of_world (xw, yw)) in
 		let (east, north) = LL.utm_sub current_point starting_point in
 		region_rectangle#set [`X2 xw; `Y2 yw];
-		self#display_group (sprintf "[%.1fkm %.1fkm]" (east/.1000.) (north/.1000.))
+		self#display_group (sprintf "[%.0fm %.0fm]" east north)
 	    | Polygon ps ->
 		let points = convex ((xw,yw)::ps) in
 		drawing <- Polygon points;

sw/lib/ocaml/mapWaypoints.ml

@@ -73,11 +73,13 @@ class waypoint = fun (wpts_group:group) (name :string) ?(alt=0.) wgs84 ->
     val mutable alt = alt
     val mutable moved = None
     val mutable deleted = false
+    val mutable commit_cb = None
     initializer
       item#affine_absolute rotation_45;
       self#move xw yw
     method connect = fun (cb:unit -> unit) ->
       Hashtbl.add callbacks cb ()
+    method set_commit_callback = fun (cb:unit -> unit) -> commit_cb <- Some cb
     method name = name
     method set_name n =
       if n <> name then begin
@@ -90,7 +92,7 @@ class waypoint = fun (wpts_group:group) (name :string) ?(alt=0.) wgs84 ->
     method move dx dy = 
       wpt_group#move dx dy
     method edit =
-      let dialog = GWindow.window ~border_width:10 ~title:"Waypoint Edit" () in
+      let dialog = GWindow.window ~position:`MOUSE ~border_width:10 ~title:"Waypoint Edit" () in
       let dvbx = GPack.box `VERTICAL ~packing:dialog#add () in
 
       let wgs84 = self#pos in
@@ -114,12 +116,20 @@ class waypoint = fun (wpts_group:group) (name :string) ?(alt=0.) wgs84 ->
 	updated ();
 	if wpts_group#show_moved then
 	  moved <- anim moved;
+	begin
+	  match commit_cb with
+	    Some cb -> cb ()
+	  | None -> ()
+	end;
 	dialog#destroy ()
       in
       let dhbx = GPack.box `HORIZONTAL ~packing: dvbx#add () in
 
-      let cancel = GButton.button ~stock:`CANCEL ~packing: dhbx#add () in 
+      let cancel = GButton.button ~stock:`CANCEL ~packing: dhbx#add () in
-      ignore(cancel#connect#clicked ~callback:dialog#destroy);
+      let destroy = fun () ->
+	self#reset_moved ();
+	dialog#destroy () in
+      ignore(cancel#connect#clicked ~callback:destroy);
 
       if editable then begin
 	let delete = GButton.button ~stock:`DELETE ~packing: dhbx#add () in 
@@ -173,8 +183,7 @@ class waypoint = fun (wpts_group:group) (name :string) ?(alt=0.) wgs84 ->
 	| `BUTTON_RELEASE ev ->
 	    if GdkEvent.Button.button ev = 1 then begin
 	      item#ungrab (GdkEvent.Button.time ev);
-	      if not motion then
+	      self#edit
-		self#edit
 	    end
 	| _ -> ()
       end;

sw/lib/ocaml/mapWaypoints.mli

@@ -60,6 +60,7 @@ class waypoint :
     method reset_moved : unit -> unit
     method deleted : bool
     method connect : (unit -> unit) -> unit
+    method set_commit_callback : (unit -> unit) -> unit
   end