修改回放

2020-12-15 13:47:14 +08:00
parent 543dd019f9
commit 5018a2ab56
18 changed files with 1629 additions and 804 deletions
@@ -286,6 +286,12 @@ void CommandBox::commandAccepted(bool flag,uint16_t command,uint8_t result)
            case MAV_RESULT_IN_PROGRESS:
                string.append(tr("%1,%2 being executed").arg(command).arg(m_name));
                break;
+            case 0xFE:
+                string.append(tr("%1,%2 time out").arg(command).arg(m_name));
+                break;
+            case 0xFF:
+                string.append(tr("Please do not operate too fast, the last instruction has not been sent"));
+                break;
            default:
                break;
            }
@@ -323,6 +323,8 @@ void CommandUI::setSecondConfirm(QVariant value)
                              btn->setProperty("state",state::failure);
                              btn->style()->unpolish(btn);
                              btn->style()->polish(btn);
+
+                              emit showMessage(tr("发送指令 %1 %2").arg(btn->Command().toString()).arg(btn->text()));
                          }
                      }
                 }
@@ -377,6 +379,9 @@ void CommandUI::setSecondValue(QVariant value)
                      btn->setProperty("state",state::failure);
                      btn->style()->unpolish(btn);
                      btn->style()->polish(btn);
+
+
+                      emit showMessage(tr("发送指令 %1 %2").arg(btn->Command().toString()).arg(btn->text()));
                  }
              }
         }
@@ -613,6 +618,12 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
                        case MAV_RESULT_IN_PROGRESS:
                            string.append(tr("%1,%2 being executed").arg(command).arg(btn_name));
                            break;
+                        case 0xFE:
+                            string.append(tr("%1,%2 time out").arg(command).arg(btn_name));
+                            break;
+                        case 0xFF:
+                            string.append(tr("Please do not operate too fast, the last instruction has not been sent"));
+                            break;
                        default:
                            break;
                        }
@@ -266,9 +266,9 @@ void MenuBarUI::setTargetPoint(int Value)
    ui->label_TargetPoint->setText(QString::number(Value,'f',0));
 }

-void MenuBarUI::setTargetAlt(float Value)
+void MenuBarUI::setTargetAlt(QVariant Value)
 {
-    ui->label_TargteAlt->setText(QString::number(Value));
+    ui->label_TargteAlt->setText(Value.toString());
 }

 void MenuBarUI::setX(float Value)
@@ -281,9 +281,9 @@ void MenuBarUI::setwp_Dist(float Value)
    ui->label_wp_Dist->setText(QString::number(Value,'f',2));
 }

-void MenuBarUI::setTagetAirspeed(float Value)
+void MenuBarUI::setTagetAirspeed(QVariant Value)
 {
-    ui->label_TargetAirSpeed->setText(QString::number(Value,'f',1));
+    ui->label_TargetAirSpeed->setText(Value.toString());
 }

 void MenuBarUI::setFlightTime(QTime Value)
@@ -45,10 +45,10 @@ public slots:


   void setTargetPoint(int Value);
-   void setTargetAlt(float Value);
+   void setTargetAlt(QVariant Value);
   void setX(float Value);
   void setwp_Dist(float Value);
-   void setTagetAirspeed(float Value);
+   void setTagetAirspeed(QVariant Value);
   void setFlightTime(QTime Value);

 signals:
@@ -308,7 +308,7 @@
         <item row="1" column="4">
          <widget class="QLabel" name="label_5">
           <property name="text">
-            <string>INS2时间</string>
+            <string>INS2日期</string>
           </property>
          </widget>
         </item>
@@ -328,7 +328,7 @@
         <item row="2" column="4">
          <widget class="QLabel" name="label_9">
           <property name="text">
-            <string>目标空速</string>
+            <string>INS2时间</string>
           </property>
          </widget>
         </item>
@@ -21,6 +21,16 @@ Tools_Index2::Tools_Index2(QWidget *parent) :


    ui->pushButton_Play->setFixedSize(150,50);
+    ui->pushButton_LastFrame->setFixedSize(150,50);
+    ui->pushButton_NextFrame->setFixedSize(150,50);
+
+
+    ui->comboBox_MultiSpeed->addItem("X1",1000);
+    ui->comboBox_MultiSpeed->addItem("X2",500);
+    ui->comboBox_MultiSpeed->addItem("X5",200);
+    ui->comboBox_MultiSpeed->addItem("X10",100);
+    //ui->comboBox_MultiSpeed->addItem("X100",10);
+

 }

@@ -91,6 +101,7 @@ void Tools_Index2::on_pushButton_file_clicked()
        ui->pushButton_file->setText(fileName);

        PlayState = false;
+
        emit setPlay(PlayState);//暂停播放，跟底层关联起来
        emit setFileName(fileName);

@@ -109,6 +120,7 @@ void Tools_Index2::resizeEvent(QResizeEvent *event)
 void Tools_Index2::setCurrentPercentage(float value)
 {
    ui->horizontalSlider->setValue(value * ui->horizontalSlider->maximum());
+    ui->doubleSpinBox_Percent->setValue(value * 100);
 }

 void Tools_Index2::ReplayComplete()
@@ -149,6 +161,7 @@ void Tools_Index2::on_horizontalSlider_sliderMoved(int position)
 {
    isMove = true;
    //设置比例
+    //qDebug() << (float)position/ui->horizontalSlider->maximum();
    emit setPercentage((float)position/ui->horizontalSlider->maximum());
 }

@@ -169,3 +182,33 @@ void Tools_Index2::on_pushButton_Play_clicked()
    }

 }
+
+void Tools_Index2::on_comboBox_MultiSpeed_currentIndexChanged(int index)
+{
+    //qDebug() << ui->comboBox_MultiSpeed->currentData(Qt::UserRole).toDouble();
+    emit setMultiple(ui->comboBox_MultiSpeed->currentData(Qt::UserRole).toDouble());
+}
+
+void Tools_Index2::on_pushButton_NextFrame_clicked()
+{
+
+}
+
+void Tools_Index2::on_pushButton_LastFrame_clicked()
+{
+
+}
+
+void Tools_Index2::on_doubleSpinBox_Percent_valueChanged(double arg1)
+{
+    //emit setPercentage(arg1);
+}
+
+void Tools_Index2::on_pushButton_setPercent_clicked()
+{
+    double p = ui->doubleSpinBox_setPercent->value() * 0.01;
+
+    qDebug() << "p" << p;
+
+    emit setPercentage(p);
+}
@@ -55,6 +55,16 @@ private slots:

    void on_pushButton_Play_clicked();

+    void on_comboBox_MultiSpeed_currentIndexChanged(int index);
+
+    void on_pushButton_NextFrame_clicked();
+
+    void on_pushButton_LastFrame_clicked();
+
+    void on_doubleSpinBox_Percent_valueChanged(double arg1);
+
+    void on_pushButton_setPercent_clicked();
+
 signals:

    void setFileName(QString name);
@@ -67,6 +77,11 @@ signals:
    void setPosition(int position);
    void setPercentage(float p);

+    void setMultiple(double times);
+
+
+    void setFrame(int index);
+
 private:
    Ui::Tools_Index2 *ui;
    QWidget *m_parent;
@@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>520</width>
-    <height>174</height>
+    <width>387</width>
+    <height>355</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -35,8 +35,8 @@
      <enum>QFrame::Raised</enum>
     </property>
     <layout class="QGridLayout" name="gridLayout">
-      <item row="1" column="0">
-       <widget class="QPushButton" name="pushButton_Play">
+      <item row="4" column="1">
+       <widget class="QLabel" name="label">
        <property name="maximumSize">
         <size>
          <width>150</width>
@@ -44,11 +44,34 @@
         </size>
        </property>
        <property name="text">
-         <string>Play</string>
+         <string>倍速</string>
        </property>
       </widget>
      </item>
-      <item row="2" column="0" colspan="2">
+      <item row="1" column="1" colspan="3">
+       <widget class="QSlider" name="horizontalSlider">
+        <property name="maximum">
+         <number>10000</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="2">
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_setPercent">
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.000001000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="8" column="0" colspan="2">
       <spacer name="verticalSpacer">
        <property name="orientation">
         <enum>Qt::Vertical</enum>
@@ -61,17 +84,20 @@
        </property>
       </spacer>
      </item>
-      <item row="1" column="1">
-       <widget class="QSlider" name="horizontalSlider">
-        <property name="maximum">
-         <number>10000</number>
+      <item row="3" column="1">
+       <widget class="QPushButton" name="pushButton_LastFrame">
+        <property name="maximumSize">
+         <size>
+          <width>150</width>
+          <height>50</height>
+         </size>
        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
+        <property name="text">
+         <string>上一帧</string>
        </property>
       </widget>
      </item>
-      <item row="0" column="0" colspan="2">
+      <item row="0" column="0" colspan="5">
       <widget class="QPushButton" name="pushButton_file">
        <property name="minimumSize">
         <size>
@@ -84,7 +110,36 @@
        </property>
       </widget>
      </item>
-      <item row="1" column="2">
+      <item row="3" column="3">
+       <widget class="QPushButton" name="pushButton_NextFrame">
+        <property name="maximumSize">
+         <size>
+          <width>150</width>
+          <height>50</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>下一帧</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="2" colspan="2">
+       <widget class="QComboBox" name="comboBox_MultiSpeed">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>150</width>
+          <height>50</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="5">
       <spacer name="horizontalSpacer">
        <property name="orientation">
         <enum>Qt::Horizontal</enum>
@@ -97,6 +152,53 @@
        </property>
       </spacer>
      </item>
+      <item row="3" column="2">
+       <widget class="QPushButton" name="pushButton_Play">
+        <property name="maximumSize">
+         <size>
+          <width>150</width>
+          <height>50</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Play</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="2">
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_Percent">
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.000001000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="3">
+       <widget class="QPushButton" name="pushButton_setPercent">
+        <property name="text">
+         <string>setPercent</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="1">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>百分比</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="1">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>设置百分比</string>
+        </property>
+       </widget>
+      </item>
     </layout>
    </widget>
   </item>
@@ -211,12 +211,22 @@ MainWindow::MainWindow(QWidget *parent)
    connect(toolsui->index2,SIGNAL(setPercentage(float)),
            dlink->mavlinknode->replay,SLOT(setPercentage(float)),Qt::DirectConnection);

+
+    connect(toolsui->index2,SIGNAL(setMultiple(double)),
+            dlink->mavlinknode->replay,SLOT(setMultiple(double)),Qt::DirectConnection);
+
+
+
    connect(dlink->mavlinknode->replay,SIGNAL(currentPercentage(float)),
            toolsui->index2,SLOT(setCurrentPercentage(float)),Qt::DirectConnection);

    connect(dlink->mavlinknode->replay,SIGNAL(replayComplete()),
            toolsui->index2,SLOT(ReplayComplete()),Qt::DirectConnection);

+
+
+
+
    //setting ----- map
    connect(setting->index0->mapsetting,SIGNAL(getMapTypes()),
            map,SLOT(getMapTypes()));
@@ -1153,14 +1163,19 @@ void MainWindow::updateUI()//事件驱动式更新数据
                   dlink->mavlinknode->vehicle.attitude.yaw * 57.3);


-    menuBarUI->setTargetAlt(dlink->mavlinknode->vehicle.ins2.time);
+    uint64_t time = ((uint64_t)dlink->mavlinknode->vehicle.ins2.time)% 1000000;
+    uint64_t date = ((uint64_t)dlink->mavlinknode->vehicle.ins2.time)/ 1000000;
+
+    //qDebug() << time << date << (uint64_t)dlink->mavlinknode->vehicle.ins2.time;
+
+    menuBarUI->setTargetAlt(date);
+    menuBarUI->setTagetAirspeed(time);

    menuBarUI->setX(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error);

    menuBarUI->setwp_Dist(((float)dlink->mavlinknode->vehicle.nav_controller_output.wp_dist) * 0.001);

-    menuBarUI->setTagetAirspeed(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed
-                               +dlink->mavlinknode->vehicle.nav_controller_output.aspd_error);
+



@@ -7,6 +7,9 @@
 commandprocess::commandprocess(QObject *parent) : QObject(parent)
 {
    setRunFrq(10);
+
+    status.m_Mode = Nop_Mode;
+
 }


@@ -105,6 +108,8 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
                              int32_t y,
                              float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue)
 {
+    if(status.m_Mode == Nop_Mode)
+    {
     //给指令赋值
     cmd_int.param1 = param1;
     cmd_int.param2 = param2;
@@ -123,7 +128,13 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
     status.transmit.type = 0;
     status.m_Mode = TransmitMode;//发送模式

-     //start();//开启线程
+     start();//开启线程
+    }
+    else
+    {
+        emit commandAccepted(true,command,0xFF);//广播指令反馈
+        //emit showMessage("Please do not operate too fast");
+    }

 }

@@ -131,22 +142,30 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,

 void commandprocess::WriteCmd_long(float param1, float param2,  float param3, float param4, float param5, float param6, float param7, uint16_t command, uint8_t confirmation)
 {
-    //给指令赋值
-    cmd_long.param1 = param1;
-    cmd_long.param2 = param2;
-    cmd_long.param3 = param3;
-    cmd_long.param4 = param4;
-    cmd_long.param5 = param5;
-    cmd_long.param6 = param6;
-    cmd_long.param7 = param7;
+    if(status.m_Mode == Nop_Mode)
+    {
+        //给指令赋值
+        cmd_long.param1 = param1;
+        cmd_long.param2 = param2;
+        cmd_long.param3 = param3;
+        cmd_long.param4 = param4;
+        cmd_long.param5 = param5;
+        cmd_long.param6 = param6;
+        cmd_long.param7 = param7;

-    cmd_long.command = command;
-    cmd_long.confirmation = confirmation;
+        cmd_long.command = command;
+        cmd_long.confirmation = confirmation;

-    //开启线程开始传输
-    status.m_Mode = TransmitMode;//发送模式
-    status.transmit.type = 1;
-    start();//开启线程
+        //开启线程开始传输
+        status.m_Mode = TransmitMode;//发送模式
+        status.transmit.type = 1;
+        start();//开启线程
+    }
+    else
+    {
+        emit commandAccepted(true,command,0xFF);//广播指令反馈
+        //emit showMessage("Please do not operate too fast");
+    }
 }

 //这个函数类似中断，专门处理接收到的状态
@@ -262,7 +281,7 @@ void commandprocess::WriteStateMachine(void)
             //清除指令
             if(status.transmit.type == 0)
             {
-                 emit commandAccepted(false,cmd_int.command,MAV_RESULT::MAV_RESULT_FAILED);
+                 emit commandAccepted(false,cmd_int.command,0xFE);//超时

                 cmd_int.param1 = 0;
                 cmd_int.param2 = 0;
@@ -278,7 +297,7 @@ void commandprocess::WriteStateMachine(void)
             }
             else if(status.transmit.type == 1)
             {
-                 emit commandAccepted(false,cmd_long.command,MAV_RESULT::MAV_RESULT_FAILED);
+                 emit commandAccepted(false,cmd_long.command,0xFE);//超时

                 cmd_long.param1 = 0;
                 cmd_long.param2 = 0;
@@ -121,13 +121,26 @@ MavLinkNode::~MavLinkNode()
        logTimer = nullptr;
    }

+    if(timer_1s)
+    {
+        timer_1s->stop();
+        delete timer_1s;
+        timer_1s = nullptr;
+    }
+
+
+

    //停止回放
    if(replay)
    {
-        replay->stop();
-        delete replay;
-        replay = nullptr;
+        if(replay->isActive())
+        {
+            replay->stop();
+            QThread::msleep(10);
+            delete replay;
+            replay = nullptr;
+        }
    }

    //停止任务
@@ -136,6 +149,7 @@ MavLinkNode::~MavLinkNode()
        if(Mission->isActive())
        {
            Mission->stop();
+            QThread::msleep(10);
            delete Mission;
            Mission = nullptr;
        }
@@ -147,6 +161,7 @@ MavLinkNode::~MavLinkNode()
        if(Parameter->isActive())
        {
            Parameter->stop();
+            QThread::msleep(10);
            delete Parameter;
            Parameter = nullptr;
        }
@@ -157,6 +172,7 @@ MavLinkNode::~MavLinkNode()
        if(Commander->isActive())
        {
            Commander->stop();//可能还没停止线程，后面不能紧跟着删除
+            QThread::msleep(10);
            delete Commander;
            Commander = nullptr;
        }
@@ -167,6 +183,7 @@ MavLinkNode::~MavLinkNode()
        if(Status->isActive())
        {
            Status->stop();//可能还没停止线程，后面不能紧跟着删除
+            QThread::msleep(10);
            delete Status;
            Status = nullptr;
        }
@@ -186,8 +203,8 @@ MavLinkNode::~MavLinkNode()
    }


-    QThread::msleep(200);

+    QThread::msleep(50);

    delete thread;
    thread = nullptr;
@@ -258,7 +275,7 @@ void MavLinkNode::start()


        logTimer = new QTimer();
-        logTimer->setInterval(1 * 60 * 1000);//5min
+        logTimer->setInterval(2 * 10 * 1000);//10s

        connect(logTimer,&QTimer::timeout,
                this,&MavLinkNode::LogTimerOut,Qt::DirectConnection);
@@ -434,10 +451,11 @@ void MavLinkNode::LogTimerOut(void)
        //mavLogFile->bytesToWrite();

        //if(!mavLogFile->flush())
-        {
+        //{
+        //qDebug() << "bittotal" << bittotal;
            mavLogFile->close();
            mavLogFile->open(QIODevice::Append);
-        }
+        //}
    }
 }

@@ -606,12 +624,33 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
            uint16_t len = mavlink_msg_to_send_buffer(buff+sizeof(quint64), &msg);
            if (mavLogFile)
            {
-                mavLogFile->write((const char *)buff, len+sizeof(quint64));
+
+                    if(mavLogFile->isOpen())
+                    {
+                        if(databuff.size() > 0)
+                        {
+                            mavLogFile->write(databuff);
+                            mavLogFile->write((const char *)buff, len+sizeof(quint64));
+
+
+                            qDebug() << "buff size > 0,write buff to file ;"
+                                     << databuff.size();
+                            databuff.clear();
+                        }
+                        else
+                        {
+
+                            mavLogFile->write((const char *)buff, len+sizeof(quint64));
+                        }
+                    }
+                    else
+                    {
+                        databuff.append((const char *)buff, len+sizeof(quint64));
+                        qDebug() << "file is open ,data write to buff";
+                    }

            }

-            //mavLogFile->size()
-

            count++;
            if(msg.sysid < 250)             //过滤地面站发过来的数据
@@ -676,6 +715,7 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
            case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:{
                 parserFailure += 1;
                 qDebug() << "MAVLINK_PARSE_STATE_GOT_BAD_CRC1";
+                 emit showMessage("mavlink parse CRC error");
            }break;
            case MAVLINK_PARSE_STATE_SIGNATURE_WAIT:{
                 qDebug() << "MAVLINK_PARSE_STATE_SIGNATURE_WAIT";
@@ -13,6 +13,9 @@
 #include "commandprocess.h"
 #include "statusprocess.h"

+
+
+
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
 class MAVLINKNODESHARED_EXPORT MavLinkNode : public QObject {
@@ -201,6 +204,9 @@ protected:

    QTimer *timer = nullptr;

+
+    QByteArray databuff;
+
    _buffdef serial_buff;
    _buffdef client_buff;

@@ -71,7 +71,9 @@ void Replay::start()
        }
        else
        {
-            qWarning() << "log file can't be fund";
+            running_flag = true;
+            thread->start();
+            qDebug() << "thread start" << running_flag;
        }
    }
    else
@@ -167,7 +169,8 @@ void Replay::process()//线程函数

                         if((currentTimestamp - lastTimestamp) >0)
                         {
-                            QThread::msleep(timeStamp);
+
+                            QThread::usleep(timeStamp * multiple);
                         }

                         position += (uint8_t)raw.at(raw.indexOf(0xFD)+1) + 20;
@@ -240,11 +243,43 @@ QByteArray Replay::readAll(void)

 void Replay::setLogfile(const QString name, float percent)
 {
-    logFile = name;
-    //重置各种参数
-    percentage = percent;
-    ispause = false;
-    isplaying = false;
+    if(name != logFile)
+    {
+        logFile = name;
+        //重置各种参数
+        percentage = 0;
+        ispause = false;
+        isplaying = false;
+
+        //emit currentPercentage(percentage);
+        //emit readReady();
+
+        if(!file)
+        {
+
+            file = new QFile();
+            file->setFileName(logFile);
+            if(!file->open(QIODevice::ReadOnly))
+            {
+                if(!logFile.isEmpty())
+                {
+                    QMessageBox::warning(nullptr,
+                                         tr("Error"),
+                                         tr("%1").arg(file->errorString()));
+                }
+                delete file;
+                file = nullptr;
+            }
+        }
+    }
+    else
+    {
+        logFile = name;
+        //重置各种参数
+        percentage = percent;
+        ispause = false;
+        isplaying = false;
+    }

    qDebug() << name << percent;
 }
@@ -290,7 +325,13 @@ void Replay::startReplay(bool flag)
 }


-
+void Replay::setMultiple(double value)
+{
+    if(value != 0)
+    {
+         multiple = value;
+    }
+}



@@ -1,4 +1,4 @@
-#ifndef REPLAY_H
+#ifndef REPLAY_H
 #define REPLAY_H

 #include <QObject>
@@ -59,7 +59,7 @@ public slots:
    void setLogfile(const QString name,float percent = 0);
    void setPercentage(float value);
    void startReplay(bool flag);
-
+    void setMultiple(double value);
 private slots:
   //线程私有接口
   void process();
@@ -83,6 +83,8 @@ protected:
    QByteArray buff;


+    double multiple = 1000;
+
 };

 #endif // MAVLINKNODE_H
@@ -85,10 +85,6 @@ void statusprocess::process()//线程函数
                 //qDebug() << "heartbeat";
             }
         }
-
-
-
-
    }
    //退出线程
    thread->quit();
@@ -75,6 +75,34 @@ Please first select the area of the map to rip with &lt;CTRL&gt;+Left mouse clic
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>mapcontrol::OPMapWidget</name>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="1645"/>
+        <source>please create a plan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="1650"/>
+        <source>start to send mossion %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="1679"/>
+        <source>send way point %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="1686"/>
+        <source>fail to send %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="1770"/>
+        <source>recieve way point %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>mapcontrol::TrailItem</name>
    <message>