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Code Issues Releases Activity

GCS/MapLib - massive cleaning of the plugin

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This commit is contained in:
PT_Dreamer 2012-06-03 19:19:00 +01:00
parent d0e012cbdb
commit 08040ab5cf
14 changed files with 299 additions and 542 deletions
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2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h
View File

@ -53,7 +53,7 @@ namespace mapcontrol
int SafeArea()const{return safearea;}
void SetSafeArea(int const& value){safearea=value;}
bool safe;
void SetCoord(internals::PointLatLng const& value){coord=value;}
void SetCoord(internals::PointLatLng const& value){emit homePositionChanged(value);coord=value;}
internals::PointLatLng Coord()const{return coord;}
void SetAltitude(int const& value){altitude=value;}
int Altitude()const{return altitude;}

1
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
View File

@ -276,6 +276,7 @@ namespace mapcontrol
{
if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))
this->setCursor(Qt::CrossCursor);
QGraphicsItem::keyPressEvent(event);
}
void MapGraphicItem::keyReleaseEvent(QKeyEvent *event)
{

58
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -220,6 +220,13 @@ namespace mapcontrol
emit WPCreated(position,item);
return item;
}
WayPointItem* OPMapWidget::magicWPCreate()
{
WayPointItem* item=new WayPointItem(map,true);
item->SetShowNumber(false);
item->setParentItem(map);
return item;
}
void OPMapWidget::WPCreate(WayPointItem* item)
{
ConnectWP(item);
@ -294,13 +301,46 @@ namespace mapcontrol
emit WPDeleted(item->Number(),item);
delete item;
}
void OPMapWidget::WPDeleteAll()
void OPMapWidget::WPSetVisibleAll(bool value)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
delete w;
{
if(w->Number()!=-1)
w->setVisible(value);
}
}
}
void OPMapWidget::WPDeleteAll()
{
int x=0;
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
{
emit WPDeleted(w->Number(),w);
delete w;
}
}
}
}
bool OPMapWidget::WPPresent()
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
{
return true;
}
}
}
}
void OPMapWidget::deleteAllOverlays()
@ -309,12 +349,12 @@ namespace mapcontrol
{
WayPointLine* w=qgraphicsitem_cast<WayPointLine*>(i);
if(w)
delete w;
w->deleteLater();
else
{
WayPointCircle* ww=qgraphicsitem_cast<WayPointCircle*>(i);
if(ww)
delete ww;
ww->deleteLater();
}
}
}
@ -336,11 +376,11 @@ namespace mapcontrol
void OPMapWidget::ConnectWP(WayPointItem *item)
{
connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)));
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)));
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)));
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)));
connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)));
connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)),Qt::DirectConnection);
}
void OPMapWidget::diagRefresh()
{

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -366,6 +366,9 @@ namespace mapcontrol
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise);
WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise);
void deleteAllOverlays();
void WPSetVisibleAll(bool value);
WayPointItem *magicWPCreate();
bool WPPresent();
private:
internals::Core *core;
MapGraphicItem *map;

58
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -53,10 +53,49 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
if(myHome)
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
qDebug()<<"RELATIVE DISTANCE SET ON CTOR1"<<relativeCoord.distance;
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
}
WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(false),description(""),shownumber(true),isDragging(false),altitude(0),map(map)
{
relativeCoord.bearing=0;
relativeCoord.distance=0;
myType=relative;
if(magicwaypoint)
{
picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
number=-1;
}
else
{
number=WayPointItem::snumber;
++WayPointItem::snumber;
}
text=0;
numberI=0;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
myHome=h;
}
if(myHome)
{
coord=map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing);
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
{
text=0;
@ -81,7 +120,6 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
if(myHome)
{
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
qDebug()<<"RELATIVE DISTANCE SET ON CTOR2"<<relativeCoord.distance;
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
@ -89,7 +127,6 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
WayPointItem::WayPointItem(const distBearing &relativeCoordenate, const int &altitude, const QString &description, MapGraphicItem *map):relativeCoord(relativeCoordenate),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
{
qDebug()<<"RELATIVE DISTANCE SET ON CTOR3"<<relativeCoord.distance;
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
@ -198,7 +235,6 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
if(myHome)
{
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
qDebug()<<"RELATIVE DISTANCE SET ON MOUSEMOVEEVENT"<<relativeCoord.distance;
}
QString relativeCoord_str = QString::number(relativeCoord.distance) + "m " + QString::number(relativeCoord.bearing*180/M_PI)+"deg";
text->setText(coord_str+"\n"+relativeCoord_str);
@ -253,7 +289,6 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
this->update();
qDebug()<<"emit"<<oldnumber<<value;
emit WPNumberChanged(oldnumber,value,this);
}
void WayPointItem::SetReached(const bool &value)
@ -293,10 +328,14 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
void WayPointItem::WPDeleted(const int &onumber,WayPointItem *waypoint)
{
Q_UNUSED(waypoint);
if(number>onumber) SetNumber(--number);
int n=number;
if(number>onumber) SetNumber(--n);
}
void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
{
if(Number()==-1)
return;
if(waypoint!=this)
{
if(onumber<=number) SetNumber(++number);
@ -358,7 +397,10 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
type_str="Absolute";
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
QString relativeCoord_str = " Distance:" + QString::number(relativeCoord.distance) + " Bearing:" + QString::number(relativeCoord.bearing*180/M_PI);
setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nFrom Home:%5\nAltitude:%6\nType:%7\n%8").arg(QString::number(WayPointItem::number)).arg(description).arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
if(Number()!=-1)
setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nFrom Home:%5\nAltitude:%6\nType:%7\n%8").arg(QString::number(Number())).arg(description).arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
else
setToolTip(QString("Magic WayPoint\nCoordinate:%1\nFrom Home:%2\nAltitude:%3\nType:%4\n%5").arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
}
int WayPointItem::snumber=0;

1
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h
View File

@ -64,6 +64,7 @@ public:
* @return
*/
WayPointItem(internals::PointLatLng const& coord,int const& altitude,MapGraphicItem* map,wptype type=absolute);
WayPointItem(MapGraphicItem* map,bool magicwaypoint);
/**
* @brief Constructer
*

35
ground/openpilotgcs/src/plugins/opmap/opmapgadget.cpp
View File

@ -26,31 +26,42 @@
*/
#include "opmapgadget.h"
#include "opmapgadgetwidget.h"
#include "opmapgadgetconfiguration.h"
OPMapGadget::OPMapGadget(QString classId, OPMapGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
m_widget(widget),m_config(NULL)
{
connect(m_widget,SIGNAL(defaultLocationAndZoomChanged(double,double,double)),this,SLOT(saveConfiguration(double,double,double)));
}
OPMapGadget::~OPMapGadget()
{
delete m_widget;
}
void OPMapGadget::saveConfiguration(double lng,double lat,double zoom)
{
if(m_config)
{
m_config->setLatitude(lat);
m_config->setLongitude(lng);
m_config->setZoom(zoom);
m_config->saveConfig();
}
}
void OPMapGadget::loadConfiguration(IUAVGadgetConfiguration *config)
{
OPMapGadgetConfiguration *m = qobject_cast<OPMapGadgetConfiguration*>(config);
m_config = qobject_cast<OPMapGadgetConfiguration*>(config);
m_widget->setMapProvider(m->mapProvider());
m_widget->setZoom(m->zoom());
m_widget->setPosition(QPointF(m->longitude(), m->latitude()));
m_widget->setUseOpenGL(m->useOpenGL());
m_widget->setShowTileGridLines(m->showTileGridLines());
m_widget->setAccessMode(m->accessMode());
m_widget->setUseMemoryCache(m->useMemoryCache());
m_widget->setCacheLocation(m->cacheLocation());
m_widget->SetUavPic(m->uavSymbol());
m_widget->setMapProvider(m_config->mapProvider());
m_widget->setZoom(m_config->zoom());
m_widget->setPosition(QPointF(m_config->longitude(), m_config->latitude()));
m_widget->setHomePosition(QPointF(m_config->longitude(), m_config->latitude()));
m_widget->setUseOpenGL(m_config->useOpenGL());
m_widget->setShowTileGridLines(m_config->showTileGridLines());
m_widget->setAccessMode(m_config->accessMode());
m_widget->setUseMemoryCache(m_config->useMemoryCache());
m_widget->setCacheLocation(m_config->cacheLocation());
m_widget->SetUavPic(m_config->uavSymbol());
}

7
ground/openpilotgcs/src/plugins/opmap/opmapgadget.h
View File

@ -30,6 +30,7 @@
#include <coreplugin/iuavgadget.h>
#include "opmapgadgetwidget.h"
#include "opmapgadgetconfiguration.h"
class IUAVGadget;
//class QList<int>;
@ -47,10 +48,12 @@ public:
~OPMapGadget();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
void loadConfiguration(IUAVGadgetConfiguration* m_config);
private:
OPMapGadgetWidget *m_widget;
OPMapGadgetConfiguration *m_config;
private slots:
void saveConfiguration(double lng, double lat, double zoom);
};

19
ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.cpp
View File

@ -41,7 +41,8 @@ OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId, QSettings*
m_useMemoryCache(true),
m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()),
m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png")),
m_maxUpdateRate(2000) // ms
m_maxUpdateRate(2000), // ms
m_settings(qSettings)
{
//if a saved configuration exists load it
@ -97,7 +98,21 @@ IUAVGadgetConfiguration * OPMapGadgetConfiguration::clone()
return m;
}
void OPMapGadgetConfiguration::saveConfig() const {
if(!m_settings)
return;
m_settings->setValue("mapProvider", m_mapProvider);
m_settings->setValue("defaultZoom", m_defaultZoom);
m_settings->setValue("defaultLatitude", m_defaultLatitude);
m_settings->setValue("defaultLongitude", m_defaultLongitude);
m_settings->setValue("useOpenGL", m_useOpenGL);
m_settings->setValue("showTileGridLines", m_showTileGridLines);
m_settings->setValue("accessMode", m_accessMode);
m_settings->setValue("useMemoryCache", m_useMemoryCache);
m_settings->setValue("uavSymbol", m_uavSymbol);
m_settings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation));
m_settings->setValue("maxUpdateRate", m_maxUpdateRate);
}
void OPMapGadgetConfiguration::saveConfig(QSettings* qSettings) const {
qSettings->setValue("mapProvider", m_mapProvider);
qSettings->setValue("defaultZoom", m_defaultZoom);

5
ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.h
View File

@ -65,8 +65,8 @@ public:
bool useMemoryCache() const { return m_useMemoryCache; }
QString cacheLocation() const { return m_cacheLocation; }
QString uavSymbol() const { return m_uavSymbol; }
int maxUpdateRate() const { return m_maxUpdateRate; }
int maxUpdateRate() const { return m_maxUpdateRate; }
void saveConfig() const;
public slots:
void setMapProvider(QString provider) { m_mapProvider = provider; }
void setZoom(int zoom) { m_defaultZoom = zoom; }
@ -92,6 +92,7 @@ private:
QString m_cacheLocation;
QString m_uavSymbol;
int m_maxUpdateRate;
QSettings * m_settings;
};
#endif // OPMAP_GADGETCONFIGURATION_H

587
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -131,17 +131,6 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_home_position.altitude = altitude;
m_home_position.locked = false;
// **************
// default magic waypoint params
m_magic_waypoint.map_wp_item = NULL;
m_magic_waypoint.coord = m_home_position.coord;
m_magic_waypoint.altitude = altitude;
m_magic_waypoint.description = "Magic waypoint";
m_magic_waypoint.locked = false;
m_magic_waypoint.time_seconds = 0;
m_magic_waypoint.hold_time_seconds = 0;
// **************
// create the widget that holds the user controls and the map
@ -194,50 +183,17 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
layout->addWidget(m_map);
m_widget->mapWidget->setLayout(layout);
// **************
// set the user control options
// TODO: this switch does not make sense, does it??
switch (m_map_mode)
{
case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
break;
case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls();
break;
default:
m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls();
break;
}
m_widget->labelUAVPos->setText("---");
m_widget->labelMapPos->setText("---");
m_widget->labelMousePos->setText("---");
m_widget->labelMapZoom->setText("---");
// Splitter is not used at the moment:
// m_widget->splitter->setCollapsible(1, false);
// set the size of the collapsable widgets
//QList<int> m_SizeList;
//m_SizeList << 0 << 0 << 0;
//m_widget->splitter->setSizes(m_SizeList);
m_widget->progressBarMap->setMaximum(1);
#if defined(Q_OS_MAC)
#elif defined(Q_OS_WIN)
m_widget->comboBoxFindPlace->clear();
@ -246,11 +202,6 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
#else
#endif
// **************
// map stuff
connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double))); // map zoom change signals
connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals
connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
@ -260,10 +211,9 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_map, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SLOT(OnMapTypeChanged(MapType::Types))); // map type changed
connect(m_map, SIGNAL(OnEmptyTileError(int, core::Point)), this, SLOT(OnEmptyTileError(int, core::Point))); // tile error
connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals
connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
connect(m_map, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(WPValuesChanged(WayPointItem*)));
connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
connect(m_map, SIGNAL(WPDeleted(int,WayPointItem*)), this, SLOT(WPDeleted(int,WayPointItem*)));
// connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
// connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
// connect(m_map, SIGNAL(WPDeleted(int,WayPointItem*)), this, SLOT(WPDeleted(int,WayPointItem*)));
connect(m_map,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)),this,SLOT(wpDoubleClickEvent(WayPointItem*)));
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
@ -274,7 +224,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
pathPlanManager * plan=new pathPlanManager(new QWidget(),m_map);
plan->show();
/*
distBearing db;
db.distance=100;
db.bearing=0;
@ -290,6 +240,9 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
wp=new t_waypoint;
wp->map_wp_item=p2;
m_waypoint_list.append(wp);
*/
magicWayPoint=m_map->magicWPCreate();
magicWayPoint->setVisible(false);
// **************
// create various context menu (mouse right click menu) actions
@ -330,10 +283,8 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_statusUpdateTimer = new QTimer();
m_statusUpdateTimer->setInterval(200);
// m_statusUpdateTimer->setInterval(m_maxUpdateRate);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
m_statusUpdateTimer->start();
// **************
m_map->setFocus();
@ -349,29 +300,6 @@ OPMapGadgetWidget::~OPMapGadgetWidget()
m_map->SetShowUAV(false); // " "
}
// this destructor doesn't appear to be called at shutdown???
// #if defined(Q_OS_MAC)
// #elif defined(Q_OS_WIN)
// saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
// #else
// #endif
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
// todo:
delete wp->map_wp_item;
}
m_waypoint_list_mutex.unlock();
m_waypoint_list.clear();
if (m_map)
{
delete m_map;
@ -384,24 +312,18 @@ OPMapGadgetWidget::~OPMapGadgetWidget()
void OPMapGadgetWidget::resizeEvent(QResizeEvent *event)
{
qDebug("opmap: resizeEvent");
QWidget::resizeEvent(event);
}
void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
{
qDebug("opmap: mouseMoveEvent");
if (m_widget && m_map)
{
}
if (event->buttons() & Qt::LeftButton)
{
// QPoint pos = event->pos();
}
QWidget::mouseMoveEvent(event);
}
void OPMapGadgetWidget::wpDoubleClickEvent(WayPointItem *wp)
@ -424,7 +346,6 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
// current mouse position
QPoint p = m_map->mapFromGlobal(event->globalPos());
m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
// m_context_menu_lat_lon = m_map->currentMousePosition();
if (!m_map->contentsRect().contains(p))
return; // the mouse click was not on the map
@ -445,26 +366,19 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
// ****************
// Dynamically create the popup menu
QMenu menu(this);
menu.addAction(closeAct1);
menu.addSeparator();
menu.addAction(reloadAct);
menu.addSeparator();
menu.addAction(ripAct);
menu.addSeparator();
contextMenu.addAction(closeAct1);
contextMenu.addSeparator();
contextMenu.addAction(reloadAct);
contextMenu.addSeparator();
contextMenu.addAction(ripAct);
contextMenu.addSeparator();
QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
for (int i = 0; i < maxUpdateRateAct.count(); i++)
maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
menu.addMenu(&maxUpdateRateSubMenu);
contextMenu.addMenu(&maxUpdateRateSubMenu);
menu.addSeparator();
contextMenu.addSeparator();
switch (m_map_mode)
{
@ -482,19 +396,19 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
QMenu mapModeSubMenu(tr("Map mode") + s, this);
for (int i = 0; i < mapModeAct.count(); i++)
mapModeSubMenu.addAction(mapModeAct.at(i));
menu.addMenu(&mapModeSubMenu);
contextMenu.addMenu(&mapModeSubMenu);
menu.addSeparator();
contextMenu.addSeparator();
QMenu copySubMenu(tr("Copy"), this);
copySubMenu.addAction(copyMouseLatLonToClipAct);
copySubMenu.addAction(copyMouseLatToClipAct);
copySubMenu.addAction(copyMouseLonToClipAct);
menu.addMenu(&copySubMenu);
contextMenu.addMenu(&copySubMenu);
menu.addSeparator();
menu.addSeparator();
contextMenu.addSeparator();
contextMenu.addAction(changeDefaultLocalAndZoom);
contextMenu.addSeparator();
QMenu safeArea("Safety Area definitions");
// menu.addAction(showSafeAreaAct);
@ -503,68 +417,68 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
safeAreaSubMenu.addAction(safeAreaAct.at(i));
safeArea.addMenu(&safeAreaSubMenu);
safeArea.addAction(showSafeAreaAct);
menu.addMenu(&safeArea);
contextMenu.addMenu(&safeArea);
menu.addSeparator();
contextMenu.addSeparator();
menu.addAction(showCompassAct);
contextMenu.addAction(showCompassAct);
menu.addAction(showDiagnostics);
contextMenu.addAction(showDiagnostics);
menu.addSeparator()->setText(tr("Zoom"));
contextMenu.addSeparator()->setText(tr("Zoom"));
menu.addAction(zoomInAct);
menu.addAction(zoomOutAct);
contextMenu.addAction(zoomInAct);
contextMenu.addAction(zoomOutAct);
QMenu zoomSubMenu(tr("&Zoom ") + "(" + QString::number(m_map->ZoomTotal()) + ")", this);
for (int i = 0; i < zoomAct.count(); i++)
zoomSubMenu.addAction(zoomAct.at(i));
menu.addMenu(&zoomSubMenu);
contextMenu.addMenu(&zoomSubMenu);
menu.addSeparator();
contextMenu.addSeparator();
menu.addAction(goMouseClickAct);
contextMenu.addAction(goMouseClickAct);
menu.addSeparator()->setText(tr("HOME"));
contextMenu.addSeparator()->setText(tr("HOME"));
menu.addAction(setHomeAct);
menu.addAction(showHomeAct);
menu.addAction(goHomeAct);
contextMenu.addAction(setHomeAct);
contextMenu.addAction(showHomeAct);
contextMenu.addAction(goHomeAct);
// ****
// uav trails
menu.addSeparator()->setText(tr("UAV Trail"));
QMenu uav_menu(tr("UAV"));
uav_menu.addSeparator()->setText(tr("UAV Trail"));
contextMenu.addMenu(&uav_menu);
QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
for (int i = 0; i < uavTrailTypeAct.count(); i++)
uavTrailTypeSubMenu.addAction(uavTrailTypeAct.at(i));
menu.addMenu(&uavTrailTypeSubMenu);
uav_menu.addMenu(&uavTrailTypeSubMenu);
QMenu uavTrailTimeSubMenu(tr("UAV trail time") + " (" + QString::number(m_map->UAV->TrailTime()) + " sec)", this);
for (int i = 0; i < uavTrailTimeAct.count(); i++)
uavTrailTimeSubMenu.addAction(uavTrailTimeAct.at(i));
menu.addMenu(&uavTrailTimeSubMenu);
uav_menu.addMenu(&uavTrailTimeSubMenu);
QMenu uavTrailDistanceSubMenu(tr("UAV trail distance") + " (" + QString::number(m_map->UAV->TrailDistance()) + " meters)", this);
for (int i = 0; i < uavTrailDistanceAct.count(); i++)
uavTrailDistanceSubMenu.addAction(uavTrailDistanceAct.at(i));
menu.addMenu(&uavTrailDistanceSubMenu);
uav_menu.addMenu(&uavTrailDistanceSubMenu);
menu.addAction(showTrailAct);
uav_menu.addAction(showTrailAct);
menu.addAction(showTrailLineAct);
uav_menu.addAction(showTrailLineAct);
menu.addAction(clearUAVtrailAct);
uav_menu.addAction(clearUAVtrailAct);
// ****
menu.addSeparator()->setText(tr("UAV"));
uav_menu.addSeparator()->setText(tr("UAV"));
menu.addAction(showUAVAct);
menu.addAction(followUAVpositionAct);
menu.addAction(followUAVheadingAct);
menu.addAction(goUAVAct);
uav_menu.addAction(showUAVAct);
uav_menu.addAction(followUAVpositionAct);
uav_menu.addAction(followUAVheadingAct);
uav_menu.addAction(goUAVAct);
// *********
@ -573,93 +487,51 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
case Normal_MapMode:
// only show the waypoint stuff if not in 'magic waypoint' mode
menu.addSeparator()->setText(tr("Waypoints"));
contextMenu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(wayPointEditorAct);
menu.addAction(addWayPointAct);
contextMenu.addAction(wayPointEditorAct);
contextMenu.addAction(addWayPointAct);
if (m_mouse_waypoint)
{ // we have a waypoint under the mouse
menu.addAction(editWayPointAct);
contextMenu.addAction(editWayPointAct);
lockWayPointAct->setChecked(waypoint_locked);
menu.addAction(lockWayPointAct);
contextMenu.addAction(lockWayPointAct);
if (!waypoint_locked)
menu.addAction(deleteWayPointAct);
contextMenu.addAction(deleteWayPointAct);
}
m_waypoint_list_mutex.lock();
if (m_waypoint_list.count() > 0)
menu.addAction(clearWayPointsAct); // we have waypoints
m_waypoint_list_mutex.unlock();
if (m_map->WPPresent())
contextMenu.addAction(clearWayPointsAct); // we have waypoints
break;
case MagicWaypoint_MapMode:
menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(homeMagicWaypointAct);
contextMenu.addSeparator()->setText(tr("Waypoints"));
contextMenu.addAction(homeMagicWaypointAct);
break;
}
// *********
menu.addSeparator();
contextMenu.addSeparator();
menu.addAction(closeAct2);
contextMenu.addAction(closeAct2);
menu.exec(event->globalPos()); // popup the menu
contextMenu.exec(event->globalPos()); // popup the menu
// ****************
}
void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
{
qDebug() << "opmap: keyPressEvent, key =" << event->key() << endl;
switch (event->key())
{
case Qt::Key_Escape:
break;
case Qt::Key_F1:
break;
case Qt::Key_F2:
break;
case Qt::Key_Up:
break;
case Qt::Key_Down:
break;
case Qt::Key_Left:
break;
case Qt::Key_Right:
break;
case Qt::Key_PageUp:
break;
case Qt::Key_PageDown:
break;
}
}
// *************************************************************************************
// timer signals
/**
Updates the UAV position on the map. It is called every 200ms
by a timer.
TODO: consider updating upon object update, not timer.
from Pip: No don't update on object update - had reports that peoples PC's can't cope with high update rates - have had to allow user to set map update from 100ms to 5 seconds (depending on their PC's graphics processing ability), so this needs to be kept on a timer.
*/
*/
void OPMapGadgetWidget::updatePosition()
{
double uav_latitude, uav_longitude, uav_altitude, uav_yaw;
@ -740,7 +612,7 @@ void OPMapGadgetWidget::updateMousePos()
QPoint p = m_map->mapFromGlobal(QCursor::pos());
internals::PointLatLng lat_lon = m_map->GetFromLocalToLatLng(p); // fetch the current lat/lon mouse position
lastLatLngMouse=lat_lon;
if (!m_map->contentsRect().contains(p))
return; // the mouse is not on the map
@ -795,11 +667,6 @@ void OPMapGadgetWidget::updateMousePos()
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
// double dist = distance(home_lat_lon, uav_pos);
// double bear = bearing(home_lat_lon, uav_pos);
// s += " " + QString::number(dist * 1000, 'f', 1) + "m";
// s += " " + QString::number(bear, 'f', 1) + "deg";
}
}
m_widget->labelMousePos->setText(s);
@ -855,16 +722,11 @@ void OPMapGadgetWidget::OnTilesStillToLoad(int number)
if (!m_widget || !m_map)
return;
// if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
// m_widget->progressBarMap->setMaximum(number);
if (m_widget->progressBarMap->maximum() < number)
m_widget->progressBarMap->setMaximum(number);
m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number); // update the progress bar
// m_widget->labelNumTilesToLoad->setText(QString::number(number));
m_prev_tile_number = number;
}
@ -875,7 +737,6 @@ void OPMapGadgetWidget::OnTileLoadStart()
{
if (!m_widget || !m_map)
return;
m_widget->progressBarMap->setVisible(true);
}
@ -915,44 +776,6 @@ void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumb
Q_UNUSED(waypoint);
}
void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
{
// qDebug("opmap: WPValuesChanged");
switch (m_map_mode)
{
case Normal_MapMode:
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{ // search for the waypoint in our own waypoint list and update it
if (!wp) continue;
if (!wp->map_wp_item) continue;
if (wp->map_wp_item != waypoint) continue;
// found the waypoint in our list
wp->coord = waypoint->Coord();
wp->altitude = waypoint->Altitude();
wp->description = waypoint->Description();
break;
}
m_waypoint_list_mutex.unlock();
break;
case MagicWaypoint_MapMode:
// update our copy of the magic waypoint
if (m_magic_waypoint.map_wp_item && m_magic_waypoint.map_wp_item == waypoint)
{
m_magic_waypoint.coord = waypoint->Coord();
m_magic_waypoint.altitude = waypoint->Altitude();
m_magic_waypoint.description = waypoint->Description();
// move the UAV to the magic waypoint position
// moveToMagicWaypointPosition();
}
break;
}
}
/**
TODO: slot to do something upon Waypoint insertion
*/
@ -1227,6 +1050,27 @@ void OPMapGadgetWidget::setZoom(int zoom)
m_map->SetMouseWheelZoomType(zoom_type);
}
void OPMapGadgetWidget::setHomePosition(QPointF pos)
{
if (!m_widget || !m_map)
return;
double latitude = pos.y();
double longitude = pos.x();
if (latitude != latitude || longitude != longitude)
return; // nan prevention
if (latitude > 90) latitude = 90;
else
if (latitude < -90) latitude = -90;
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
m_map->Home->SetCoord(internals::PointLatLng(latitude, longitude));
}
void OPMapGadgetWidget::setPosition(QPointF pos)
{
@ -1299,21 +1143,12 @@ void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
if (cacheLocation.isEmpty()) return;
// #if defined(Q_WS_WIN)
// if (!cacheLocation.endsWith('\\')) cacheLocation += '\\';
// #elif defined(Q_WS_X11)
if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #elif defined(Q_WS_MAC)
// if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #endif
if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
QDir dir;
if (!dir.exists(cacheLocation))
if (!dir.mkpath(cacheLocation))
return;
// qDebug() << "opmap: map cache dir: " << cacheLocation;
m_map->configuration->SetCacheLocation(cacheLocation);
}
@ -1351,32 +1186,8 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
hideMagicWaypointControls();
// delete the magic waypoint from the map
if (m_magic_waypoint.map_wp_item)
{
m_magic_waypoint.coord = m_magic_waypoint.map_wp_item->Coord();
m_magic_waypoint.altitude = m_magic_waypoint.map_wp_item->Altitude();
m_magic_waypoint.description = m_magic_waypoint.map_wp_item->Description();
m_magic_waypoint.map_wp_item = NULL;
}
m_map->WPDeleteAll();
// restore the normal waypoints on the map
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
if (!wp->map_wp_item) continue;
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update();
}
m_waypoint_list_mutex.unlock();
magicWayPoint->setVisible(false);
m_map->WPSetVisibleAll(true);
break;
@ -1389,25 +1200,9 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
showMagicWaypointControls();
// delete the normal waypoints from the map
m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (!wp) continue;
if (!wp->map_wp_item) continue;
wp->coord = wp->map_wp_item->Coord();
wp->altitude = wp->map_wp_item->Altitude();
wp->description = wp->map_wp_item->Description();
wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
wp->map_wp_item = NULL;
}
m_map->WPDeleteAll();
m_waypoint_list_mutex.unlock();
// restore the magic waypoint on the map
m_magic_waypoint.map_wp_item = m_map->WPCreate(m_magic_waypoint.coord, m_magic_waypoint.altitude, m_magic_waypoint.description);
m_magic_waypoint.map_wp_item->setZValue(10 + m_magic_waypoint.map_wp_item->Number());
m_magic_waypoint.map_wp_item->SetShowNumber(false);
m_magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
m_map->WPSetVisibleAll(false);
magicWayPoint->setVisible(true);
break;
}
@ -1436,7 +1231,7 @@ void OPMapGadgetWidget::createActions()
reloadAct->setShortcut(tr("F5"));
reloadAct->setStatusTip(tr("Reload the map tiles"));
connect(reloadAct, SIGNAL(triggered()), this, SLOT(onReloadAct_triggered()));
this->addAction(reloadAct);
ripAct = new QAction(tr("&Rip map"), this);
ripAct->setStatusTip(tr("Rip the map tiles"));
connect(ripAct, SIGNAL(triggered()), this, SLOT(onRipAct_triggered()));
@ -1477,15 +1272,21 @@ void OPMapGadgetWidget::createActions()
showUAVAct->setChecked(true);
connect(showUAVAct, SIGNAL(toggled(bool)), this, SLOT(onShowUAVAct_toggled(bool)));
changeDefaultLocalAndZoom = new QAction(tr("Set default zoom and location"), this);
changeDefaultLocalAndZoom->setStatusTip(tr("Changes the map default zoom and location to the current values"));
connect(changeDefaultLocalAndZoom, SIGNAL(triggered()), this, SLOT(onChangeDefaultLocalAndZoom()));
zoomInAct = new QAction(tr("Zoom &In"), this);
zoomInAct->setShortcut(Qt::Key_PageUp);
zoomInAct->setStatusTip(tr("Zoom the map in"));
connect(zoomInAct, SIGNAL(triggered()), this, SLOT(onGoZoomInAct_triggered()));
this->addAction(zoomInAct);
zoomOutAct = new QAction(tr("Zoom &Out"), this);
zoomOutAct->setShortcut(Qt::Key_PageDown);
zoomOutAct->setStatusTip(tr("Zoom the map out"));
connect(zoomOutAct, SIGNAL(triggered()), this, SLOT(onGoZoomOutAct_triggered()));
this->addAction(zoomOutAct);
goMouseClickAct = new QAction(tr("Go to where you right clicked the mouse"), this);
goMouseClickAct->setStatusTip(tr("Center the map onto where you right clicked the mouse"));
@ -1537,6 +1338,7 @@ void OPMapGadgetWidget::createActions()
addWayPointAct->setShortcut(tr("Ctrl+A"));
addWayPointAct->setStatusTip(tr("Add waypoint"));
connect(addWayPointAct, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggered()));
this->addAction(addWayPointAct);
editWayPointAct = new QAction(tr("&Edit waypoint"), this);
editWayPointAct->setShortcut(tr("Ctrl+E"));
@ -1814,7 +1616,12 @@ void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action)
if (!m_widget || !m_map || !action)
return;
setMaxUpdateRate(action->data().toInt());
setMaxUpdateRate(action->data().toInt());
}
void OPMapGadgetWidget::onChangeDefaultLocalAndZoom()
{
emit defaultLocationAndZoomChanged(m_map->CurrentPosition().Lng(),m_map->CurrentPosition().Lat(),m_map->ZoomTotal());
}
void OPMapGadgetWidget::onGoMouseClickAct_triggered()
@ -1940,36 +1747,20 @@ void OPMapGadgetWidget::onAddWayPointAct_triggered()
if (m_map_mode != Normal_MapMode)
return;
m_waypoint_list_mutex.lock();
// m_waypoint_list_mutex.lock();
// create a waypoint on the map at the last known mouse position
t_waypoint *wp = new t_waypoint;
wp->map_wp_item = NULL;
wp->coord = m_context_menu_lat_lon;
wp->altitude = 0;
wp->description = "";
wp->locked = false;
wp->time_seconds = 0;
wp->hold_time_seconds = 0;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
internals::PointLatLng coord;
if(this->contextMenu.isVisible())
coord = m_context_menu_lat_lon;
else
coord=lastLatLngMouse;
m_map->WPCreate(coord, 0, "");
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
//wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
//wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
if (wp->map_wp_item)
{
if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update();
}
// and remember it in our own local waypoint list
m_waypoint_list.append(wp);
m_waypoint_list_mutex.unlock();
}
@ -2021,11 +1812,6 @@ void OPMapGadgetWidget::onLockWayPointAct_triggered()
m_mouse_waypoint = NULL;
}
/**
* TODO: unused for v1.0
*/
void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
{
if (!m_widget || !m_map)
@ -2037,51 +1823,10 @@ void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
if (!m_mouse_waypoint)
return;
bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
if (locked) return; // waypoint is locked
QMutexLocker locker(&m_waypoint_list_mutex);
for (int i = 0; i < m_waypoint_list.count(); i++)
{
t_waypoint *wp = m_waypoint_list.at(i);
if (!wp) continue;
if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
// delete the waypoint from the map
m_map->WPDelete(wp->map_wp_item);
// delete the waypoint from our local waypoint list
m_waypoint_list.removeAt(i);
delete wp;
break;
}
//
// foreach (t_waypoint *wp, m_waypoint_list)
// {
// if (!wp) continue;
// if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
//
// // delete the waypoint from the map
// m_map->WPDelete(wp->map_wp_item);
//
// // delete the waypoint from our local waypoint list
// m_waypoint_list.removeOne(wp);
//
// delete wp;
//
// break;
// }
m_mouse_waypoint = NULL;
m_map->WPDelete(m_mouse_waypoint);
}
/**
* TODO: No Waypoint support in v1.0
*/
void OPMapGadgetWidget::onClearWayPointsAct_triggered()
{
if (!m_widget || !m_map)
@ -2090,21 +1835,9 @@ void OPMapGadgetWidget::onClearWayPointsAct_triggered()
if (m_map_mode != Normal_MapMode)
return;
QMutexLocker locker(&m_waypoint_list_mutex);
m_map->WPDeleteAll();
foreach (t_waypoint *wp, m_waypoint_list)
{
if (wp)
{
delete wp;
wp = NULL;
}
}
m_waypoint_list.clear();
}
}
void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
@ -2147,10 +1880,7 @@ void OPMapGadgetWidget::homeMagicWaypoint()
if (m_map_mode != MagicWaypoint_MapMode)
return;
m_magic_waypoint.coord = m_home_position.coord;
if (m_magic_waypoint.map_wp_item)
m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
magicWayPoint->SetCoord(m_home_position.coord);
}
// *************************************************************************************
@ -2163,60 +1893,6 @@ void OPMapGadgetWidget::moveToMagicWaypointPosition()
if (m_map_mode != MagicWaypoint_MapMode)
return;
// internals::PointLatLng coord = magic_waypoint.coord;
// double altitude = magic_waypoint.altitude;
// ToDo:
}
// *************************************************************************************
// temporary until an object is created for managing the save/restore
// load the contents of a simple text file into a combobox
void OPMapGadgetWidget::loadComboBoxLines(QComboBox *comboBox, QString filename)
{
if (!comboBox) return;
if (filename.isNull() || filename.isEmpty()) return;
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return;
QTextStream in(&file);
while (!in.atEnd())
{
QString line = in.readLine().simplified();
if (line.isNull() || line.isEmpty()) continue;
comboBox->addItem(line);
}
file.close();
}
// save a combobox text contents to a simple text file
void OPMapGadgetWidget::saveComboBoxLines(QComboBox *comboBox, QString filename)
{
if (!comboBox) return;
if (filename.isNull() || filename.isEmpty()) return;
QFile file(filename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
return;
QTextStream out(&file);
for (int i = 0; i < comboBox->count(); i++)
{
QString line = comboBox->itemText(i).simplified();
if (line.isNull() || line.isEmpty()) continue;
out << line << "\n";
}
file.close();
}
// *************************************************************************************
@ -2248,25 +1924,20 @@ void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
{
// calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(m_home_position.coord, m_magic_waypoint.coord);
double bear = bearing(m_home_position.coord, m_magic_waypoint.coord);
double dist = distance(m_home_position.coord, magicWayPoint->Coord());
double bear = bearing(m_home_position.coord, magicWayPoint->Coord());
// get the maximum safe distance - in kilometers
double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
// if (dist <= boundry_dist)
// return; // the magic waypoint is still within the safe area, don't move it
if (dist > boundry_dist) dist = boundry_dist;
// move the magic waypoint
m_magic_waypoint.coord = destPoint(m_home_position.coord, bear, dist);
// move the magic waypoint;
if (m_map_mode == MagicWaypoint_MapMode)
{ // move the on-screen waypoint
if (m_magic_waypoint.map_wp_item)
m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
if (magicWayPoint)
magicWayPoint->SetCoord(destPoint(m_home_position.coord, bear, dist));
}
}
@ -2281,22 +1952,6 @@ double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::Point
double lat2 = to.Lat() * deg_to_rad;
double lon2 = to.Lng() * deg_to_rad;
// ***********************
// Haversine formula
/*
double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1;
double t1 = sin(delta_lat / 2);
double t2 = sin(delta_lon / 2);
double a = (t1 * t1) + cos(lat1) * cos(lat2) * (t2 * t2);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
return (earth_mean_radius * c);
*/
// ***********************
// Spherical Law of Cosines
return (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)) * earth_mean_radius);
// ***********************

32
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -74,18 +74,6 @@ typedef struct t_home
bool locked;
} t_home;
// local waypoint list item structure
typedef struct t_waypoint
{
mapcontrol::WayPointItem *map_wp_item;
internals::PointLatLng coord;
double altitude;
QString description;
bool locked;
int time_seconds;
int hold_time_seconds;
} t_waypoint;
// ******************************************************
enum opMapModeType { Normal_MapMode = 0,
@ -120,7 +108,9 @@ public:
void setMapMode(opMapModeType mode);
void SetUavPic(QString UAVPic);
void setMaxUpdateRate(int update_rate);
void setHomePosition(QPointF pos);
signals:
void defaultLocationAndZoomChanged(double lng,double lat,double zoom);
public slots:
void homePositionUpdated(UAVObject *);
@ -131,7 +121,6 @@ protected:
void resizeEvent(QResizeEvent *event);
void mouseMoveEvent(QMouseEvent *event);
void contextMenuEvent(QContextMenuEvent *event);
void keyPressEvent(QKeyEvent* event);
private slots:
void wpDoubleClickEvent(WayPointItem *wp);
void updatePosition();
@ -174,7 +163,6 @@ private slots:
* Unused for now, hooks for future waypoint support
*/
void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
void WPValuesChanged(WayPointItem* waypoint);
void WPInserted(int const& number, WayPointItem* waypoint);
void WPDeleted(int const& number, WayPointItem* waypoint);
@ -218,7 +206,7 @@ private slots:
void onUAVTrailTimeActGroup_triggered(QAction *action);
void onUAVTrailDistanceActGroup_triggered(QAction *action);
void onMaxUpdateRateActGroup_triggered(QAction *action);
void onChangeDefaultLocalAndZoom();
void on_tbFind_clicked();
private:
@ -241,8 +229,6 @@ private:
t_home m_home_position;
t_waypoint m_magic_waypoint;
QStringList findPlaceWordList;
QCompleter *findPlaceCompleter;
@ -265,9 +251,6 @@ private:
mapcontrol::WayPointItem *m_mouse_waypoint;
QList<t_waypoint *> m_waypoint_list;
QMutex m_waypoint_list_mutex;
QMutex m_map_mutex;
bool m_telemetry_connected;
@ -306,6 +289,7 @@ private:
QAction *homeMagicWaypointAct;
QAction *showSafeAreaAct;
QAction *changeDefaultLocalAndZoom;
QActionGroup *safeAreaActGroup;
QList<QAction *> safeAreaAct;
@ -334,9 +318,6 @@ private:
void moveToMagicWaypointPosition();
void loadComboBoxLines(QComboBox *comboBox, QString filename);
void saveComboBoxLines(QComboBox *comboBox, QString filename);
void hideMagicWaypointControls();
void showMagicWaypointControls();
@ -353,6 +334,9 @@ private:
void setMapFollowingMode();
bool setHomeLocationObject();
QMenu contextMenu;
internals::PointLatLng lastLatLngMouse;
WayPointItem * magicWayPoint;
};
#endif /* OPMAP_GADGETWIDGET_H_ */

27
ground/openpilotgcs/src/plugins/opmap/pathplanmanager.cpp
View File

@ -31,9 +31,9 @@ pathPlanManager::pathPlanManager(QWidget *parent,OPMapWidget *map):
QDialog(parent, Qt::Dialog),myMap(map),
ui(new Ui::pathPlanManager)
{
waypoints=new QList<WayPointItem*>();
waypoints=new QList<QPointer<WayPointItem> >();
ui->setupUi(this);
connect(myMap,SIGNAL(WPDeleted(int,WayPointItem*)),this,SLOT(on_WPDeleted(int,WayPointItem*)));
connect(myMap,SIGNAL(WPDeleted(int,WayPointItem*)),this,SLOT(on_WPDeleted(int,WayPointItem*)),Qt::DirectConnection);
connect(myMap,SIGNAL(WPInserted(int,WayPointItem*)),this,SLOT(on_WPInserted(int,WayPointItem*)));
connect(myMap,SIGNAL(WPCreated(int,WayPointItem*)),this,SLOT(on_WPInserted(int,WayPointItem*)));
connect(myMap,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SLOT(refreshOverlays()));
@ -46,13 +46,20 @@ pathPlanManager::~pathPlanManager()
}
void pathPlanManager::on_WPDeleted(int wp_numberint,WayPointItem * wp)
{
QMutexLocker locker(&wplistmutex);
if(wp_numberint<0)
return;
waypoints->removeOne(wp);
}
void pathPlanManager::on_WPInserted(int wp_number, WayPointItem * wp)
{
qDebug()<<"pathplanner waypoint added";
if(waypoints->contains(wp))
return;
wplistmutex.lock();
waypoints->append(wp);
wplistmutex.unlock();
wp->setWPType(WayPointItem::relative);
customData data;
data.mode=PathAction::MODE_FLYENDPOINT;
data.condition=PathAction::ENDCONDITION_NONE;
@ -61,24 +68,16 @@ void pathPlanManager::on_WPInserted(int wp_number, WayPointItem * wp)
refreshOverlays();
}
void pathPlanManager::on_WPNumberChanged(int oldNumber, int newNumber, WayPointItem * wp)
{
}
void pathPlanManager::on_WPValuesChanged(WayPointItem * wp)
{
}
//typedef enum { MODE_FLYENDPOINT=0, MODE_FLYVECTOR=1, MODE_FLYCIRCLERIGHT=2,
//MODE_FLYCIRCLELEFT=3, MODE_DRIVEENDPOINT=4, MODE_DRIVEVECTOR=5, MODE_DRIVECIRCLELEFT=6,
//MODE_DRIVECIRCLERIGHT=7, MODE_FIXEDATTITUDE=8, MODE_SETACCESSORY=9, MODE_DISARMALARM=10 } ModeOptions;
void pathPlanManager::refreshOverlays()
{
QMutexLocker locker(&wplistmutex);
myMap->deleteAllOverlays();
qDebug()<<"foreach start";
foreach(WayPointItem * wp,*waypoints)
{
qDebug()<<"wp:"<<wp->Number();
customData data=wp->customData().value<customData>();
switch(data.mode)
{
@ -86,7 +85,6 @@ void pathPlanManager::refreshOverlays()
case PathAction::MODE_FLYVECTOR:
case PathAction::MODE_DRIVEENDPOINT:
case PathAction::MODE_DRIVEVECTOR:
qDebug()<<"addline";
if(wp->Number()==0)
myMap->WPLineCreate((HomeItem*)myMap->Home,wp);
else
@ -105,11 +103,12 @@ void pathPlanManager::refreshOverlays()
}
}
qDebug()<<"foreach end";
}
WayPointItem * pathPlanManager::findWayPointNumber(int number)
{
if(number<0)
return NULL;
foreach(WayPointItem * wp,*waypoints)
{
if(wp->Number()==number)

6
ground/openpilotgcs/src/plugins/opmap/pathplanmanager.h
View File

@ -32,6 +32,8 @@
#include "opmapcontrol/opmapcontrol.h"
#include "pathaction.h"
#include "waypoint.h"
#include "QMutexLocker"
#include "QPointer"
namespace mapcontrol
{
struct customData
@ -63,12 +65,12 @@ private slots:
void refreshOverlays();
void on_WPDeleted(int wp_numberint, WayPointItem *);
void on_WPInserted(int,WayPointItem*);
void on_WPNumberChanged(int,int,WayPointItem*);
void on_WPValuesChanged(WayPointItem*);
private:
Ui::pathPlanManager *ui;
OPMapWidget * myMap;
QList<WayPointItem*> * waypoints;
QList<QPointer<WayPointItem> > * waypoints;
QMutex wplistmutex;
};
#endif // PATHPLANMANAGER_H