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Code Issues Releases Activity

GCS/OPMap- UAVItem - removed everything that doesn't belong

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on the paint function
This commit is contained in:
PT_Dreamer 2012-08-19 01:40:05 +01:00
parent 4b8bfcb997
commit 42119f8d67
4 changed files with 97 additions and 130 deletions
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3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
View File

@ -45,9 +45,6 @@ namespace mapcontrol
connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh())); connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh()));
connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh())); connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh()));
setCacheMode(QGraphicsItem::ItemCoordinateCache); setCacheMode(QGraphicsItem::ItemCoordinateCache);
//resize();
setCacheMode(QGraphicsItem::ItemCoordinateCache);
} }
void MapGraphicItem::start() void MapGraphicItem::start()

206
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
View File

@ -34,7 +34,7 @@ namespace mapcontrol
double UAVItem::groundspeed_mps_filt = 0; double UAVItem::groundspeed_mps_filt = 0;
UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent,QString uavPic):map(map),mapwidget(parent),showtrail(true),showtrailline(true),trailtime(5),traildistance(50),autosetreached(true) UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent,QString uavPic):map(map),mapwidget(parent),showtrail(true),showtrailline(true),trailtime(5),traildistance(50),autosetreached(true)
,autosetdistance(100),altitude(0),showUAVInfo(false),showJustChanged(false) ,autosetdistance(100),altitude(0),showUAVInfo(false)
{ {
pic.load(uavPic); pic.load(uavPic);
this->setFlag(QGraphicsItem::ItemIsMovable,false); this->setFlag(QGraphicsItem::ItemIsMovable,false);
@ -47,14 +47,17 @@ namespace mapcontrol
trailLine=new QGraphicsItemGroup(this); trailLine=new QGraphicsItemGroup(this);
trailLine->setParentItem(map); trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true); this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
setCacheMode(QGraphicsItem::ItemCoordinateCache);
mapfollowtype=UAVMapFollowType::None; mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance; trailtype=UAVTrailType::ByDistance;
timer.start(); timer.start();
generateArrowhead(); generateArrowhead();
double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
meters2pixels=1.0 / pixels2meters;
setCacheMode(QGraphicsItem::DeviceCoordinateCache); setCacheMode(QGraphicsItem::DeviceCoordinateCache);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos())); connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal))); connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
connect(map,SIGNAL(zoomChanged(double,double,double)),this,SLOT(zoomChangedSlot()));
} }
UAVItem::~UAVItem() UAVItem::~UAVItem()
{ {
@ -71,7 +74,6 @@ namespace mapcontrol
//Return if UAV Info context menu is turned off //Return if UAV Info context menu is turned off
if(!showUAVInfo){ if(!showUAVInfo){
showJustChanged=false;
return; return;
} }
@ -89,140 +91,99 @@ namespace mapcontrol
painter->setPen(myPen); painter->setPen(myPen);
painter->drawLine(arrowShaft); painter->drawLine(arrowShaft);
//*********** Create trend arc
double radius;
double spanAngle = yawRate_dps * 5; //Forecast 5 seconds into the future
//Find the scale factor between meters and pixels
double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
float meters2pixels=1.0 / pixels2meters;
//Calculate radius in [m], and then convert to pixels in local frame (not the same frame as is displayed on the map widget)
double groundspeed_mps=groundspeed_kph/3.6;
radius=fabs(groundspeed_mps/(yawRate_dps*M_PI/180))*meters2pixels;
// qDebug() << "Scale: " << meters2pixels;
// qDebug() << "Zoom: " << map->ZoomTotal();
// qDebug()<< "Radius:" << radius;
// qDebug()<< "Span angle:" << spanAngle;
//Set trend arc's color //Set trend arc's color
myPen.setColor(Qt::magenta); myPen.setColor(Qt::magenta);
painter->setPen(myPen); painter->setPen(myPen);
//Draw arc. Qt is incomprehensibly limited in that it does not let you set a radius and two points, if (trendSpanAngle > 0){
//so instead it's a hackish approach requiring a rectangle and a span angle QRectF rect(0, -trendRadius, trendRadius*2, trendRadius*2);
if (spanAngle > 0){ painter->drawArc(rect, 180*16, -trendSpanAngle*16);
QRectF rect(0, -radius, radius*2, radius*2);
painter->drawArc(rect, 180*16, -spanAngle*16);
} }
else{ else{
QRectF rect(-2*radius, -radius, radius*2, radius*2); QRectF rect(-2*trendRadius, -trendRadius, trendRadius*2, trendRadius*2);
painter->drawArc(rect, 0*16, -spanAngle*16); painter->drawArc(rect, 0*16, -trendSpanAngle*16);
} }
//*********** Create time rings //*********** Create time rings
double ringTime=10*pow(2,17-map->ZoomTotal()); //Basic ring is 10 seconds wide at zoom level 17
if(groundspeed_mps_filt > 0){ //Don't clutter the display with rings that are only one pixel wide if(groundspeed_mps_filt > 0){ //Don't clutter the display with rings that are only one pixel wide
myPen.setWidth(2); myPen.setWidth(2);
myPen.setColor(QColor(0, 0, 0, 100)); myPen.setColor(QColor(0, 0, 0, 100));
painter->setPen(myPen); painter->setPen(myPen);
painter->drawEllipse(QPointF(0,0),groundspeed_mps_filt*ringTime*1*meters2pixels,groundspeed_mps_filt*ringTime*1*meters2pixels); painter->drawEllipse(QPointF(0,0),precalcRings,precalcRings);
myPen.setColor(QColor(0, 0, 0, 110)); myPen.setColor(QColor(0, 0, 0, 110));
painter->setPen(myPen); painter->setPen(myPen);
painter->drawEllipse(QPointF(0,0),groundspeed_mps_filt*ringTime*2*meters2pixels,groundspeed_mps_filt*ringTime*2*meters2pixels); painter->drawEllipse(QPointF(0,0),precalcRings*2,precalcRings*2);
myPen.setColor(QColor(0, 0, 0, 120)); myPen.setColor(QColor(0, 0, 0, 120));
painter->setPen(myPen); painter->setPen(myPen);
painter->drawEllipse(QPointF(0,0),groundspeed_mps_filt*ringTime*4*meters2pixels,groundspeed_mps_filt*ringTime*4*meters2pixels); painter->drawEllipse(QPointF(0,0),precalcRings*4,precalcRings*4);
} }
//***** Text info overlay. The font is a "glow" font, so that it's easier to use on the map
if (refreshPaint_flag==true){
//Define font
QFont borderfont( "Arial", 14, QFont::Normal, false );
//Top left corner of text
int textAnchorX = 20;
int textAnchorY = 20;
//Create text lines
QString uavoInfoStrLine1, uavoInfoStrLine2;
QString uavoInfoStrLine3, uavoInfoStrLine4;
QString uavoInfoStrLine5;
//For whatever reason, Qt does not let QPainterPath have text wrapping. So each line of
//text has to be added to a different line.
uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps));
uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));
uavoInfoStrLine5.append(QString("Altitude: %1 m").arg(-NED[2], 0, 'f',1));
//Add the uavo info text to the path
//NOTE: We must use QPainterPath for the outlined text font. QPaint does not support this.
path = QPainterPath();
path.addText(textAnchorX, textAnchorY+16*0, borderfont, uavoInfoStrLine1);
path.addText(textAnchorX, textAnchorY+16*1, borderfont, uavoInfoStrLine2);
path.addText(textAnchorX, textAnchorY+16*2, borderfont, uavoInfoStrLine3);
path.addText(textAnchorX, textAnchorY+16*3, borderfont, uavoInfoStrLine4);
path.addText(textAnchorX, textAnchorY+16*4, borderfont, uavoInfoStrLine5);
//Add text for time rings.
if(groundspeed_mps > 0){
//Always add the left side...
path.addText(-(groundspeed_mps_filt*ringTime*1*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
path.addText(-(groundspeed_mps_filt*ringTime*2*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
path.addText(-(groundspeed_mps_filt*ringTime*4*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
//... and add the right side, only if it doesn't interfere with the uav info text
if(groundspeed_mps_filt*ringTime*4*meters2pixels > 200){
if(groundspeed_mps_filt*ringTime*2*meters2pixels > 200){
if(groundspeed_mps_filt*ringTime*1*meters2pixels > 200){
path.addText(groundspeed_mps_filt*ringTime*1*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
}
path.addText(groundspeed_mps_filt*ringTime*2*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
}
path.addText(groundspeed_mps_filt*ringTime*4*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
}
}
//Last thing to do: set bound rectangle as function of largest object
boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20; //Largest object is currently the biggest ring + a little bit of margin for the text
refreshPaint_flag=false;
}
//Rotate the text back to vertical //Rotate the text back to vertical
qreal rot=this->rotation(); qreal rot=this->rotation();
painter->rotate(-1*rot); painter->rotate(-1*rot);
//Now draw the text. First pass is the outline...
myPen.setWidth(4);
myPen.setColor(Qt::black);
painter->setPen(myPen);
painter->setBrush(Qt::black);
painter->drawPath(path);
//...second pass is the inlay
myPen.setWidth(1); myPen.setWidth(1);
myPen.setColor(Qt::white); myPen.setColor(Qt::white);
painter->setBrush(Qt::white); painter->setBrush(Qt::white);
painter->setPen(myPen); painter->setPen(myPen);
painter->drawPath(path); painter->drawPath(textPath);
}
void UAVItem::updateTextOverlay()
{
QPainterPath temp;
if(!showUAVInfo)
{
temp.swap(textPath);
return;
}
QFont borderfont( "Arial", 14, QFont::Normal, false );
//Top left corner of text
int textAnchorX = 20;
int textAnchorY = 20;
QString uavoInfoStrLine1, uavoInfoStrLine2;
QString uavoInfoStrLine3, uavoInfoStrLine4;
QString uavoInfoStrLine5;
uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps));
uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));
uavoInfoStrLine5.append(QString("Altitude: %1 m").arg(-NED[2], 0, 'f',1));
temp.addText(textAnchorX, textAnchorY+16*0, borderfont, uavoInfoStrLine1);
temp.addText(textAnchorX, textAnchorY+16*1, borderfont, uavoInfoStrLine2);
temp.addText(textAnchorX, textAnchorY+16*2, borderfont, uavoInfoStrLine3);
temp.addText(textAnchorX, textAnchorY+16*3, borderfont, uavoInfoStrLine4);
temp.addText(textAnchorX, textAnchorY+16*4, borderfont, uavoInfoStrLine5);
//Add text for time rings.
if(groundspeed_mps > 0){
//Always add the left side...
temp.addText(-(groundspeed_mps_filt*ringTime*1*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
temp.addText(-(groundspeed_mps_filt*ringTime*2*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
temp.addText(-(groundspeed_mps_filt*ringTime*4*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
//... and add the right side, only if it doesn't interfere with the uav info text
if(groundspeed_mps_filt*ringTime*4*meters2pixels > 200){
if(groundspeed_mps_filt*ringTime*2*meters2pixels > 200){
if(groundspeed_mps_filt*ringTime*1*meters2pixels > 200){
temp.addText(groundspeed_mps_filt*ringTime*1*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
}
temp.addText(groundspeed_mps_filt*ringTime*2*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
}
temp.addText(groundspeed_mps_filt*ringTime*4*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
}
}
temp.swap(textPath);
} }
QRectF UAVItem::boundingRect()const QRectF UAVItem::boundingRect()const
{ {
if(showUAVInfo || showJustChanged){ if(showUAVInfo){
if (boundingRectSize < 220){ if (boundingRectSize < 220){
//In case the bounding rectangle isn't big enough to get the whole of the UAV Info graphic //In case the bounding rectangle isn't big enough to get the whole of the UAV Info graphic
return QRectF(-boundingRectSize,-80,boundingRectSize+220,180); return QRectF(-boundingRectSize,-80,boundingRectSize+220,180);
@ -240,27 +201,24 @@ namespace mapcontrol
this->NED[0] = NED[0]; this->NED[0] = NED[0];
this->NED[1] = NED[1]; this->NED[1] = NED[1];
this->NED[2] = NED[2]; this->NED[2] = NED[2];
refreshPaint_flag=true;
} }
void UAVItem::SetYawRate(double yawRate_dps){ void UAVItem::SetYawRate(double yawRate_dps){
this->yawRate_dps=yawRate_dps; this->yawRate_dps=yawRate_dps;
//There is a minimum arc distance under which Qt no longer draws an arc. At this low a turning rate,
//all curves look straight, so the user won't notice the difference. Moreover, our sensors aren't
//accurate enough to reliably describe this low a yaw rate.
if (fabs(this->yawRate_dps) < 5e-1){ //This number is really the smallest we can go. Any smaller, and it might have problems if we forecast a shorter distance into the future if (fabs(this->yawRate_dps) < 5e-1){ //This number is really the smallest we can go. Any smaller, and it might have problems if we forecast a shorter distance into the future
this->yawRate_dps=5e-1; this->yawRate_dps=5e-1;
} }
refreshPaint_flag=true; //*********** Create trend arc
trendSpanAngle = this->yawRate_dps * 5; //Forecast 5 seconds into the future
//Calculate radius in [m], and then convert to pixels in local frame (not the same frame as is displayed on the map widget)
trendRadius=fabs(groundspeed_mps/(this->yawRate_dps*M_PI/180))*meters2pixels;
} }
void UAVItem::SetCAS(double CAS_mps){ void UAVItem::SetCAS(double CAS_mps){
this->CAS_mps=CAS_mps; this->CAS_mps=CAS_mps;
refreshPaint_flag=true;
} }
void UAVItem::SetGroundspeed(double vNED[3], int m_maxUpdateRate_ms){ void UAVItem::SetGroundspeed(double vNED[3], int m_maxUpdateRate_ms){
@ -268,7 +226,7 @@ namespace mapcontrol
this->vNED[1] = vNED[1]; this->vNED[1] = vNED[1];
this->vNED[2] = vNED[2]; this->vNED[2] = vNED[2];
groundspeed_kph=sqrt(vNED[0]*vNED[0] + vNED[1]*vNED[1] + vNED[2]*vNED[2])*3.6; groundspeed_kph=sqrt(vNED[0]*vNED[0] + vNED[1]*vNED[1] + vNED[2]*vNED[2])*3.6;
groundspeed_mps=groundspeed_kph/3.6;
//On the first pass, set the filtered speed to the reported speed. //On the first pass, set the filtered speed to the reported speed.
static bool firstGroundspeed=true; static bool firstGroundspeed=true;
if (firstGroundspeed){ if (firstGroundspeed){
@ -280,9 +238,10 @@ namespace mapcontrol
double alpha= m_maxUpdateRate_ms/(double)(m_maxUpdateRate_ms+riseTime_ms); double alpha= m_maxUpdateRate_ms/(double)(m_maxUpdateRate_ms+riseTime_ms);
groundspeed_mps_filt= alpha*groundspeed_mps_filt + (1-alpha)*(groundspeed_kph/3.6); groundspeed_mps_filt= alpha*groundspeed_mps_filt + (1-alpha)*(groundspeed_kph/3.6);
} }
ringTime=10*pow(2,17-map->ZoomTotal()); //Basic ring is 10 seconds wide at zoom level 17
precalcRings=groundspeed_mps_filt*ringTime*meters2pixels;
refreshPaint_flag=true; boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
prepareGeometryChange();
} }
@ -335,7 +294,6 @@ namespace mapcontrol
{ {
mapwidget->SetCurrentPosition(coord); mapwidget->SetCurrentPosition(coord);
} }
this->update();
if(autosetreached) if(autosetreached)
{ {
foreach(QGraphicsItem* i,map->childItems()) foreach(QGraphicsItem* i,map->childItems())
@ -374,8 +332,6 @@ namespace mapcontrol
} }
} }
refreshPaint_flag=true;
} }
/** /**
@ -392,8 +348,6 @@ namespace mapcontrol
if (this->rotation() != value) if (this->rotation() != value)
this->setRotation(value); this->setRotation(value);
} }
refreshPaint_flag=true;
} }
@ -409,13 +363,23 @@ namespace mapcontrol
this->setPos(localposition.X(),localposition.Y()); this->setPos(localposition.X(),localposition.Y());
emit setChildPosition(); emit setChildPosition();
emit setChildLine(); emit setChildLine();
refreshPaint_flag=true; updateTextOverlay();
} }
void UAVItem::setOpacitySlot(qreal opacity) void UAVItem::setOpacitySlot(qreal opacity)
{ {
this->setOpacity(opacity); this->setOpacity(opacity);
} }
void UAVItem::zoomChangedSlot()
{
double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
meters2pixels=1.0 / pixels2meters;
boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
prepareGeometryChange();
updateTextOverlay();
update();
}
void UAVItem::SetTrailType(const UAVTrailType::Types &value) void UAVItem::SetTrailType(const UAVTrailType::Types &value)
{ {
trailtype=value; trailtype=value;

13
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.h
View File

@ -218,10 +218,9 @@ namespace mapcontrol
void SetUavPic(QString UAVPic); void SetUavPic(QString UAVPic);
void SetShowUAVInfo(bool const& value); void SetShowUAVInfo(bool const& value);
void updateTextOverlay();
private: private:
void generateArrowhead(); void generateArrowhead();
MapGraphicItem* map; MapGraphicItem* map;
OPMapWidget* mapwidget; OPMapWidget* mapwidget;
QPolygonF arrowHead; QPolygonF arrowHead;
@ -235,7 +234,13 @@ namespace mapcontrol
double vNED[3]; double vNED[3];
double CAS_mps; double CAS_mps;
double groundspeed_kph; double groundspeed_kph;
double groundspeed_mps;
double yawRate_dps; double yawRate_dps;
double trendRadius;
double trendSpanAngle;
float meters2pixels;
double precalcRings;
double ringTime;
QPixmap pic; QPixmap pic;
core::Point localposition; core::Point localposition;
QGraphicsItemGroup* trail; QGraphicsItemGroup* trail;
@ -256,12 +261,12 @@ namespace mapcontrol
bool refreshPaint_flag; bool refreshPaint_flag;
QPainterPath path; QPainterPath textPath;
public slots: public slots:
void RefreshPos(); void RefreshPos();
void setOpacitySlot(qreal opacity); void setOpacitySlot(qreal opacity);
void zoomChangedSlot();
signals: signals:
void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint); void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
void UAVLeftSafetyBouble(internals::PointLatLng const& position); void UAVLeftSafetyBouble(internals::PointLatLng const& position);

5
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -213,7 +213,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->SetCurrentPosition(m_home_position.coord); // set the map position m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->UAV->update();
if(m_map->GPS) if(m_map->GPS)
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the GPS position m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the GPS position
#ifdef USE_PATHPLANNER #ifdef USE_PATHPLANNER
@ -638,7 +638,8 @@ void OPMapGadgetWidget::updatePosition()
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
} }
m_map->UAV->updateTextOverlay();
m_map->UAV->update();
// ************* // *************
} }