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Code Issues Releases Activity

OP37/GCS Added Home overlay.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1080 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-07-12 19:27:09 +00:00 committed by zedamota
parent 351c658400
commit 4774ed2164
14 changed files with 477 additions and 14 deletions
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79
ground/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp Normal file
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/**
******************************************************************************
*
* @file homeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "homeitem.h"
namespace mapcontrol
{
HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),showsafearea(true),safearea(1000),altitude(0)
{
pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
coord=internals::PointLatLng(50,50);
}
void HomeItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
if(showsafearea)
{
if(safe)
painter->setPen(Qt::green);
else
painter->setPen(Qt::red);
painter->drawEllipse(QPointF(0,0),localsafearea,localsafearea);
// painter->drawRect(QRectF(-localsafearea,-localsafearea,localsafearea*2,localsafearea*2));
}
}
QRectF HomeItem::boundingRect()const
{
if(!showsafearea)
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
else
return QRectF(-localsafearea,-localsafearea,localsafearea*2,localsafearea*2);
}
int HomeItem::type()const
{
return Type;
}
void HomeItem::RefreshPos()
{
prepareGeometryChange();
localposition=map->FromLatLngToLocal(coord);
this->setPos(localposition.X(),localposition.Y());
if(showsafearea)
localsafearea=safearea/map->Projection()->GetGroundResolution(map->Zoom(),coord.Lat());
}
}

78
ground/src/libs/opmapcontrol/src/mapwidget/homeitem.h Normal file
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/**
******************************************************************************
*
* @file homeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HOMEITEM_H
#define HOMEITEM_H
#include <QGraphicsItem>
#include <QPainter>
#include <QLabel>
#include "../internals/pointlatlng.h"
#include <QObject>
#include "opmapwidget.h"
namespace mapcontrol
{
class HomeItem:public QObject,public QGraphicsItem
{
Q_OBJECT
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 4 };
HomeItem(MapGraphicItem* map,OPMapWidget* parent);
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
QRectF boundingRect() const;
int type() const;
void RefreshPos();
bool ShowSafeArea()const{return showsafearea;}
void SetShowSafeArea(bool const& value){showsafearea=value;}
int SafeArea()const{return safearea;}
void SetSafeArea(bool const& value){safearea=value;}
bool safe;
void SetCoord(internals::PointLatLng const& value){coord=value;}
internals::PointLatLng Coord()const{return coord;}
void SetAltitude(int const& value){altitude=value;}
int Altitude()const{return altitude;}
private:
MapGraphicItem* map;
OPMapWidget* mapwidget;
QPixmap pic;
core::Point localposition;
internals::PointLatLng coord;
bool showsafearea;
int safearea;
int localsafearea;
int altitude;
public slots:
signals:
};
}
#endif // HOMEITEM_H

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ground/src/libs/opmapcontrol/src/mapwidget/images/home.png Normal file
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ground/src/libs/opmapcontrol/src/mapwidget/images/home.svg Normal file
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24
ground/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
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@ -26,6 +26,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavitem.h"
#include "homeitem.h"
#include "mapgraphicitem.h"
namespace mapcontrol
@ -40,7 +41,8 @@ namespace mapcontrol
core->SetMapType(MapType::GoogleHybrid);
this->SetZoom(2);
connect(core,SIGNAL(OnNeedInvalidation()),this,SLOT(Core_OnNeedInvalidation()));
connect(core,SIGNAL(OnMapDrag()),this,SLOT(ChildPosRefresh()));
connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(ChildPosRefresh()));
//resize();
}
void MapGraphicItem::start()
@ -83,9 +85,27 @@ namespace mapcontrol
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
if(www)
www->RefreshPos();
}
}
void MapGraphicItem::ChildPosRefresh()
{
foreach(QGraphicsItem* i,this->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
w->RefreshPos();
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
if(www)
www->RefreshPos();
}
}
void MapGraphicItem::ConstructLastImage(int const& zoomdiff)
{
QImage temp;
@ -283,7 +303,7 @@ namespace mapcontrol
core->tileRect.SetX(core->GettilePoint().X()*core->tileRect.Width());
core->tileRect.SetY(core->GettilePoint().Y()*core->tileRect.Height());
core->tileRect.Offset(core->GetrenderOffset());
qDebug()<<core->GetrenderOffset().ToString();
//qDebug()<<core->GetrenderOffset().ToString();
if(core->GetCurrentRegion().IntersectsWith(core->tileRect))
{

6
ground/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h
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@ -97,6 +97,8 @@ namespace mapcontrol
core::Point lastimagepoint;
void paintImage(QPainter* painter);
void ConstructLastImage(int const& zoomdiff);
internals::PureProjection* Projection()const{return core->Projection();}
double Zoom();
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
@ -118,7 +120,6 @@ namespace mapcontrol
void SetZoomStep(int const& value);
private:
internals::Core *core;
@ -175,7 +176,7 @@ namespace mapcontrol
void Offset(int const& x, int const& y);
bool CanDragMap()const{return core->CanDragMap;}
void SetCanDragMap(bool const& value){core->CanDragMap = value;}
double Zoom();
void SetZoom(double const& value);
void mapRotate ( qreal angle );
void start();
@ -186,6 +187,7 @@ namespace mapcontrol
private slots:
void Core_OnNeedInvalidation();
void ChildPosRefresh();
public slots:
/**
* @brief To be called when the scene size changes

4
ground/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
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@ -4,5 +4,9 @@
<file>images/marker.png</file>
<file>images/compas.svg</file>
<file>images/airplane.svg</file>
<file>images/home.png</file>
<file>images/home.svg</file>
<file>images/home2.svg</file>
<file>images/airplanepip.png</file>
</qresource>
</RCC>

6
ground/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro
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@ -9,7 +9,8 @@ SOURCES += mapgraphicitem.cpp \
configuration.cpp \
waypointitem.cpp \
uavitem.cpp \
trailitem.cpp
trailitem.cpp \
homeitem.cpp
LIBS += -L../build \
-lcore \
-linternals \
@ -21,7 +22,8 @@ HEADERS += mapgraphicitem.h \
uavitem.h \
uavmapfollowtype.h \
uavtrailtype.h \
trailitem.h
trailitem.h \
homeitem.h
QT += opengl
QT += network
QT += sql

19
ground/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
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@ -34,7 +34,7 @@
namespace mapcontrol
{
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),followmouse(true),compass(0),showuav(false)
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),Home(0),followmouse(true),compass(0),showuav(false),showhome(false)
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core=new internals::Core;
@ -76,6 +76,23 @@ namespace mapcontrol
}
}
void OPMapWidget::SetShowHome(const bool &value)
{
if(value && Home==0)
{
Home=new HomeItem(map,this);
Home->setParentItem(map);
}
else if(!value)
{
if(Home!=0)
{
delete Home;
Home=0;
}
}
}
void OPMapWidget::resizeEvent(QResizeEvent *event)
{

8
ground/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
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@ -38,9 +38,11 @@
#include "waypointitem.h"
#include "QtSvg/QGraphicsSvgItem"
#include "uavitem.h"
#include "homeitem.h"
namespace mapcontrol
{
class UAVItem;
class HomeItem;
/**
* @brief Collection of static functions to help dealing with various enums used
* Contains functions for enumToString conversio, StringToEnum, QStringList of enum values...
@ -332,10 +334,11 @@ namespace mapcontrol
void SetShowCompass(bool const& value);
UAVItem* UAV;
HomeItem* Home;
void SetShowUAV(bool const& value);
bool ShowUAV()const{return showuav;}
void SetShowHome(bool const& value);
bool ShowHome()const{return showhome;}
private:
internals::Core *core;
MapGraphicItem *map;
@ -349,6 +352,7 @@ namespace mapcontrol
void ConnectWP(WayPointItem* item);
QGraphicsSvgItem *compass;
bool showuav;
bool showhome;
// WayPointItem* item;//apagar
protected:
void resizeEvent(QResizeEvent *event);

54
ground/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
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@ -29,10 +29,11 @@
#include "uavitem.h"
namespace mapcontrol
{
UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent):map(map),mapwidget(parent),showtrail(true),trailtime(5),traildistance(100)
UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent):map(map),mapwidget(parent),showtrail(true),trailtime(5),traildistance(100),autosetreached(true)
,autosetdistance(100)
{
pic.load(QString::fromUtf8(":/markers/images/airplane.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
pic.load(QString::fromUtf8(":/markers/images/airplanepip.png"));
pic=pic.scaled(45,45,Qt::IgnoreAspectRatio);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
@ -55,13 +56,13 @@ namespace mapcontrol
void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
painter->rotate(-90);
// painter->rotate(-90);
painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
// painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
}
QRectF UAVItem::boundingRect()const
{
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());;
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
}
void UAVItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude)
{
@ -95,6 +96,42 @@ namespace mapcontrol
mapwidget->SetCurrentPosition(coord);
}
this->update();
if(autosetreached)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* wp=qgraphicsitem_cast<WayPointItem*>(i);
if(wp)
{
if(Distance3D(wp->Coord(),wp->Altitude())<autosetdistance)
{
wp->SetReached(true);
emit UAVReachedWayPoint(wp->Number(),wp);
}
}
}
}
if(mapwidget->Home!=0)
{
if(Distance3D(mapwidget->Home->Coord(),mapwidget->Home->Altitude())>mapwidget->Home->SafeArea())
{
if(mapwidget->Home->safe!=false);
{
mapwidget->Home->safe=false;
mapwidget->Home->update();
emit UAVLeftSafetyBouble(this->coord);
}
}
else
{
if(mapwidget->Home->safe!=true);
{
mapwidget->Home->safe=true;
mapwidget->Home->update();
}
}
}
}
}
void UAVItem::SetUAVHeading(const qreal &value)
@ -121,6 +158,7 @@ namespace mapcontrol
w->setPos(map->FromLatLngToLocal(w->coord).X(),map->FromLatLngToLocal(w->coord).Y());
//this->update();
}
}
void UAVItem::SetTrailType(const UAVTrailType::Types &value)
{
@ -138,4 +176,10 @@ namespace mapcontrol
foreach(QGraphicsItem* i,trail->childItems())
delete i;
}
double UAVItem::Distance3D(const internals::PointLatLng &coord, const int &altitude)
{
return sqrt(pow(internals::PureProjection::DistanceBetweenLatLng(this->coord,coord)*1000,2)+
pow(this->altitude-altitude,2));
}
}

7
ground/src/libs/opmapcontrol/src/mapwidget/uavitem.h
View File

@ -76,6 +76,10 @@ namespace mapcontrol
bool ShowTrail()const{return showtrail;}
void SetShowTrail(bool const& value);
void DeleteTrail()const;
bool AutoSetReached()const{return autosetreached;}
void SetAutoSetReached(bool const& value){autosetreached=value;}
double AutoSetDistance()const{return autosetdistance;}
void SetAutoSetDistance(double const& value){autosetdistance=value;}
int type() const;
private:
@ -94,6 +98,9 @@ namespace mapcontrol
bool showtrail;
int trailtime;
int traildistance;
bool autosetreached;
double Distance3D(internals::PointLatLng const& coord, int const& altitude);
double autosetdistance;
// QRectF rect;
public slots: