OP37/GCS Added Home overlay.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1080 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp

@@ -0,0 +1,79 @@
+/**
+******************************************************************************
+*
+* @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());
+
+    }
+
+}

ground/src/libs/opmapcontrol/src/mapwidget/homeitem.h

@@ -0,0 +1,78 @@
+/**
+******************************************************************************
+*
+* @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

ground/src/libs/opmapcontrol/src/mapwidget/images/home.svg

@@ -0,0 +1,126 @@
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+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
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ground/src/libs/opmapcontrol/src/mapwidget/images/home2.svg

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+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
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+   version="1.0"
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ground/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp

@@ -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))
                         {

ground/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h

@@ -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

ground/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc

@@ -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>

ground/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro

@@ -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

ground/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -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)
     {

ground/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h

@@ -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);

ground/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp

@@ -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.load(QString::fromUtf8(":/markers/images/airplanepip.png"));
-        pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
+        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));
+
+    }
 }

ground/src/libs/opmapcontrol/src/mapwidget/uavitem.h

@@ -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: