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Code Issues Releases Activity

Added GSC and UAV map icon, but still have an icon display bug on the google maps.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@751 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2010-06-12 19:12:47 +00:00 committed by pip
parent f8b793e54d
commit 511278ec5b
8 changed files with 323 additions and 97 deletions
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9
ground/src/libs/qmapcontrol/src/mapcontrol.cpp
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@ -292,14 +292,17 @@ namespace qmapcontrol
layermanager->scrollView(offset);
pre_click_px = QPoint(evnt->x(), evnt->y());
}
else if (mousepressed && mymousemode == Dragging)
else
if (mousepressed && mymousemode == Dragging)
{
current_mouse_pos = QPoint(evnt->x(), evnt->y());
}
// emit(mouseEventCoordinate(evnt, clickToWorldCoordinate(evnt->pos())));
emit mouseEventCoordinate(evnt, clickToWorldCoordinate(evnt->pos())); // cathy .. uncommented to produce mouse move events
update();
// emit(mouseEventCoordinate(evnt, clickToWorldCoordinate(evnt->pos())));
// emit mouseEventCoordinate(evnt, clickToWorldCoordinate(evnt->pos()));
}
// added by cathy

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41
ground/src/plugins/map/map.pro
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@ -1,20 +1,21 @@
TEMPLATE = lib
TARGET = MapGadget
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../libs/qmapcontrol/qmapcontrol.pri)
include(../../plugins/uavobjects/uavobjects.pri)
HEADERS += mapplugin.h \
mapgadgetconfiguration.h \
mapgadget.h \
mapgadgetwidget.h \
mapgadgetfactory.h \
mapgadgetoptionspage.h
SOURCES += mapplugin.cpp \
mapgadgetconfiguration.cpp \
mapgadget.cpp \
mapgadgetfactory.cpp \
mapgadgetwidget.cpp \
mapgadgetoptionspage.cpp
OTHER_FILES += MapGadget.pluginspec
FORMS += mapgadgetoptionspage.ui
TEMPLATE = lib
TARGET = MapGadget
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../libs/qmapcontrol/qmapcontrol.pri)
include(../../plugins/uavobjects/uavobjects.pri)
HEADERS += mapplugin.h \
mapgadgetconfiguration.h \
mapgadget.h \
mapgadgetwidget.h \
mapgadgetfactory.h \
mapgadgetoptionspage.h
SOURCES += mapplugin.cpp \
mapgadgetconfiguration.cpp \
mapgadget.cpp \
mapgadgetfactory.cpp \
mapgadgetwidget.cpp \
mapgadgetoptionspage.cpp
OTHER_FILES += MapGadget.pluginspec
FORMS += mapgadgetoptionspage.ui
RESOURCES += map.qrc

7
ground/src/plugins/map/map.qrc Normal file
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@ -0,0 +1,7 @@
<RCC>
<qresource prefix="/map">
<file>images/uav.png</file>
<file>images/gsc.png</file>
<file>images/waypoint.png</file>
</qresource>
</RCC>

335
ground/src/plugins/map/mapgadgetwidget.cpp
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@ -30,27 +30,50 @@
#include <QtGui/QPushButton>
#include "extensionsystem/pluginmanager.h"
// *************************************************************************************
// constructor
MapGadgetWidget::MapGadgetWidget(QWidget *parent) : QWidget(parent)
{
int size = 256;
gscButton = 0; // added by cathy
uavButton = 0; // added by cathy
gscButton = NULL;
uavButton = NULL;
follow_uav = false; // added by cathy
follow_uav = false;
gsc_pixmap.load(QString::fromUtf8(":/map/images/gsc.png"));
uav_pixmap.load(QString::fromUtf8(":/map/images/uav.png"));
waypoint_pixmap.load(QString::fromUtf8(":/map/images/waypoint.png"));
// waypoint_pixmap.load(QCoreApplication::applicationDirPath() + "/images/waypoint.png");
// test
if (gsc_pixmap.isNull()) QMessageBox::warning(this, tr("Image Error"), tr("Missing ") + QString::fromUtf8(":/map/images/gsc.png"));
if (uav_pixmap.isNull()) QMessageBox::warning(this, tr("Image Error"), tr("Missing ") + QString::fromUtf8(":/map/images/uav.png"));
if (waypoint_pixmap.isNull()) QMessageBox::warning(this, tr("Image Error"), tr("Missing ") + QString::fromUtf8(":/map/images/waypoint.png"));
// test
gsc_pixmap.save(QCoreApplication::applicationDirPath() + "/images/gsc2.png", "PNG");
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
m_positionActual = PositionActual::GetInstance(objManager);
m_mc = new MapControl(QSize(size, size));
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
// setMouseTracking(true);
m_mc->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
m_mc->setMinimumSize(64, 64);
m_mc->showScale(true);
m_mc->showLatLon(true); // added by cathy
m_mc->showLatLon(true);
m_osmAdapter = new OSMMapAdapter();
m_googleSatAdapter = new GoogleSatMapAdapter();
m_googleAdapter = new GoogleMapAdapter();
m_googleSatAdapter = new GoogleSatMapAdapter();
m_yahooAdapter = new YahooMapAdapter();
m_osmLayer = new MapLayer("OpenStreetMap", m_osmAdapter);
@ -58,23 +81,46 @@ MapGadgetWidget::MapGadgetWidget(QWidget *parent) : QWidget(parent)
m_googleSatLayer = new MapLayer("Google Sat", m_googleSatAdapter);
m_yahooLayer = new MapLayer("Yahoo", m_yahooAdapter);
// gsc and uav position layer
m_positionLayer = new GeometryLayer("PositionsLayer", m_osmAdapter);
// Waypoint layer
m_wayPointLayer = new GeometryLayer("WayPointsLayer", m_osmAdapter);
m_osmLayer->setVisible(true);
m_googleLayer->setVisible(false);
m_googleSatLayer->setVisible(false);
m_yahooLayer->setVisible(false);
m_positionLayer->setVisible(true);
m_wayPointLayer->setVisible(true);
m_mc->addLayer(m_osmLayer);
m_mc->addLayer(m_googleLayer);
m_mc->addLayer(m_googleSatLayer);
m_mc->addLayer(m_yahooLayer);
m_mc->addLayer(m_wayPointLayer);
m_mc->addLayer(m_positionLayer);
PositionActual::DataFields data = m_positionActual->getData(); // get current position data
heading = data.Heading;
addCompass(QPointF(100, 100), 200);
// create and add the GSC icon
gscPoint = new ImagePoint(data.Longitude, data.Latitude, &gsc_pixmap, "GSC", Point::Middle);
m_positionLayer->addGeometry(gscPoint);
connect(gscPoint, SIGNAL(geometryClicked(Geometry*, QPoint)), this, SLOT(gsc_uav_ClickEvent(Geometry*, QPoint)));
// create and add the UAV icon
uavPoint = new ImagePoint(data.Longitude, data.Latitude, &uav_pixmap, "UAV", Point::Middle);
m_positionLayer->addGeometry(uavPoint);
connect(uavPoint, SIGNAL(geometryClicked(Geometry*, QPoint)), this, SLOT(gsc_uav_ClickEvent(Geometry*, QPoint)));
addUserControls();
gscPosition.setX(5.718888888888); // longitude
gscPosition.setY(58.963333333333); // latitude
m_mc->setView(gscPosition);
m_mc->setZoom(10);
m_mc->setView(gscPoint->coordinate());
m_mc->setZoom(2);
m_mc->updateRequestNew();
QVBoxLayout *layout = new QVBoxLayout;
@ -83,13 +129,9 @@ MapGadgetWidget::MapGadgetWidget(QWidget *parent) : QWidget(parent)
layout->addWidget(m_mc);
setLayout(layout);
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
m_positionActual = PositionActual::GetInstance(objManager);
connect(m_mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)), this, SLOT(coordinateEvent(const QMouseEvent*, const QPointF)));
// added by cathy .. slot for receiving mouse click Coordinate events
// connect(m_mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)), this, SLOT(coordinateClicked(const QMouseEvent*, const QPointF))); // cmoss
// connect(m_wayPointLayer, SIGNAL(geometryClicked(Geometry*, QPoint)), this, SLOT(wayPointClickEvent(Geometry*, QPoint)));
m_updateTimer = new QTimer();
m_updateTimer->setInterval(250);
@ -97,11 +139,16 @@ MapGadgetWidget::MapGadgetWidget(QWidget *parent) : QWidget(parent)
m_updateTimer->start();
}
// *************************************************************************************
// destructor
MapGadgetWidget::~MapGadgetWidget()
{
// Do nothing
}
// *************************************************************************************
void MapGadgetWidget::setZoom(int value)
{
m_mc->setZoom(value);
@ -114,19 +161,47 @@ void MapGadgetWidget::setPosition(QPointF pos)
m_mc->updateRequestNew();
}
void MapGadgetWidget::updatePosition()
{
if (follow_uav)
{
PositionActual::DataFields data = m_positionActual->getData();
setPosition(QPointF(data.Longitude, data.Latitude));
}
}
void MapGadgetWidget::setMapProvider(QString provider)
{
foreach(QString layerName, m_mc->layers())
m_mc->layer(layerName)->setVisible(layerName == provider);
foreach (QString layerName, m_mc->layers())
{
Layer *layer = m_mc->layer(layerName);
MapAdapter *ma = (MapAdapter*)layer->mapadapter();
bool visible = layerName == provider;
if (layerName == "WayPointsLayer" || layerName == "PositionsLayer")
{ // leave the way points & positions layers visible
continue;
}
layer->setVisible(visible);
if (visible)
{ // move the geomtery layers over to the selected map
m_positionLayer->setMapAdapter(ma);
m_wayPointLayer->setMapAdapter(ma);
}
}
m_positionLayer->setVisible(true);
m_wayPointLayer->setVisible(true);
m_mc->updateRequestNew();
}
// *************************************************************************************
void MapGadgetWidget::updatePosition()
{
PositionActual::DataFields data = m_positionActual->getData(); // get current position data
heading = data.Heading; // save the current UAV heading
uavPoint->setCoordinate(QPointF(data.Longitude, data.Latitude)); // move the UAV icon
if (follow_uav)
setPosition(uavPoint->coordinate()); // center the map onto the UAV
}
void MapGadgetWidget::resizeEvent(QResizeEvent *event)
@ -136,34 +211,34 @@ void MapGadgetWidget::resizeEvent(QResizeEvent *event)
QWidget::resizeEvent(event);
}
// *************************************************************************************
void MapGadgetWidget::addUserControls()
{ // create the user controls
// cathy
gscButton = new QPushButton("GCS");
gscButton = new QPushButton(tr("GCS"));
gscButton->setMinimumWidth(50);
gscButton->setMaximumWidth(50);
gscButton->setToolTip("Jump too ground station control");
gscButton->setToolTip(tr("Center onto ground station control"));
connect(gscButton, SIGNAL(clicked(bool)), this, SLOT(gscButtonClick()));
// cathy
uavButton = new QPushButton("UAV");
uavButton = new QPushButton(tr("UAV"));
uavButton->setMinimumWidth(50);
uavButton->setMaximumWidth(50);
uavButton->setCheckable(true);
uavButton->setToolTip("Stay centered on the UAV");
uavButton->setToolTip(tr("Stay centered on the UAV"));
connect(uavButton, SIGNAL(clicked(bool)), this, SLOT(uavButtonClick(bool)));
QPushButton* zoomin = new QPushButton("+");
zoomin->setMinimumWidth(50);
zoomin->setMaximumWidth(50);
zoomin->setToolTip("Zoom in");
zoomin->setToolTip(tr("Zoom in"));
connect(zoomin, SIGNAL(clicked(bool)), m_mc, SLOT(zoomIn()));
QPushButton* zoomout = new QPushButton("-");
zoomout->setMinimumWidth(50);
zoomout->setMaximumWidth(50);
zoomout->setToolTip("Zoom out");
zoomout->setToolTip(tr("Zoom out"));
connect(zoomout, SIGNAL(clicked(bool)), m_mc, SLOT(zoomOut()));
// add zoom buttons to the layout of the MapControl
@ -180,63 +255,181 @@ void MapGadgetWidget::addUserControls()
m_mc->setLayout(innerlayout);
}
void MapGadgetWidget::gscButtonClick() // added by cathy
// *************************************************************************************
void MapGadgetWidget::gscButtonClick()
{
follow_uav = false;
uavButton->setChecked(follow_uav);
// jump straight too the GSC location
setPosition(gscPosition);
setPosition(gscPoint->coordinate()); // center the map onto the ground station
}
void MapGadgetWidget::uavButtonClick(bool checked) // added by cathy
// *************************************************************************************
void MapGadgetWidget::uavButtonClick(bool checked)
{
follow_uav = checked;
// follow_uav = uavButton->isChecked();
if (follow_uav)
{
// PositionActual::DataFields data = m_positionActual->getData();
// setPosition(QPointF(data.Longitude, data.Latitude));
{ // immediately center the map onto the UAV .. rather than waiting for the timer to it
// PositionActual::DataFields data = m_positionActual->getData(); // get the current position data
// heading = data.Heading; // save the current UAV heading
// uavPoint->setCoordinate(QPointF(data.Longitude, data.Latitude)); // move the UAV icon
// setPosition(uavPoint->coordinate()); // center the map on the UAV
}
}
/*
// added by cathy .. comes here when the user mouse clicks on the map
void MapGadgetWidget::coordinateClicked(const QMouseEvent * evnt, const QPointF coordinate) // cmoss
{
if (evnt->type() == QEvent::MouseButtonPress && evnt->buttons() == Qt::LeftButton)
{
QString coord_str = "lat " + QString::number(coordinate.y(), 'f', 6) + ", lon " + QString::number(coordinate.x(), 'f', 6);
// *************************************************************************************
qDebug() << coordinate << ": " << evnt->x() << " / " << evnt->y() << " / " << coord_str;
QMessageBox::information(this, "Coordinate Clicked", coord_str);
}
}
*/
// added by cathy .. comes here when the user mouse clicks on an added geometry feature (ie, way points etc)
void MapGadgetWidget::geometryClicked(Geometry* geom, QPoint) // cmoss
void MapGadgetWidget::coordinateEvent(const QMouseEvent * evnt, const QPointF coordinate) // cmoss
{
qDebug() << "parent: " << geom->parentGeometry();
qDebug() << "Element clicked: " << geom->name();
if (geom->hasClickedPoints())
QString coord_str = "lat " + QString::number(coordinate.y(), 'f', 6) + ", lon " + QString::number(coordinate.x(), 'f', 6);
if (evnt->type() == QEvent::MouseButtonPress)
{ // mouse click event
if (evnt->buttons() == Qt::RightButton)
{
QList<Geometry*> pp = geom->clickedPoints();
qDebug() << "number of child elements: " << pp.size();
for (int i=0; i<pp.size(); i++)
{
QMessageBox::information(this, geom->name(), pp.at(i)->name());
}
qDebug() << coordinate << ": " << evnt->x() << " / " << evnt->y() << " / " << coord_str;
QMessageBox::information(this, "Coordinate Clicked", coord_str);
}
}
else
{ // mouse move event
qDebug() << coordinate << ": " << evnt->x() << " / " << evnt->y() << " / " << coord_str;
}
}
// *************************************************************************************
// comes here when the user mouse clicks on the GSC or the UAV
void MapGadgetWidget::gsc_uav_ClickEvent(Geometry* geom, QPoint)
{
qDebug() << "parent: " << geom->parentGeometry();
qDebug() << "Element clicked: " << geom->name();
if (geom->hasClickedPoints())
{
QList<Geometry*> pp = geom->clickedPoints();
qDebug() << "number of child elements: " << pp.size();
for (int i=0; i<pp.size(); i++)
{
QMessageBox::information(this, geom->name(), pp.at(i)->name());
}
}
else
if (geom->GeometryType == "Point")
{
if (geom->name() == "UAV")
{
QMessageBox::information(this, geom->name(), tr("The UAV location"));
}
else
if (geom->GeometryType == "Point")
if (geom->name() == "GSC")
{
QMessageBox::information(this, geom->name(), "just a point");
QMessageBox::information(this, geom->name(), tr("The GSC location"));
}
else
QMessageBox::information(this, geom->name(), tr("just a point"));
}
}
// added by cathy
// *************************************************************************************
// comes here when the user mouse clicks on a waypoint
void MapGadgetWidget::wayPointClickEvent(Geometry* geom, QPoint)
{
qDebug() << "parent: " << geom->parentGeometry();
qDebug() << "Element clicked: " << geom->name();
if (geom->hasClickedPoints())
{
QList<Geometry*> pp = geom->clickedPoints();
qDebug() << "number of child elements: " << pp.size();
for (int i=0; i<pp.size(); i++)
{
QMessageBox::information(this, geom->name(), pp.at(i)->name());
}
}
else
if (geom->GeometryType == "Point")
{
QMessageBox::information(this, geom->name(), tr("just a point"));
}
}
// *************************************************************************************
// add a way point
void MapGadgetWidget::addWayPoint(QPointF pos, QString name)
{
if (waypoint_pixmap.isNull()) return;
ImagePoint *waypoint = new ImagePoint(pos.x(), pos.y(), &waypoint_pixmap, name, qmapcontrol::Point::BottomRight);
// waypoint->setBaselevel(0);
connect(waypoint, SIGNAL(geometryClicked(Geometry *, QPoint)), this, SLOT(wayPointClickEvent(Geometry *, QPoint)));
m_wayPointLayer->addGeometry(waypoint);
}
// *************************************************************************************
// add the compass
void MapGadgetWidget::addCompass(QPointF pos, int size, QString name)
{
return;
// if (compass_background_pixmap.isNull())
{ // create the compass background image
QImage image(size, size, QImage::Format_ARGB32_Premultiplied);
if (image.isNull()) return;
image.fill(QColor(0, 0, 0, 0).rgba());
QPainter painter(&image);
painter.setRenderHints(QPainter::SmoothPixmapTransform | QPainter::Antialiasing | QPainter::HighQualityAntialiasing | QPainter::TextAntialiasing, true);
painter.setFont(font());
QPen pen = QPen(Qt::NoPen);
pen.setStyle(Qt::SolidLine);
pen.setWidth(1);
pen.setBrush(Qt::black);
painter.setPen(pen);
QRadialGradient gradient(size / 2, size / 2, size / 2);
gradient.setColorAt(0.0, QColor(0, 0, 0, 0));
gradient.setColorAt(0.05, QColor(0, 0, 0, 160));
gradient.setColorAt(1.0, QColor(0, 0, 0, 160));
// QGradient gradient = QLinearGradient(0, 0, 0, 1);
gradient.setCoordinateMode(QGradient::ObjectBoundingMode);
gradient.setSpread(QGradient::PadSpread);
painter.setBrush(gradient);
// painter.drawRect(image.rect());
painter.drawEllipse(image.rect());
compass_background_pixmap = QPixmap::fromImage(image);
}
// ImagePoint *compass = new ImagePoint(pos.x(), pos.y(), &compass_background_pixmap, name, qmapcontrol::Point::Middle);
// connect(compass, SIGNAL(geometryClicked(Geometry *, QPoint)), this, SLOT(compassClickEvent(Geometry *, QPoint)));
m_compassImageOverlay = new FixedImageOverlay(0, 0, size, size, &compass_background_pixmap, "compass_background");
// m_compassImageOverlay->setBaselevel(0);
// m_compassImageOverlay->setPen();
m_positionLayer->addGeometry(m_compassImageOverlay);
}
// *************************************************************************************
void MapGadgetWidget::keyPressEvent(QKeyEvent* event)
{
if (event->key() == Qt::Key_Escape) // ESC
@ -286,3 +479,5 @@ void MapGadgetWidget::keyPressEvent(QKeyEvent* event)
qDebug() << event->key() << endl;
}
}
// *************************************************************************************

28
ground/src/plugins/map/mapgadgetwidget.h
View File

@ -33,6 +33,8 @@
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/positionactual.h"
#include <QPixmap>
using namespace qmapcontrol;
class MapGadgetWidget : public QWidget
@ -47,8 +49,9 @@ public:
void setMapProvider(QString provider);
public slots:
// void coordinateClicked(const QMouseEvent* evnt, const QPointF coordinate); // added by cathy
void geometryClicked(Geometry* geom, QPoint coord_px); // added by cathy
void coordinateEvent(const QMouseEvent* evnt, const QPointF coordinate); // added by cathy
void gsc_uav_ClickEvent(Geometry* geom, QPoint coord_px); // added by cathy
void wayPointClickEvent(Geometry* geom, QPoint coord_px); // added by cathy
void gscButtonClick(); // added by cathy
void uavButtonClick(bool checked); // added by cathy
@ -65,6 +68,8 @@ private:
bool follow_uav; // true if the map is to stay centered on the UAV
double heading; // compass/uav heading
MapControl *m_mc;
MapAdapter *m_osmAdapter;
@ -77,14 +82,29 @@ private:
Layer *m_googleSatLayer;
Layer *m_yahooLayer;
Layer *m_positionLayer;
Layer *m_wayPointLayer;
FixedImageOverlay *m_compassImageOverlay;
ImagePoint *gscPoint;
ImagePoint *uavPoint;
QTimer *m_updateTimer;
PositionActual *m_positionActual;
QPointF gscPosition;
QPushButton *gscButton; // added by cathy
QPushButton *uavButton; // added by cathy
QPixmap gsc_pixmap;
QPixmap uav_pixmap;
QPixmap waypoint_pixmap;
QPixmap compass_background_pixmap;
QPixmap compass_needle_pixmap;
void addWayPoint(QPointF pos, QString name);
void addCompass(QPointF pos, int size = 200, QString name = "compass");
};
#endif /* MAPGADGETWIDGET_H_ */