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GCS/OPMap - pathplanner - graphical stuff and GUI done. UAVO interfacing left.

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This commit is contained in:
PT_Dreamer 2012-06-17 19:24:02 +01:00
parent 82b7f9f08d
commit 5d07b67922
9 changed files with 141 additions and 53 deletions
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21
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -104,11 +104,11 @@ namespace mapcontrol
GPS->SetUavPic(UAVPic);
}
WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to)
WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to,QColor color)
{
if(!from|!to)
return NULL;
return new WayPointLine(from,to,map);
return new WayPointLine(from,to,map,color);
}
WayPointLine * OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to)
{
@ -116,11 +116,11 @@ namespace mapcontrol
return NULL;
return new WayPointLine(from,to,map);
}
WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise)
WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise,QColor color)
{
if(!center|!radius)
return NULL;
return new WayPointCircle(center,radius,clockwise,map);
return new WayPointCircle(center,radius,clockwise,map,color);
}
WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise)
@ -290,11 +290,22 @@ namespace mapcontrol
}
WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,const int &position)
{
WayPointItem* item=new WayPointItem(coord,altitude,description,map);
internals::PointLatLng mcoord;
bool reloc=false;
if(mcoord==internals::PointLatLng(0,0))
{
mcoord=CurrentPosition();
reloc=true;
}
else
mcoord=coord;
WayPointItem* item=new WayPointItem(mcoord,altitude,description,map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
if(reloc)
emit WPValuesChanged(item);
return item;
}
void OPMapWidget::WPDelete(WayPointItem *item)

4
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -361,9 +361,9 @@ namespace mapcontrol
bool ShowHome()const{return showhome;}
void SetShowDiagnostics(bool const& value);
void SetUavPic(QString UAVPic);
WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to);
WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to, QColor color);
WayPointLine * WPLineCreate(HomeItem *from,WayPointItem *to);
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise);
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise,QColor color);
WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise);
void deleteAllOverlays();
void WPSetVisibleAll(bool value);

6
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
View File

@ -34,8 +34,9 @@ namespace mapcontrol
WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius,bool clockwise, MapGraphicItem *map,QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{
connect(center,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
qDebug()<<"circle clock:"<<clockwise;
connect(center,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
refreshLocations();
@ -45,6 +46,7 @@ WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius,bool c
WayPointCircle::WayPointCircle(HomeItem *radius, WayPointItem *center, bool clockwise, MapGraphicItem *map, QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{
qDebug()<<"circle clock:"<<clockwise;
connect(radius,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));

4
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
View File

@ -35,8 +35,8 @@ WayPointLine::WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem
destination(to),my_map(map),QGraphicsLineItem(map),myColor(color)
{
this->setLine(to->pos().x(),to->pos().y(),from->pos().x(),from->pos().y());
connect(from,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(to,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(from,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
connect(to,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
connect(from,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(to,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
}

2
ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
View File

@ -22,7 +22,7 @@ QVariant flightDataModel::data(const QModelIndex &index, int role) const
{
int rowNumber=index.row();
int columnNumber=index.column();
if(rowNumber>dataStorage.length()-1)
if(rowNumber>dataStorage.length()-1 || rowNumber<0)
return QVariant();
pathPlanData * myRow=dataStorage.at(rowNumber);
QVariant ret=getColumnByIndex(myRow,columnNumber);

130
ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
View File

@ -80,6 +80,51 @@ void modelMapProxy::on_selectedWPChanged(QList<WayPointItem *> list)
selection->setCurrentIndex(index,QItemSelectionModel::Select | QItemSelectionModel::Rows);
}
}
modelMapProxy::overlayType modelMapProxy::overlayTranslate(int type)
{
switch(type)
{
case ComboBoxDelegate::MODE_FLYENDPOINT:
case ComboBoxDelegate::MODE_FLYVECTOR:
case ComboBoxDelegate::MODE_DRIVEENDPOINT:
case ComboBoxDelegate::MODE_DRIVEVECTOR:
return OVERLAY_LINE;
break;
case ComboBoxDelegate::MODE_FLYCIRCLERIGHT:
case ComboBoxDelegate::MODE_DRIVECIRCLERIGHT:
return OVERLAY_CIRCLE_RIGHT;
break;
case ComboBoxDelegate::MODE_FLYCIRCLELEFT:
case ComboBoxDelegate::MODE_DRIVECIRCLELEFT:
return OVERLAY_CIRCLE_LEFT;
break;
default:
break;
}
}
void modelMapProxy::createOverlay(WayPointItem *from, WayPointItem *to, modelMapProxy::overlayType type,QColor color)
{
if(from==NULL || to==NULL || from==to)
return;
switch(type)
{
case OVERLAY_LINE:
myMap->WPLineCreate(from,to,color);
break;
case OVERLAY_CIRCLE_RIGHT:
myMap->WPCircleCreate(to,from,true,color);
break;
case OVERLAY_CIRCLE_LEFT:
myMap->WPCircleCreate(to,from,false,color);
break;
default:
break;
}
}
/*
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,
@ -93,49 +138,61 @@ typedef enum { COMMAND_ONCONDITIONNEXTWAYPOINT=0, COMMAND_ONNOTCONDITIONNEXTWAYP
*/
void modelMapProxy::refreshOverlays()
{
/*
QMutexLocker locker(&wplistmutex);
qDebug()<<"REFRESH OVERLAYS START";
myMap->deleteAllOverlays();
foreach(WayPointItem * wp,*waypoints)
WayPointItem * wp_current=NULL;
WayPointItem * wp_next=NULL;
int wp_jump;
int wp_error;
overlayType wp_next_overlay;
overlayType wp_jump_overlay;
overlayType wp_error_overlay;
for(int x=0;x<model->rowCount();++x)
{
customData data=wp->data(0).value<customData>();
switch(data.condition)
qDebug()<<"REFRESH OVERLAYS WP:"<<x;
wp_current=findWayPointNumber(x);
wp_jump=model->data(model->index(x,flightDataModel::JUMPDESTINATION)).toInt();
wp_error=model->data(model->index(x,flightDataModel::ERRORDESTINATION)).toInt();
wp_next_overlay=overlayTranslate(model->data(model->index(x+1,flightDataModel::MODE)).toInt());
wp_jump_overlay=overlayTranslate(model->data(model->index(wp_jump,flightDataModel::MODE)).toInt());
wp_error_overlay=overlayTranslate(model->data(model->index(wp_error,flightDataModel::MODE)).toInt());
createOverlay(wp_current,findWayPointNumber(wp_error),wp_error_overlay,Qt::red);
switch(model->data(model->index(x,flightDataModel::COMMAND)).toInt())
{
}
switch(data.mode)
{
case PathAction::MODE_FLYENDPOINT:
case PathAction::MODE_FLYVECTOR:
case PathAction::MODE_DRIVEENDPOINT:
case PathAction::MODE_DRIVEVECTOR:
if(wp->Number()==0)
myMap->WPLineCreate((HomeItem*)myMap->Home,wp);
else
myMap->WPLineCreate(findWayPointNumber(wp->Number()-1),wp);
case ComboBoxDelegate::COMMAND_ONCONDITIONNEXTWAYPOINT:
wp_next=findWayPointNumber(x+1);
createOverlay(wp_current,wp_next,wp_next_overlay,Qt::green);
qDebug()<<"REFRESH OVERLAYS"<<"AKI0";
break;
case PathAction::MODE_FLYCIRCLERIGHT:
case PathAction::MODE_DRIVECIRCLERIGHT:
if(wp->Number()==0)
myMap->WPCircleCreate((HomeItem*)myMap->Home,wp,true);
myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,true);
case ComboBoxDelegate::COMMAND_ONCONDITIONJUMPWAYPOINT:
wp_next=findWayPointNumber(wp_jump);
createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::green);
qDebug()<<"REFRESH OVERLAYS"<<"AKI1";
break;
case PathAction::MODE_FLYCIRCLELEFT:
case PathAction::MODE_DRIVECIRCLELEFT:
if(wp->Number()==0)
myMap->WPCircleCreate((HomeItem*)myMap->Home,wp,false);
myMap->WPCircleCreate(findWayPointNumber(wp->Number()-1),wp,false);
case ComboBoxDelegate::COMMAND_ONNOTCONDITIONJUMPWAYPOINT:
wp_next=findWayPointNumber(wp_jump);
createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::yellow);
qDebug()<<"REFRESH OVERLAYS"<<"AKI2";
break;
default:
case ComboBoxDelegate::COMMAND_ONNOTCONDITIONNEXTWAYPOINT:
wp_next=findWayPointNumber(x+1);
createOverlay(wp_current,wp_next,wp_next_overlay,Qt::yellow);
qDebug()<<"REFRESH OVERLAYS"<<"AKI3";
break;
case ComboBoxDelegate::COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT:
wp_next=findWayPointNumber(wp_jump);
createOverlay(wp_current,wp_next,wp_jump_overlay,Qt::green);
wp_next=findWayPointNumber(x+1);
createOverlay(wp_current,wp_next,wp_next_overlay,Qt::green);
qDebug()<<"REFRESH OVERLAYS"<<"AKI4";
break;
}
}
*/
}
WayPointItem * modelMapProxy::findWayPointNumber(int number)
{
if(number<0)
@ -158,6 +215,7 @@ void modelMapProxy::on_rowsRemoved(const QModelIndex &parent, int first, int las
{
myMap->WPDelete(x);
}
refreshOverlays();
}
void modelMapProxy::on_dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight)
@ -174,6 +232,13 @@ void modelMapProxy::on_dataChanged(const QModelIndex &topLeft, const QModelIndex
QString desc;
switch(topLeft.column())
{
case flightDataModel::COMMAND:
case flightDataModel::CONDITION:
case flightDataModel::JUMPDESTINATION:
case flightDataModel::ERRORDESTINATION:
case flightDataModel::MODE:
refreshOverlays();
break;
case flightDataModel::WPDESCRITPTION:
index=model->index(x,flightDataModel::WPDESCRITPTION);
desc=index.data(Qt::DisplayRole).toString();
@ -250,6 +315,7 @@ void modelMapProxy::on_rowsInserted(const QModelIndex &parent, int first, int la
if(relative)
item->setWPType(mapcontrol::WayPointItem::relative);
}
refreshOverlays();
}
void modelMapProxy::deleteWayPoint(int number)
{

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

@ -8,12 +8,13 @@
#include "QPointer"
#include "flightdatamodel.h"
#include <QItemSelectionModel>
#include <widgetdelegates.h>
using namespace mapcontrol;
class modelMapProxy:public QObject
{
typedef enum {OVERLAY_LINE,OVERLAY_CIRCLE_RIGHT,OVERLAY_CIRCLE_LEFT} overlayType;
Q_OBJECT
public:
explicit modelMapProxy(QObject *parent,OPMapWidget * map,flightDataModel * model,QItemSelectionModel * selectionModel);
@ -32,6 +33,8 @@ private slots:
void on_currentRowChanged(QModelIndex,QModelIndex);
void on_selectedWPChanged(QList<WayPointItem*>);
private:
overlayType overlayTranslate(int type);
void createOverlay(WayPointItem * from,WayPointItem * to,overlayType type,QColor color);
OPMapWidget * myMap;
flightDataModel * model;
void refreshOverlays();

8
ground/openpilotgcs/src/plugins/opmap/opmapgadget.cpp
View File

@ -52,16 +52,16 @@ void OPMapGadget::saveConfiguration(double lng,double lat,double zoom)
void OPMapGadget::loadConfiguration(IUAVGadgetConfiguration *config)
{
m_config = qobject_cast<OPMapGadgetConfiguration*>(config);
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());
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()));
}

14
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -212,17 +212,23 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
if(m_map->GPS)
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
/*
qDebug()<<"here0";
model=new flightDataModel(this);
qDebug()<<"here1";
table=new pathPlanner();
qDebug()<<"here2";
selectionModel=new QItemSelectionModel(model);
qDebug()<<"here3";
proxy=new modelMapProxy(this,m_map,model,selectionModel);
qDebug()<<"here4";
table->setModel(model,selectionModel);
qDebug()<<"here5";
table->show();
qDebug()<<"here6";
waypoint_edit_dialog=new opmap_edit_waypoint_dialog(NULL,model,selectionModel);
qDebug()<<"here7";
*/
/*
distBearing db;
db.distance=100;