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Code Issues Releases Activity

Merge branch 'pt/CC3D_Release' of ssh://git.openpilot.org/OpenPilot into pt/CC3D_Release

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
This commit is contained in:
PT_Dreamer 2012-07-31 16:17:29 +01:00
commit 68740940de
9 changed files with 281 additions and 173 deletions
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43
ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
View File

@ -1,6 +1,5 @@
import Qt 4.7
import "."
import org.OpenPilot 1.0
Rectangle {
color: "#666666"
@ -22,46 +21,10 @@ Rectangle {
anchors.centerIn: parent
clip: true
OsgEarth {
id: earthView
Loader {
id: worldLoader
anchors.fill: parent
sceneFile: qmlWidget.earthFile
visible: qmlWidget.terrainEnabled
fieldOfView: 90
yaw: AttitudeActual.Yaw
pitch: AttitudeActual.Pitch
roll: AttitudeActual.Roll
latitude: qmlWidget.actualPositionUsed ?
GPSPosition.Latitude/10000000.0 : qmlWidget.latitude
longitude: qmlWidget.actualPositionUsed ?
GPSPosition.Longitude/10000000.0 : qmlWidget.longitude
altitude: qmlWidget.actualPositionUsed ?
GPSPosition.Altitude : qmlWidget.altitude
}
Image {
id: world
source: "image://svg/pfd.svg!world"
sourceSize: background.sourceSize
smooth: true
visible: !qmlWidget.terrainEnabled
transform: [
Translate {
id: pitchTranslate
x: (world.parent.width - world.width)/2
y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
},
Rotation {
angle: -AttitudeActual.Roll
origin.x : world.parent.width/2
origin.y : world.parent.height/2
}
]
source: qmlWidget.terrainEnabled ? "PfdTerrainView.qml" : "PfdWorldView.qml"
}
Image {

20
ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdTerrainView.qml Normal file
View File

@ -0,0 +1,20 @@
import Qt 4.7
import org.OpenPilot 1.0
OsgEarth {
id: earthView
sceneFile: qmlWidget.earthFile
fieldOfView: 90
yaw: AttitudeActual.Yaw
pitch: AttitudeActual.Pitch
roll: AttitudeActual.Roll
latitude: qmlWidget.actualPositionUsed ?
GPSPosition.Latitude/10000000.0 : qmlWidget.latitude
longitude: qmlWidget.actualPositionUsed ?
GPSPosition.Longitude/10000000.0 : qmlWidget.longitude
altitude: qmlWidget.actualPositionUsed ?
GPSPosition.Altitude : qmlWidget.altitude
}

29
ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml Normal file
View File

@ -0,0 +1,29 @@
import Qt 4.7
Item {
//worldView should fill the source size of svg document
id: worldView
Image {
id: world
source: "image://svg/pfd.svg!world"
sourceSize.width: worldView.width
sourceSize.height: worldView.height
smooth: true
transform: [
Translate {
id: pitchTranslate
x: (world.parent.width - world.width)/2
y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
},
Rotation {
angle: -AttitudeActual.Roll
origin.x : world.parent.width/2
origin.y : world.parent.height/2
}
]
}
}

1
ground/openpilotgcs/src/app/main.cpp
View File

@ -263,6 +263,7 @@ int main(int argc, char **argv)
setrlimit(RLIMIT_NOFILE, &rl);
#endif
QApplication::setAttribute(Qt::AA_X11InitThreads, true);
QApplication::setGraphicsSystem("raster");
SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);

281
ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
View File

@ -17,6 +17,7 @@
#include "osgearth.h"
#include <QtCore/qfileinfo.h>
#include <QtCore/qthread.h>
#include <QtDeclarative/qdeclarative.h>
#include <QtDeclarative/qdeclarativeview.h>
#include <QtDeclarative/qdeclarativeengine.h>
@ -42,7 +43,8 @@
OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
QDeclarativeItem(parent),
m_fbo(0),
m_renderer(0),
m_rendererThread(0),
m_currentSize(640, 480),
m_roll(0.0),
m_pitch(0.0),
@ -51,8 +53,7 @@ OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
m_longitude(153.0),
m_altitude(400.0),
m_fieldOfView(90.0),
m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth")),
m_cameraDirty(false)
m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth"))
{
setSize(m_currentSize);
setFlag(ItemHasNoContents, false);
@ -60,6 +61,31 @@ OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
OsgEarthItem::~OsgEarthItem()
{
if (m_renderer) {
m_rendererThread->exit();
//wait up to 10 seconds for renderer thread to exit
m_rendererThread->wait(10*1000);
delete m_renderer;
delete m_rendererThread;
}
}
QString OsgEarthItem::resolvedSceneFile() const
{
QString sceneFile = m_sceneFile;
//try to resolve the relative scene file name:
if (!QFileInfo(sceneFile).exists()) {
QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
if (view) {
QUrl baseUrl = view->engine()->baseUrl();
sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
}
}
return sceneFile;
}
void OsgEarthItem::geometryChanged(const QRectF &newGeometry, const QRectF &oldGeometry)
@ -95,107 +121,43 @@ void OsgEarthItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *styl
Q_UNUSED(style);
QGLWidget *glWidget = qobject_cast<QGLWidget*>(widget);
if (!m_glWidget) {
//make a shared gl widget to avoid
//osg rendering to mess with qpainter state
m_glWidget = new QGLWidget(widget, glWidget);
m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
}
if (!m_renderer) {
m_renderer = new OsgEarthItemRenderer(this, glWidget);
connect(m_renderer, SIGNAL(frameReady()),
this, SLOT(updateView()), Qt::QueuedConnection);
if (!m_viewer.get())
QMetaObject::invokeMethod(this, "initScene", Qt::QueuedConnection);
m_rendererThread = new QThread(this);
m_renderer->moveToThread(m_rendererThread);
m_rendererThread->start();
if (glWidget && m_fbo)
glWidget->drawTexture(boundingRect(), m_fbo->texture());
}
void OsgEarthItem::markCameraDirty()
{
m_cameraDirty = true;
QMetaObject::invokeMethod(this, "updateFBO", Qt::QueuedConnection);
}
void OsgEarthItem::updateFBO()
{
if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
QMetaObject::invokeMethod(m_renderer, "initScene", Qt::QueuedConnection);
return;
m_cameraDirty = false;
m_glWidget.data()->makeCurrent();
if (m_fbo && m_fbo->size() != m_currentSize) {
delete m_fbo;
m_fbo = 0;
}
if (!m_fbo) {
m_fbo = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
QPainter p(m_fbo);
p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
}
QGLFramebufferObject *fbo = m_renderer->lastFrame();
//To find a camera view matrix, find placer matrixes for two points
//onr at requested coords and another latitude shifted by 0.01 deg
osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
osg::Matrixd positionMatrix;
placer.createPlacerMatrix(m_latitude, m_longitude, m_altitude, positionMatrix);
osg::Matrixd positionMatrix2;
placer.createPlacerMatrix(m_latitude+0.01, m_longitude, m_altitude, positionMatrix2);
osg::Vec3d eye(0.0f, 0.0f, 0.0f);
osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
eye = positionMatrix.preMult(eye);
upVector = positionMatrix.preMult(upVector);
upVector.normalize();
viewVector = positionMatrix2.preMult(viewVector) - eye;
viewVector.normalize();
viewVector *= 10.0;
//TODO: clarify the correct rotation order,
//currently assuming yaw, pitch, roll
osg::Quat q;
q.makeRotate(-m_yaw*M_PI/180.0, upVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d side = viewVector ^ upVector;
q.makeRotate(m_pitch*M_PI/180.0, side);
upVector = q * upVector;
viewVector = q * viewVector;
q.makeRotate(m_roll*M_PI/180.0, viewVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d center = eye + viewVector;
// qDebug() << "e " << eye.x() << eye.y() << eye.z();
// qDebug() << "c " << center.x() << center.y() << center.z();
// qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
osg::Vec3d(center.x(), center.y(), center.z()),
osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
{
QPainter fboPainter(m_fbo);
fboPainter.beginNativePainting();
m_viewer->frame();
fboPainter.endNativePainting();
}
m_glWidget.data()->doneCurrent();
if (glWidget && fbo)
glWidget->drawTexture(boundingRect(), fbo->texture());
}
void OsgEarthItem::updateView()
{
update();
}
void OsgEarthItem::updateFrame()
{
if (m_renderer) {
m_renderer->markDirty();
QMetaObject::invokeMethod(m_renderer, "updateFrame", Qt::QueuedConnection);
}
}
void OsgEarthItem::setRoll(qreal arg)
{
if (!qFuzzyCompare(m_roll, arg)) {
m_roll = arg;
markCameraDirty();
updateFrame();
emit rollChanged(arg);
}
}
@ -204,7 +166,7 @@ void OsgEarthItem::setPitch(qreal arg)
{
if (!qFuzzyCompare(m_pitch, arg)) {
m_pitch = arg;
markCameraDirty();
updateFrame();
emit pitchChanged(arg);
}
}
@ -213,7 +175,7 @@ void OsgEarthItem::setYaw(qreal arg)
{
if (!qFuzzyCompare(m_yaw, arg)) {
m_yaw = arg;
markCameraDirty();
updateFrame();
emit yawChanged(arg);
}
}
@ -250,14 +212,15 @@ void OsgEarthItem::setFieldOfView(qreal arg)
m_fieldOfView = arg;
emit fieldOfViewChanged(arg);
if (m_viewer.get()) {
//it should be a queued call to OsgEarthItemRenderer instead
/*if (m_viewer.get()) {
m_viewer->getCamera()->setProjectionMatrixAsPerspective(
m_fieldOfView,
qreal(m_currentSize.width())/m_currentSize.height(),
1.0f, 10000.0f);
}
}*/
markCameraDirty();
updateFrame();
}
}
@ -269,27 +232,51 @@ void OsgEarthItem::setSceneFile(QString arg)
}
}
void OsgEarthItem::initScene()
OsgEarthItemRenderer::OsgEarthItemRenderer(OsgEarthItem *item, QGLWidget *glWidget) :
QObject(0),
m_item(item),
m_lastFboNumber(0),
m_currentSize(640, 480),
m_cameraDirty(false)
{
if (m_viewer.get())
return;
//make a shared gl widget to avoid
//osg rendering to mess with qpainter state
//this runs in the main thread
m_glWidget = new QGLWidget(0, glWidget);
m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
for (int i=0; i<FboCount; i++) {
m_fbo[i] = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
QPainter p(m_fbo[i]);
p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
}
}
OsgEarthItemRenderer::~OsgEarthItemRenderer()
{
m_glWidget.data()->makeCurrent();
for (int i=0; i<FboCount; i++) {
delete m_fbo[i];
m_fbo[i] = 0;
}
m_glWidget.data()->doneCurrent();
delete m_glWidget.data();
}
QGLFramebufferObject *OsgEarthItemRenderer::lastFrame()
{
return m_fbo[m_lastFboNumber];
}
void OsgEarthItemRenderer::initScene()
{
Q_ASSERT(!m_viewer.get());
int w = m_currentSize.width();
int h = m_currentSize.height();
QString sceneFile = m_sceneFile;
//try to resolve the relative scene file name:
if (!QFileInfo(sceneFile).exists()) {
QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
if (view) {
QUrl baseUrl = view->engine()->baseUrl();
sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
}
}
QString sceneFile = m_item->resolvedSceneFile();
m_model = osgDB::readNodeFile(sceneFile.toStdString());
//setup caching
@ -320,8 +307,76 @@ void OsgEarthItem::initScene()
// configure the near/far so we don't clip things that are up close
camera->setNearFarRatio(0.00002);
camera->setProjectionMatrixAsPerspective(m_fieldOfView, qreal(w)/h, 1.0f, 10000.0f);
camera->setProjectionMatrixAsPerspective(m_item->fieldOfView(), qreal(w)/h, 1.0f, 10000.0f);
markCameraDirty();
updateFrame();
}
void OsgEarthItemRenderer::updateFrame()
{
if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
return;
m_glWidget.data()->makeCurrent();
//To find a camera view matrix, find placer matrixes for two points
//onr at requested coords and another latitude shifted by 0.01 deg
osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
m_cameraDirty = false;
osg::Matrixd positionMatrix;
placer.createPlacerMatrix(m_item->latitude(), m_item->longitude(), m_item->altitude(), positionMatrix);
osg::Matrixd positionMatrix2;
placer.createPlacerMatrix(m_item->latitude()+0.01, m_item->longitude(), m_item->altitude(), positionMatrix2);
osg::Vec3d eye(0.0f, 0.0f, 0.0f);
osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
eye = positionMatrix.preMult(eye);
upVector = positionMatrix.preMult(upVector);
upVector.normalize();
viewVector = positionMatrix2.preMult(viewVector) - eye;
viewVector.normalize();
viewVector *= 10.0;
//TODO: clarify the correct rotation order,
//currently assuming yaw, pitch, roll
osg::Quat q;
q.makeRotate(-m_item->yaw()*M_PI/180.0, upVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d side = viewVector ^ upVector;
q.makeRotate(m_item->pitch()*M_PI/180.0, side);
upVector = q * upVector;
viewVector = q * viewVector;
q.makeRotate(m_item->roll()*M_PI/180.0, viewVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d center = eye + viewVector;
// qDebug() << "e " << eye.x() << eye.y() << eye.z();
// qDebug() << "c " << center.x() << center.y() << center.z();
// qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
osg::Vec3d(center.x(), center.y(), center.z()),
osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
{
QGLFramebufferObject *fbo = m_fbo[(m_lastFboNumber + 1) % FboCount];
QPainter fboPainter(fbo);
fboPainter.beginNativePainting();
m_viewer->frame();
fboPainter.endNativePainting();
}
m_glWidget.data()->doneCurrent();
m_lastFboNumber = (m_lastFboNumber + 1) % FboCount;
emit frameReady();
}

51
ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
View File

@ -24,6 +24,7 @@
class QGLFramebufferObject;
class QGLWidget;
class OsgEarthItemRenderer;
class OsgEarthItem : public QDeclarativeItem
{
@ -46,6 +47,7 @@ public:
~OsgEarthItem();
QString sceneFile() const { return m_sceneFile; }
QString resolvedSceneFile() const;
qreal fieldOfView() const { return m_fieldOfView; }
qreal roll() const { return m_roll; }
@ -61,6 +63,7 @@ protected:
void paint(QPainter *painter, const QStyleOptionGraphicsItem *style, QWidget *widget);
public slots:
void updateView();
void setSceneFile(QString arg);
void setFieldOfView(qreal arg);
@ -85,16 +88,12 @@ signals:
void fieldOfViewChanged(qreal arg);
private slots:
void markCameraDirty();
void updateFBO();
void initScene();
void updateFrame();
private:
osg::ref_ptr<osgViewer::Viewer> m_viewer;
osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
osg::ref_ptr<osg::Node> m_model;
QWeakPointer<QGLWidget> m_glWidget;
QGLFramebufferObject *m_fbo;
OsgEarthItemRenderer *m_renderer;
QThread *m_rendererThread;
QSize m_currentSize;
qreal m_roll;
@ -108,6 +107,42 @@ private:
qreal m_fieldOfView;
QString m_sceneFile;
};
class OsgEarthItemRenderer : public QObject
{
Q_OBJECT
public:
OsgEarthItemRenderer(OsgEarthItem *item, QGLWidget *glWidget);
~OsgEarthItemRenderer();
QGLFramebufferObject *lastFrame();
void markDirty() { m_cameraDirty = true; }
public slots:
void initScene();
void updateFrame();
signals:
void frameReady();
private slots:
void updateFBO();
private:
enum { FboCount = 3 };
OsgEarthItem *m_item;
osg::ref_ptr<osgViewer::Viewer> m_viewer;
osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
osg::ref_ptr<osg::Node> m_model;
QWeakPointer<QGLWidget> m_glWidget;
QGLFramebufferObject* m_fbo[FboCount];
int m_lastFboNumber;
QSize m_currentSize;
bool m_cameraDirty;
};

21
ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
View File

@ -9,11 +9,6 @@ include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(pfdqml_dependencies.pri)
contains(DEFINES,USE_OSG){
LIBS += -losg -losgUtil -losgViewer -losgQt -losgDB -lOpenThreads -losgGA
LIBS += -losgEarth -losgEarthFeatures -losgEarthUtil
}
HEADERS += \
pfdqmlplugin.h \
pfdqmlgadget.h \
@ -21,10 +16,7 @@ HEADERS += \
pfdqmlgadgetfactory.h \
pfdqmlgadgetconfiguration.h \
pfdqmlgadgetoptionspage.h
contains(DEFINES,USE_OSG){
\
osgearth.h
}
SOURCES += \
pfdqmlplugin.cpp \
pfdqmlgadget.cpp \
@ -32,9 +24,14 @@ SOURCES += \
pfdqmlgadgetwidget.cpp \
pfdqmlgadgetconfiguration.cpp \
pfdqmlgadgetoptionspage.cpp
contains(DEFINES,USE_OSG){
\
osgearth.cpp
contains(DEFINES,USE_OSG) {
LIBS += -losg -losgUtil -losgViewer -losgQt -losgDB -lOpenThreads -losgGA
LIBS += -losgEarth -losgEarthFeatures -losgEarthUtil
HEADERS += osgearth.h
SOURCES += osgearth.cpp
}
OTHER_FILES += PfdQml.pluginspec

5
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
View File

@ -62,6 +62,11 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
options_page->altitude->setText(QString::number(m_config->altitude()));
options_page->useOnlyCache->setChecked(m_config->cacheOnly());
#ifndef USE_OSG
options_page->showTerrain->setChecked(false);
options_page->showTerrain->setVisible(false);
#endif
return optionsPageWidget;
}

3
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
View File

@ -37,9 +37,12 @@ void PopupWidget::setWidget(QWidget* widget)
m_widget = widget;
m_widgetParent = widget->parentWidget();
// save the current width,height so we can restore when closed
m_widgetWidth = m_widget->width();
m_widgetHeight = m_widget->height();
// double the size of the widget for the dialog
m_widget->resize(m_widgetWidth * 2, m_widgetHeight * 2);
m_layout->addWidget(m_widget);
}