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Code Issues Releases Activity

LP-498 Optionally display currently active PathDesired in map

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This commit is contained in:
Corvus Corax 2017-03-21 08:25:35 +01:00
parent 556c2e9e99
commit 8c3da1139b
9 changed files with 420 additions and 2 deletions
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126
ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/nav.svg Normal file
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@ -0,0 +1,126 @@
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1
ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
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@ -6,6 +6,7 @@
<file>images/airplane.svg</file>
<file>images/home.png</file>
<file>images/home.svg</file>
<file>images/nav.svg</file>
<file>images/home2.svg</file>
<file>images/airplanepip.png</file>
<file>images/EasystarBlue.png</file>

2
ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro
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@ -12,6 +12,7 @@ SOURCES += mapgraphicitem.cpp \
gpsitem.cpp \
trailitem.cpp \
homeitem.cpp \
navitem.cpp \
mapripform.cpp \
mapripper.cpp \
traillineitem.cpp \
@ -39,6 +40,7 @@ HEADERS += mapgraphicitem.h \
uavtrailtype.h \
trailitem.h \
homeitem.h \
navitem.h \
mapripform.h \
mapripper.h \
traillineitem.h \

99
ground/gcs/src/libs/opmapcontrol/src/mapwidget/navitem.cpp Normal file
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@ -0,0 +1,99 @@
/**
******************************************************************************
*
* @file navitem.cpp
* @author The LibrePilot Team, http://www.openpilot.org Copyright (C) 2017.
* @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 "navitem.h"
#include <QGraphicsSceneMouseEvent>
namespace mapcontrol {
NavItem::NavItem(MapGraphicItem *map, OPMapWidget *parent) : map(map), mapwidget(parent),
toggleRefresh(true), altitude(0)
{
pic.load(QString::fromUtf8(":/markers/images/nav.svg"));
pic = pic.scaled(30, 30, Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
this->setFlag(QGraphicsItem::ItemIsMovable, false);
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
localposition = map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(), localposition.Y());
this->setZValue(4);
coord = internals::PointLatLng(50, 50);
RefreshToolTip();
setCacheMode(QGraphicsItem::DeviceCoordinateCache);
connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
}
void NavItem::RefreshToolTip()
{
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
setToolTip(QString("Waypoint: Nav\nCoordinate:%1\nAltitude:%2\n").arg(coord_str).arg(QString::number(altitude)));
}
void NavItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
painter->drawPixmap(-pic.width() / 2, -pic.height() / 2, pic);
}
QRectF NavItem::boundingRect() const
{
return QRectF(-pic.width() / 2, -pic.height() / 2, pic.width(), pic.height());
}
int NavItem::type() const
{
return Type;
}
void NavItem::RefreshPos()
{
prepareGeometryChange();
localposition = map->FromLatLngToLocal(coord);
this->setPos(localposition.X(), localposition.Y());
RefreshToolTip();
this->update();
toggleRefresh = false;
}
void NavItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
// Set clickable area as smaller than the bounding rect.
QPainterPath NavItem::shape() const
{
QPainterPath path;
path.addEllipse(QRectF(-12, -25, 24, 50));
return path;
}
}

85
ground/gcs/src/libs/opmapcontrol/src/mapwidget/navitem.h Normal file
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@ -0,0 +1,85 @@
/**
******************************************************************************
*
* @file navitem.h
* @author The LibrePilot Team, http://www.librepilot.org Copyright (C) 2017.
* @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 NAVITEM_H
#define NAVITEM_H
#include <QGraphicsItem>
#include <QPainter>
#include <QLabel>
#include "../internals/pointlatlng.h"
#include <QObject>
#include "opmapwidget.h"
namespace mapcontrol {
class NavItem : public QObject, public QGraphicsItem {
Q_OBJECT Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 4 };
NavItem(MapGraphicItem *map, OPMapWidget *parent);
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
QRectF boundingRect() const;
int type() const;
void SetToggleRefresh(bool const & value)
{
toggleRefresh = value;
}
void SetCoord(internals::PointLatLng const & value)
{
coord = value; emit navPositionChanged(value, Altitude());
}
internals::PointLatLng Coord() const
{
return coord;
}
void SetAltitude(float const & value)
{
altitude = value; emit navPositionChanged(Coord(), Altitude());
}
float Altitude() const
{
return altitude;
}
void RefreshToolTip();
private:
MapGraphicItem *map;
OPMapWidget *mapwidget;
QPixmap pic;
core::Point localposition;
internals::PointLatLng coord;
bool toggleRefresh;
float altitude;
protected:
QPainterPath shape() const;
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);
signals:
void navPositionChanged(internals::PointLatLng coord, float);
};
}
#endif // NAVITEM_H

12
ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
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@ -33,8 +33,8 @@
#include <QOpenGLWidget>
namespace mapcontrol {
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView(parent), configuration(config), UAV(0), GPS(0), Home(0)
, followmouse(true), compass(0), showuav(false), showhome(false), diagTimer(0), diagGraphItem(0), showDiag(false), overlayOpacity(1)
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView(parent), configuration(config), UAV(0), GPS(0), Home(0), Nav(0)
, followmouse(true), compass(0), showuav(false), showhome(false), diagTimer(0), diagGraphItem(0), showDiag(false), showNav(false), overlayOpacity(1)
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core = new internals::Core;
@ -44,6 +44,9 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
Home = new HomeItem(map, this);
Home->setParentItem(map);
Home->setZValue(-1);
Nav = new NavItem(map, this);
Nav->setParentItem(map);
Nav->setZValue(-1);
setStyleSheet("QToolTip {font-size:8pt; color:blue;opacity: 223; padding:2px; border-width:2px; border-style:solid; border-color: rgb(170, 170, 127);border-radius:4px }");
this->adjustSize();
connect(map, SIGNAL(zoomChanged(double, double, double)), this, SIGNAL(zoomChanged(double, double, double)));
@ -58,6 +61,7 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
connect(map, SIGNAL(wpdoubleclicked(WayPointItem *)), this, SIGNAL(OnWayPointDoubleClicked(WayPointItem *)));
connect(&mscene, SIGNAL(selectionChanged()), this, SLOT(OnSelectionChanged()));
SetShowDiagnostics(showDiag);
SetShowNav(showNav);
this->setMouseTracking(followmouse);
SetShowCompass(true);
QPixmapCache::setCacheLimit(64 * 1024);
@ -158,6 +162,10 @@ void OPMapWidget::SetShowHome(const bool &value)
{
Home->setVisible(value);
}
void OPMapWidget::SetShowNav(const bool &value)
{
Nav->setVisible(value);
}
void OPMapWidget::resizeEvent(QResizeEvent *event)
{

9
ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -37,6 +37,7 @@
#include "uavitem.h"
#include "gpsitem.h"
#include "homeitem.h"
#include "navitem.h"
#include "mapripper.h"
#include "waypointline.h"
#include "waypointcircle.h"
@ -50,6 +51,7 @@ namespace mapcontrol {
class UAVItem;
class GPSItem;
class HomeItem;
class NavItem;
/**
* @brief Collection of static functions to help dealing with various enums used
* Contains functions for enumToString conversio, StringToEnum, QStringList of enum values...
@ -500,6 +502,7 @@ public:
UAVItem *UAV;
GPSItem *GPS;
HomeItem *Home;
NavItem *Nav;
void SetShowUAV(bool const & value);
bool ShowUAV() const
{
@ -510,6 +513,11 @@ public:
{
return showhome;
}
void SetShowNav(bool const & value);
bool ShowNav() const
{
return showNav;
}
void SetShowDiagnostics(bool const & value);
void SetUavPic(QString UAVPic);
WayPointLine *WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
@ -540,6 +548,7 @@ private:
QTimer *diagTimer;
QGraphicsTextItem *diagGraphItem;
bool showDiag;
bool showNav;
qreal overlayOpacity;
private slots:
void diagRefresh();

85
ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -50,6 +50,7 @@
#include "uavobject.h"
#include "positionstate.h"
#include "pathdesired.h"
#include "homelocation.h"
#include "gpspositionsensor.h"
#include "gyrostate.h"
@ -166,6 +167,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->SetShowHome(true); // display the HOME position on the map
m_map->SetShowUAV(true); // display the UAV position on the map
m_map->SetShowNav(false); // initially don't display the NAV position on the map
m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters) //SHOULDN'T THE DEFAULT BE USER DEFINED?
m_map->Home->SetShowSafeArea(true); // show the safe area //SHOULDN'T THE DEFAULT BE USER DEFINED?
@ -213,6 +215,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_map, SIGNAL(OnWayPointDoubleClicked(WayPointItem *)), this, SLOT(wpDoubleClickEvent(WayPointItem *)));
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
m_map->Nav->SetCoord(m_home_position.coord); // set the NAV position
m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->UAV->update();
if (m_map->GPS) {
@ -287,6 +290,7 @@ OPMapGadgetWidget::~OPMapGadgetWidget()
disconnect(m_map, 0, 0, 0);
m_map->SetShowHome(false); // doing this appears to stop the map lib crashing on exit
m_map->SetShowUAV(false); // " "
m_map->SetShowNav(false); // " "
}
if (m_map) {
@ -442,6 +446,8 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
contextMenu.addAction(showDiagnostics);
contextMenu.addAction(showNav);
contextMenu.addAction(showUAVInfo);
// Zoom section
@ -670,6 +676,19 @@ void OPMapGadgetWidget::updatePosition()
m_map->UAV->updateTextOverlay();
m_map->UAV->update();
// *************
// *************
// update active waypoint position at same update rate
if (m_map->Nav) {
double latitude, longitude, altitude;
getNavPosition(latitude, longitude, altitude);
m_map->Nav->SetCoord(internals::PointLatLng(latitude, longitude)); // set the maps Nav position
m_map->Nav->SetAltitude(altitude);
m_map->Nav->RefreshPos();
m_map->Nav->update();
}
m_map->UAV->updateTextOverlay();
m_map->UAV->update();
}
/**
@ -1344,6 +1363,12 @@ void OPMapGadgetWidget::createActions()
showDiagnostics->setChecked(false);
connect(showDiagnostics, SIGNAL(toggled(bool)), this, SLOT(onShowDiagnostics_toggled(bool)));
showNav = new QAction(tr("Show Nav"), this);
showNav->setStatusTip(tr("Show/Hide pathfollower info"));
showNav->setCheckable(true);
showNav->setChecked(false);
connect(showNav, SIGNAL(toggled(bool)), this, SLOT(onShowNav_toggled(bool)));
showUAVInfo = new QAction(tr("Show UAV Info"), this);
showUAVInfo->setStatusTip(tr("Show/Hide the UAV info"));
showUAVInfo->setCheckable(true);
@ -1647,6 +1672,15 @@ void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
m_map->SetShowDiagnostics(show);
}
void OPMapGadgetWidget::onShowNav_toggled(bool show)
{
if (!m_widget || !m_map) {
return;
}
m_map->SetShowNav(show);
}
void OPMapGadgetWidget::onShowUAVInfo_toggled(bool show)
{
if (!m_widget || !m_map) {
@ -2236,6 +2270,57 @@ bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, doub
return true;
}
bool OPMapGadgetWidget::getNavPosition(double &latitude, double &longitude, double &altitude)
{
double NED[3];
double LLA[3];
double homeLLA[3];
Q_ASSERT(obm != NULL);
PathDesired *pathDesired = PathDesired::GetInstance(obm);
Q_ASSERT(pathDesired != NULL);
PathDesired::DataFields pathDesiredData = pathDesired->getData();
HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
Q_ASSERT(homeLocation != NULL);
HomeLocation::DataFields homeLocationData = homeLocation->getData();
homeLLA[0] = homeLocationData.Latitude / 1.0e7;
homeLLA[1] = homeLocationData.Longitude / 1.0e7;
homeLLA[2] = homeLocationData.Altitude;
NED[0] = pathDesiredData.End[0];
NED[1] = pathDesiredData.End[1];
NED[2] = pathDesiredData.End[2];
Utils::CoordinateConversions().NED2LLA_HomeLLA(homeLLA, NED, LLA);
latitude = LLA[0];
longitude = LLA[1];
altitude = LLA[2];
if (latitude != latitude) {
latitude = 0; // nan detection
} else if (latitude > 90) {
latitude = 90;
} else if (latitude < -90) {
latitude = -90;
}
if (longitude != longitude) {
longitude = 0; // nan detection
} else if (longitude > 180) {
longitude = 180;
} else if (longitude < -180) {
longitude = -180;
}
if (altitude != altitude) {
altitude = 0; // nan detection
}
return true;
}
double OPMapGadgetWidget::getUAV_Yaw()
{
if (!obm) {

3
ground/gcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -174,6 +174,7 @@ private slots:
void onCopyMouseLonToClipAct_triggered();
void onShowCompassAct_toggled(bool show);
void onShowDiagnostics_toggled(bool show);
void onShowNav_toggled(bool show);
void onShowUAVInfo_toggled(bool show);
void onShowUAVAct_toggled(bool show);
void onShowHomeAct_toggled(bool show);
@ -248,6 +249,7 @@ private:
QAction *copyMouseLonToClipAct;
QAction *showCompassAct;
QAction *showDiagnostics;
QAction *showNav;
QAction *showUAVInfo;
QAction *showHomeAct;
QAction *showUAVAct;
@ -308,6 +310,7 @@ private:
internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
bool getUAVPosition(double &latitude, double &longitude, double &altitude);
bool getNavPosition(double &latitude, double &longitude, double &altitude);
double getUAV_Yaw();
void setMapFollowingMode();