mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
Updated some parts of the map plugin to use the new UAVObject utility.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2831 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
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commit
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@ -8,5 +8,6 @@
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<dependencyList>
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<dependency name="Core" version="1.0.0"/>
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<dependency name="UAVObjects" version="1.0.0"/>
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</dependencyList>
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<dependency name="UAVObjectUtil" version="1.0.0"/>
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</dependencyList>
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</plugin>
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@ -1,11 +1,14 @@
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TEMPLATE = lib
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TARGET = OPMapGadget
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include(../../openpilotgcsplugin.pri)
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include(../../plugins/coreplugin/coreplugin.pri)
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include(../../libs/opmapcontrol/opmapcontrol.pri)
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include(../../plugins/uavobjects/uavobjects.pri)
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include(../../plugins/uavobjectutil/uavobjectutil.pri)
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include(../../plugins/uavtalk/uavtalk.pri)
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include(../../libs/utils/utils.pri)
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HEADERS += opmapplugin.h \
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opmapgadgetoptionspage.h \
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opmapgadgetfactory.h \
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@ -17,6 +20,7 @@ HEADERS += opmapplugin.h \
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opmap_zoom_slider_widget.h \
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opmap_statusbar_widget.h \
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opmap_overlay_widget.h
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SOURCES += opmapplugin.cpp \
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opmapgadgetwidget.cpp \
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opmapgadgetoptionspage.cpp \
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@ -28,7 +32,9 @@ SOURCES += opmapplugin.cpp \
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opmap_zoom_slider_widget.cpp \
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opmap_statusbar_widget.cpp \
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opmap_overlay_widget.cpp
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OTHER_FILES += OPMapGadget.pluginspec
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FORMS += opmapgadgetoptionspage.ui \
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opmap_widget.ui \
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# opmap_waypointeditor_dialog.ui \
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@ -36,4 +42,5 @@ FORMS += opmapgadgetoptionspage.ui \
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opmap_zoom_slider_widget.ui \
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opmap_statusbar_widget.ui \
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opmap_overlay_widget.ui
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RESOURCES += opmap.qrc
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@ -47,6 +47,7 @@
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#include "uavtalk/telemetrymanager.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectutilmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include "objectpersistence.h"
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@ -973,32 +974,25 @@ void OPMapGadgetWidget::onTelemetryConnect()
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{
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telemetry_connected = true;
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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bool set;
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double LLA[3];
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return;
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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UAVObjectUtilManager *obum = pm->getObject<UAVObjectUtilManager>();
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if (!obum) return;
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UAVDataObject *obj;
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// UAVObjectField *field;
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// ***********************
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// fetch the home location
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// ***********************
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// fetch the home location
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if (obum->getHomeLocation(set, LLA) < 0)
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return; // error
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obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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if (!obj) return;
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double lat = obj->getField("Latitude")->getDouble() * 1e-7;
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double lon = obj->getField("Longitude")->getDouble() * 1e-7;
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// double alt = obj->getField("Altitude")->getDouble();
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setHome(internals::PointLatLng(lat, lon));
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setHome(internals::PointLatLng(LLA[0], LLA[1]));
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if (m_map)
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m_map->SetCurrentPosition(home_position.coord); // set the map position
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// field = obj->getField(QString("Be"));
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// if (!field) return;
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// ***********************
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}
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@ -2264,42 +2258,19 @@ bool OPMapGadgetWidget::getUAV_LLA(double &latitude, double &longitude, double &
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bool OPMapGadgetWidget::getGPS_LLA(double &latitude, double &longitude, double &altitude)
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{
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UAVObject *obj;
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double LLA[3];
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return false;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return false;
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return false;
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UAVObjectUtilManager *obum = pm->getObject<UAVObjectUtilManager>();
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if (!obum) return false;
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obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("GPSPosition")));
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if (!obj) return false;
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latitude = obj->getField(QString("Latitude"))->getDouble();
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longitude = obj->getField(QString("Longitude"))->getDouble();
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altitude = obj->getField(QString("Altitude"))->getDouble();
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if (obum->getGPSPosition(LLA) < 0)
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return false; // error
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latitude *= 1E-7;
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longitude *= 1E-7;
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if (latitude != latitude) latitude = 0; // nan detection
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// if (isNan(latitude)) latitude = 0; // nan detection
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else
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// if (!isFinite(latitude)) latitude = 0;
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// else
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if (latitude > 90) latitude = 90;
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else
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if (latitude < -90) latitude = -90;
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if (longitude != longitude) longitude = 0; // nan detection
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else
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// if (longitude > std::numeric_limits<double>::max()) longitude = 0; // +infinite
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// else
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// if (longitude < -std::numeric_limits<double>::max()) longitude = 0; // -infinite
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// else
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if (longitude > 180) longitude = 180;
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else
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if (longitude < -180) longitude = -180;
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if (altitude != altitude) altitude = 0; // nan detection
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latitude = LLA[0];
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longitude = LLA[1];
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altitude = LLA[2];
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return true;
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}
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@ -2322,42 +2293,6 @@ double OPMapGadgetWidget::getUAV_Yaw()
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return yaw;
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}
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// *************************************************************************************
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// save an object to SD card
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void OPMapGadgetWidget::saveObjectToSD(UAVObject *obj)
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{
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if (!obj) return;
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return;
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ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>( obm->getObject(ObjectPersistence::NAME) );
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if (!objper) return;
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connect(objper, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(uavObjectTransactionCompleted(UAVObject *, bool)));
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ObjectPersistence::DataFields data;
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data.Operation = ObjectPersistence::OPERATION_SAVE;
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data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
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data.ObjectID = obj->getObjID();
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data.InstanceID = obj->getInstID();
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objper->setData(data);
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objper->updated();
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}
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void OPMapGadgetWidget::uavObjectTransactionCompleted(UAVObject *obj, bool success)
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{
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Q_UNUSED(success);
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// Disconnect from sending object
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if (obj) obj->disconnect(this);
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}
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// *************************************************************************************
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void OPMapGadgetWidget::setMapFollowingMode()
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@ -2390,76 +2325,15 @@ void OPMapGadgetWidget::setMapFollowingMode()
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void OPMapGadgetWidget::setHomeLocationObject()
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{
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double LLA[3];
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double ECEF[3];
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double RNE[9];
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double Be[3];
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LLA[0] = home_position.coord.Lat();
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LLA[1] = home_position.coord.Lng();
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LLA[2] = home_position.altitude;
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if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
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return; // error
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// ******************
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// save the new home location details
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double LLA[3] = {home_position.coord.Lat(), home_position.coord.Lng(), home_position.altitude};
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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UAVObjectUtilManager *obum = pm->getObject<UAVObjectUtilManager>();
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if (!obum) return;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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if (!obj) return;
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UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
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if (!ECEF_field) return;
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UAVObjectField *RNE_field = obj->getField(QString("RNE"));
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if (!RNE_field) return;
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UAVObjectField *Be_field = obj->getField(QString("Be"));
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if (!Be_field) return;
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obj->getField("Set")->setValue("TRUE");
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obj->getField("Latitude")->setValue(LLA[0] * 10e6);
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obj->getField("Longitude")->setValue(LLA[1] * 10e6);
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obj->getField("Altitude")->setValue(LLA[2]);
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for (int i = 0; i < 3; i++)
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ECEF_field->setValue(ECEF[i] * 100, i);
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for (int i = 0; i < 9; i++)
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RNE_field->setDouble(RNE[i], i);
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for (int i = 0; i < 3; i++)
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Be_field->setDouble(Be[i], i);
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obj->updated();
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// ******************
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// save the new location to SD card
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// saveObjectToSD(obj);
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// ******************
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// debug
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qDebug() << "opmap setting HomeLocation UAV Object .. " << endl;
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QString s;
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s = " LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
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qDebug() << s << endl;
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s = " ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
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qDebug() << s << endl;
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s = " RNE "; for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
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qDebug() << s << endl;
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s = " Be "; for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
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qDebug() << s << endl;
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// ******************
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if (obum->setHomeLocation(LLA, true) < 0)
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return; // error
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}
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// *************************************************************************************
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@ -114,7 +114,6 @@ public slots:
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void homePositionUpdated(UAVObject *);
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void onTelemetryConnect();
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void onTelemetryDisconnect();
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void uavObjectTransactionCompleted(UAVObject *obj, bool success);
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protected:
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void resizeEvent(QResizeEvent *event);
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@ -325,8 +324,6 @@ private:
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bool getGPS_LLA(double &latitude, double &longitude, double &altitude);
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double getUAV_Yaw();
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void saveObjectToSD(UAVObject *obj);
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void setMapFollowingMode();
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void setHomeLocationObject();
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