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Code Issues Releases Activity

Merge branch 'next' into thread/OP-39

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This commit is contained in:
Fredrik Arvidsson 2012-08-21 23:18:53 +02:00
commit b804bc4634
180 changed files with 5957 additions and 2435 deletions
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229
flight/Modules/Actuator/actuator.c
View File

@ -65,24 +65,25 @@ static xQueueHandle queue;
static xTaskHandle taskHandle;
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
// used to inform the actuator thread that actuator update rate is changed
static uint8_t updateRateChanged = 0;
static volatile bool actuator_settings_updated;
// used to inform the actuator thread that mixer settings are changed
static volatile bool mixer_settings_updated;
// Private functions
static void actuatorTask(void* parameters);
static void actuator_update_rate(UAVObjEvent *);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
static void setFailsafe();
static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings);
static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
static bool set_channel(uint8_t mixer_channel, uint16_t value);
static void change_update_rate();
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings);
static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update);
static void MixerSettingsUpdatedCb(UAVObjEvent * ev);
static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev);
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period);
static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
//this structure is equivalent to the UAVObjects for one mixer.
typedef struct {
uint8_t type;
@ -109,22 +110,26 @@ int32_t ActuatorStart()
*/
int32_t ActuatorInitialize()
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Register for notification of changes to ActuatorSettings
ActuatorSettingsInitialize();
ActuatorDesiredInitialize();
MixerSettingsInitialize();
ActuatorCommandInitialize();
#if defined(DIAGNOSTICS)
MixerStatusInitialize();
#endif
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
// Listen for ExampleObject1 updates
// Register for notification of changes to MixerSettings
MixerSettingsInitialize();
MixerSettingsConnectCallback(MixerSettingsUpdatedCb);
// Listen for ActuatorDesired updates (Primary input to this module)
ActuatorDesiredInitialize();
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
ActuatorDesiredConnectQueue(queue);
// If settings change, update the output rate
ActuatorSettingsConnectCallback(actuator_update_rate);
// Primary output of this module
ActuatorCommandInitialize();
#if defined(DIAGNOSTICS)
// UAVO only used for inspecting the internal status of the mixer during debug
MixerStatusInitialize();
#endif
return 0;
}
@ -151,22 +156,25 @@ static void actuatorTask(void* parameters)
float dT = 0.0f;
ActuatorCommandData command;
MixerSettingsData mixerSettings;
ActuatorDesiredData desired;
MixerStatusData mixerStatus;
FlightStatusData flightStatus;
uint8_t MotorsSpinWhileArmed;
int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
/* Read initial values of ActuatorSettings */
ActuatorSettingsData actuatorSettings;
actuator_settings_updated = false;
ActuatorSettingsGet(&actuatorSettings);
change_update_rate();
float * status = (float *)&mixerStatus; //access status objects as an array of floats
/* Read initial values of MixerSettings */
MixerSettingsData mixerSettings;
mixer_settings_updated = false;
MixerSettingsGet(&mixerSettings);
/* Force an initial configuration of the actuator update rates */
actuator_update_rate_if_changed(&actuatorSettings, true);
// Go to the neutral (failsafe) values until an ActuatorDesired update is received
setFailsafe();
setFailsafe(&actuatorSettings, &mixerSettings);
// Main task loop
lastSysTime = xTaskGetTickCount();
@ -174,19 +182,26 @@ static void actuatorTask(void* parameters)
{
PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
setFailsafe();
// Wait until the ActuatorDesired object is updated
uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
/* Process settings updated events even in timeout case so we always act on the latest settings */
if (actuator_settings_updated) {
actuator_settings_updated = false;
ActuatorSettingsGet (&actuatorSettings);
actuator_update_rate_if_changed (&actuatorSettings, false);
}
if (mixer_settings_updated) {
mixer_settings_updated = false;
MixerSettingsGet (&mixerSettings);
}
if (rc != pdTRUE) {
/* Update of ActuatorDesired timed out. Go to failsafe */
setFailsafe(&actuatorSettings, &mixerSettings);
continue;
}
if(updateRateChanged!=0)
{
change_update_rate();
updateRateChanged=0;
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
@ -194,18 +209,12 @@ static void actuatorTask(void* parameters)
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
MixerSettingsGet (&mixerSettings);
ActuatorDesiredGet(&desired);
ActuatorCommandGet(&command);
#if defined(DIAGNOSTICS)
MixerStatusGet(&mixerStatus);
#endif
ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
ActuatorSettingsChannelMaxGet(ChannelMax);
ActuatorSettingsChannelMinGet(ChannelMin);
ActuatorSettingsChannelNeutralGet(ChannelNeutral);
int nMixers = 0;
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
@ -217,7 +226,7 @@ static void actuatorTask(void* parameters)
}
if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
setFailsafe(&actuatorSettings, &mixerSettings); // So that channels like PWM buzzer keep working
continue;
}
@ -225,7 +234,7 @@ static void actuatorTask(void* parameters)
bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
bool positiveThrottle = desired.Throttle >= 0.00f;
bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
bool spinWhileArmed = actuatorSettings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
@ -264,6 +273,8 @@ static void actuatorTask(void* parameters)
break;
}
float * status = (float *)&mixerStatus; //access status objects as an array of floats
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
@ -337,9 +348,9 @@ static void actuatorTask(void* parameters)
for(int i = 0; i < MAX_MIX_ACTUATORS; i++)
command.Channel[i] = scaleChannel(status[i],
ChannelMax[i],
ChannelMin[i],
ChannelNeutral[i]);
actuatorSettings.ChannelMax[i],
actuatorSettings.ChannelMin[i],
actuatorSettings.ChannelNeutral[i]);
// Store update time
command.UpdateTime = 1000.0f*dT;
@ -361,7 +372,7 @@ static void actuatorTask(void* parameters)
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
success &= set_channel(n, command.Channel[n]);
success &= set_channel(n, command.Channel[n], &actuatorSettings);
}
if(!success) {
@ -379,15 +390,18 @@ static void actuatorTask(void* parameters)
*Process mixing for one actuator
*/
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
{
Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
Mixer_t * mixer = &mixers[index];
static float lastFilteredResult[MAX_MIX_ACTUATORS];
const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
const Mixer_t * mixer = &mixers[index];
float result = (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
if(mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{
if(result < 0.0f) //idle throttle
@ -501,19 +515,13 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
/**
* Set actuator output to the neutral values (failsafe)
*/
static void setFailsafe()
static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings)
{
/* grab only the modules parts that we are going to use */
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
ActuatorSettingsChannelMinGet(ChannelMin);
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
ActuatorSettingsChannelNeutralGet(ChannelNeutral);
/* grab only the parts that we are going to use */
int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
ActuatorCommandChannelGet(Channel);
MixerSettingsData mixerSettings;
MixerSettingsGet (&mixerSettings);
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type; //pointer to array of mixers in UAVObjects
const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
// Reset ActuatorCommand to safe values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
@ -521,11 +529,11 @@ static void setFailsafe()
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{
Channel[n] = ChannelMin[n];
Channel[n] = actuatorSettings->ChannelMin[n];
}
else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
{
Channel[n] = ChannelNeutral[n];
Channel[n] = actuatorSettings->ChannelNeutral[n];
}
else
{
@ -541,54 +549,22 @@ static void setFailsafe()
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
set_channel(n, Channel[n]);
set_channel(n, Channel[n], actuatorSettings);
}
// Update output object's parts that we changed
ActuatorCommandChannelSet(Channel);
}
/**
* @brief Update the servo update rate
*/
static void actuator_update_rate(UAVObjEvent * ev)
{
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
// ActuatoSettings are not changed
if ( ev->obj != ActuatorSettingsHandle() )
return;
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
// check if the any rate setting is changed
if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
return;
// signal to the actuator task that ChannelUpdateFreq are changed
updateRateChanged = 1;
}
/**
* @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
*/
static void change_update_rate()
{
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
// save the new rates
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
}
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
{
return true;
}
#else
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
ActuatorSettingsData settings;
ActuatorSettingsGet(&settings);
switch(settings.ChannelType[mixer_channel]) {
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
{
switch(actuatorSettings->ChannelType[mixer_channel]) {
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
// This is for buzzers that take a PWM input
@ -631,18 +607,18 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
lastSysTime = thisSysTime;
}
}
PIOS_Servo_Set( settings.ChannelAddr[mixer_channel],
buzzOn?settings.ChannelMax[mixer_channel]:settings.ChannelMin[mixer_channel]);
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel],
buzzOn?actuatorSettings->ChannelMax[mixer_channel]:actuatorSettings->ChannelMin[mixer_channel]);
return true;
}
case ACTUATORSETTINGS_CHANNELTYPE_PWM:
PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
return true;
#if defined(PIOS_INCLUDE_I2C_ESC)
case ACTUATORSETTINGS_CHANNELTYPE_MK:
return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
return PIOS_SetMKSpeed(actuatorSettings->ChannelAddr[mixer_channel],value);
case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
return PIOS_SetAstec4Speed(actuatorSettings->ChannelAddr[mixer_channel],value);
break;
#endif
default:
@ -654,6 +630,35 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
}
#endif
/**
* @brief Update the servo update rate
*/
static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update)
{
static uint16_t prevChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
// check if the any rate setting is changed
if (force_update ||
memcmp (prevChannelUpdateFreq,
actuatorSettings->ChannelUpdateFreq,
sizeof(prevChannelUpdateFreq)) != 0) {
/* Something has changed, apply the settings to HW */
memcpy (prevChannelUpdateFreq,
actuatorSettings->ChannelUpdateFreq,
sizeof(prevChannelUpdateFreq));
PIOS_Servo_SetHz(actuatorSettings->ChannelUpdateFreq, ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
}
}
static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev)
{
actuator_settings_updated = true;
}
static void MixerSettingsUpdatedCb(UAVObjEvent * ev)
{
mixer_settings_updated = true;
}
/**
* @}

2
flight/PiOS.posix/inc/pios_servo.h
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@ -32,7 +32,7 @@
/* Public Functions */
extern void PIOS_Servo_Init(void);
extern void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t num_banks);
extern void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t num_banks);
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
#endif /* PIOS_SERVO_H */

2
flight/PiOS.posix/posix/pios_servo.c
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@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
*/
void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
{
}

2
flight/PiOS.win32/win32/pios_servo.c
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@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
*/
void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
{
}

2
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
* \param[in] array of rates in Hz
* \param[in] maximum number of banks
*/
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
{
if (!servo_cfg) {
return;

2
flight/PiOS/STM32F4xx/pios_servo.c
View File

@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
* \param[in] array of rates in Hz
* \param[in] maximum number of banks
*/
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
{
if (!servo_cfg) {
return;

2
flight/PiOS/inc/pios_servo.h
View File

@ -31,7 +31,7 @@
#define PIOS_SERVO_H
/* Public Functions */
extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels);
extern void PIOS_Servo_SetHz(const uint16_t * update_rates, uint8_t banks);
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
#endif /* PIOS_SERVO_H */

2
flight/PipXtreme/System/pios_board.c
View File

@ -346,7 +346,7 @@ void PIOS_Board_Init(void) {
pios_rfm22b_cfg.maxRFBandwidth = 128000;
break;
}
switch (pipxSettings.RFSpeed)
switch (pipxSettings.MaxRFPower)
{
case PIPXSETTINGS_MAXRFPOWER_125:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_0;

3
flight/UAVObjects/eventdispatcher.c
View File

@ -280,6 +280,9 @@ static void eventTask()
int32_t delayMs;
EventCallbackInfo evInfo;
/* Must do this in task context to ensure that TaskMonitor has already finished its init */
TaskMonitorAdd(TASKINFO_RUNNING_EVENTDISPATCHER, eventTaskHandle);
// Initialize time
timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS;

19
ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.h
View File

@ -1 +1,20 @@
#ifndef OPMAP_CONTROL_H_
#define OPMAP_CONTROL_H_
#include "src/mapwidget/opmapwidget.h"
namespace mapcontrol
{
struct customData
{
float velocity;
int mode;
float mode_params[4];
int condition;
float condition_params[4];
int command;
int jumpdestination;
int errordestination;
};
}
Q_DECLARE_METATYPE(mapcontrol::customData)
#endif

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/accessmode.h
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@ -2,7 +2,7 @@
******************************************************************************
*
* @file accessmode.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/alllayersoftype.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file alllayersoftype.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/alllayersoftype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file alllayersoftype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cacheitemqueue.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cacheitemqueue.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cacheitemqueue.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cacheitemqueue.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/diagnostics.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file diagnostics.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/diagnostics.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file diagnostics.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/geodecoderstatus.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file geodecoderstatus.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/kibertilecache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file kibertilecache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/kibertilecache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file kibertilecache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/languagetype.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file languagetype.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/languagetype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file languagetype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/maptype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file maptype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/memorycache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file memorycache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/memorycache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file memorycache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file OPMaps.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file OPMaps.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/placemark.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file placemark.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/placemark.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file placemark.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/point.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file point.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/point.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file point.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/providerstrings.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file providerstrings.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/providerstrings.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file providerstrings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimage.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimage.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimagecache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimagecache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimagecache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimagecache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/rawtile.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rawtile.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/rawtile.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rawtile.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/size.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file size.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/size.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file size.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/tilecachequeue.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilecachequeue.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/tilecachequeue.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilecachequeue.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/urlfactory.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file urlfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/urlfactory.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file urlfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/MouseWheelZoomType.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file MouseWheelZoomType.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

12
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/copyrightstrings.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file copyrightstrings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -31,11 +31,11 @@
#include <QDateTime>
namespace internals {
static const QString googleCopyright = QString("©%1 Google - Map data ©%1 Tele Atlas, Imagery ©%1 TerraMetrics").arg(QDate::currentDate().year());
static const QString openStreetMapCopyright = QString("© OpenStreetMap - Map data ©%1 OpenStreetMap").arg(QDate::currentDate().year());
static const QString yahooMapCopyright = QString("© Yahoo! Inc. - Map data & Imagery ©%1 NAVTEQ").arg(QDate::currentDate().year());
static const QString virtualEarthCopyright = QString("©%1 Microsoft Corporation, ©%1 NAVTEQ, ©%1 Image courtesy of NASA").arg(QDate::currentDate().year());
static const QString arcGisCopyright = QString("©%1 ESRI - Map data ©%1 ArcGIS").arg(QDate::currentDate().year());
static const QString googleCopyright = QString("%1 Google - Map data %1 Tele Atlas, Imagery %1 TerraMetrics").arg(QDate::currentDate().year());
static const QString openStreetMapCopyright = QString(" OpenStreetMap - Map data %1 OpenStreetMap").arg(QDate::currentDate().year());
static const QString yahooMapCopyright = QString(" Yahoo! Inc. - Map data & Imagery %1 NAVTEQ").arg(QDate::currentDate().year());
static const QString virtualEarthCopyright = QString("%1 Microsoft Corporation, %1 NAVTEQ, %1 Image courtesy of NASA").arg(QDate::currentDate().year());
static const QString arcGisCopyright = QString("%1 ESRI - Map data %1 ArcGIS").arg(QDate::currentDate().year());
}
#endif // COPYRIGHTSTRINGS_H

19
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/core.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file core.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -251,6 +251,7 @@ namespace internals {
Matrix.Clear();
GoToCurrentPositionOnZoom();
UpdateBounds();
keepInBounds();
emit OnMapDrag();
emit OnMapZoomChanged();
emit OnNeedInvalidation();
@ -572,7 +573,7 @@ namespace internals {
{
renderOffset.SetX(pt.X() - dragPoint.X());
renderOffset.SetY(pt.Y() - dragPoint.Y());
keepInBounds();
UpdateCenterTileXYLocation();
if(centerTileXYLocation != centerTileXYLocationLast)
@ -692,4 +693,18 @@ namespace internals {
pxRes1000km = (int) (1000000.0 / rez); // 1000km
pxRes5000km = (int) (5000000.0 / rez); // 5000km
}
void Core::keepInBounds()
{
if(renderOffset.X()>0)
renderOffset.SetX(0);
if(renderOffset.Y()>0)
renderOffset.SetY(0);
int maxDragY=GetCurrentRegion().Height()-GettileRect().Height()*(maxOfTiles.Height()-minOfTiles.Height()+1);
int maxDragX=GetCurrentRegion().Width()-GettileRect().Width()*(maxOfTiles.Width()-minOfTiles.Width()+1);
if(maxDragY>renderOffset.Y())
renderOffset.SetY(maxDragY);
if(maxDragX>renderOffset.X())
renderOffset.SetX(maxDragX);
}
}

5
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/core.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file core.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -193,6 +193,7 @@ namespace internals {
bool isStarted(){return started;}
diagnostics GetDiagnostics();
signals:
void OnCurrentPositionChanged(internals::PointLatLng point);
void OnTileLoadComplete();
@ -206,7 +207,7 @@ namespace internals {
private:
void keepInBounds();
PointLatLng currentPosition;
core::Point currentPositionPixel;
core::Point renderOffset;

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/loadtask.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file loadtask.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/loadtask.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file loadtask.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/mousewheelzoomtype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mousewheelzoomtype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pointlatlng.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pointlatlng.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pointlatlng.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pointlatlng.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

5
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file lks94projection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -614,6 +614,9 @@ double LKS94Projection::GetTileMatrixResolution(int const& zoom)
return ret;
}
/*
* Returns the conversion from pixels to meters
*/
double LKS94Projection::GetGroundResolution(int const& zoom, double const& latitude)
{
Q_UNUSED(zoom);

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file lks94projection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojectionyandex.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojectionyandex.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojectionpergo.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojectionpergo.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

47
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureprojection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -103,6 +103,9 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
return ret;
}
/*
* Returns the conversion from pixels to meters
*/
double PureProjection::GetGroundResolution(const int &zoom,const double &latitude)
{
return (cos(latitude * (PI / 180)) * 2 * PI * Axis()) / GetTileMatrixSizePixel(zoom).Width();
@ -215,6 +218,18 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
Lat /= (PI / 180);
Lng /= (PI / 180);
}
double PureProjection::courseBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
double lon1=p1.Lng()* (M_PI / 180);
double lat1=p1.Lat()* (M_PI / 180);
double lon2=p2.Lng()* (M_PI / 180);
double lat2=p2.Lat()* (M_PI / 180);
return 2*M_PI-myfmod(atan2(sin(lon1-lon2)*cos(lat2),
cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon1-lon2)), 2*M_PI);
}
double PureProjection::DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
double R = 6371; // km
@ -229,4 +244,34 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
double d = R * c;
return d;
}
void PureProjection::offSetFromLatLngs(PointLatLng p1,PointLatLng p2,double &distance,double &bearing)
{
distance=DistanceBetweenLatLng(p1,p2)*1000;
bearing=courseBetweenLatLng(p1,p2);
}
double PureProjection::myfmod(double x,double y)
{
return x - y*floor(x/y);
}
PointLatLng PureProjection::translate(PointLatLng p1,double distance,double bearing)
{
PointLatLng ret;
double d=distance;
double tc=bearing;
double lat1=p1.Lat()*M_PI/180;
double lon1=p1.Lng()*M_PI/180;
double R=6378137;
double lat2 = asin(sin(lat1)*cos(d/R) + cos(lat1)*sin(d/R)*cos(tc) );
double lon2 = lon1 + atan2(sin(tc)*sin(d/R)*cos(lat1),
cos(d/R)-sin(lat1)*sin(lat2));
lat2=lat2*180/M_PI;
lon2=lon2*180/M_PI;
ret.SetLat(lat2);
ret.SetLng(lon2);
return ret;
}
}

10
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureprojection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -33,7 +33,7 @@
#include "pointlatlng.h"
#include "cmath"
#include "rectlatlng.h"
#include <QDebug>
using namespace core;
namespace internals
@ -81,6 +81,9 @@ public:
void FromCartesianTGeodetic(const double &X,const double &Y,const double &Z, double &Lat, double &Lng);
static double DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2);
PointLatLng translate(PointLatLng p1, double distance, double bearing);
double courseBetweenLatLng(const PointLatLng &p1, const PointLatLng &p2);
void offSetFromLatLngs(PointLatLng p1, PointLatLng p2, double &dX, double &dY);
protected:
static const double PI;
@ -103,7 +106,8 @@ protected:
static double e3fn(const double &x);
static double mlfn(const double &e0,const double &e1,const double &e2,const double &e3,const double &phi);
static qlonglong GetUTMzone(const double &lon);
private:
double myfmod(double x, double y);
};
}

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectangle.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectangle.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectangle.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectangle.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectlatlng.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectlatlng.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectlatlng.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectlatlng.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/sizelatlng.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file sizelatlng.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/sizelatlng.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file sizelatlng.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tile.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tile.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tile.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tile.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tilematrix.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilematrix.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tilematrix.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilematrix.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/configuration.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configuration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that centralizes most of the mapcontrol configurations
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/configuration.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configuration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that centralizes most of the mapcontrol configurations
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

94
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/gpsitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file gpsitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a UAV
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -37,27 +37,27 @@ namespace mapcontrol
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
trail=new QGraphicsItemGroup();
trail=new QGraphicsItemGroup(this);
trail->setParentItem(map);
trailLine=new QGraphicsItemGroup();
trailLine=new QGraphicsItemGroup(this);
trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance;
timer.start();
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
GPSItem::~GPSItem()
{
delete trail;
}
void GPSItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
// painter->rotate(-90);
painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
// painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
}
QRectF GPSItem::boundingRect()const
{
@ -74,9 +74,15 @@ namespace mapcontrol
{
if(timer.elapsed()>trailtime*1000)
{
trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,map)));
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
timer.restart();
}
@ -86,10 +92,15 @@ namespace mapcontrol
{
if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
{
trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,this)));
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
lastcoord=position;
}
@ -97,48 +108,6 @@ namespace mapcontrol
coord=position;
this->altitude=altitude;
RefreshPos();
/*if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap||mapfollowtype==UAVMapFollowType::CenterMap)
{
mapwidget->SetCurrentPosition(coord);
}*/
this->update();
/*if(autosetreached)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* wp=qgraphicsitem_cast<WayPointItem*>(i);
if(wp)
{
if(Distance3D(wp->Coord(),wp->Altitude())<autosetdistance)
{
wp->SetReached(true);
emit UAVReachedWayPoint(wp->Number(),wp);
}
}
}
}
if(mapwidget->Home!=0)
{
//verify if the UAV is inside the safety bouble
if(Distance3D(mapwidget->Home->Coord(),mapwidget->Home->Altitude())>mapwidget->Home->SafeArea())
{
if(mapwidget->Home->safe!=false)
{
mapwidget->Home->safe=false;
mapwidget->Home->update();
emit UAVLeftSafetyBouble(this->coord);
}
}
else
{
if(mapwidget->Home->safe!=true)
{
mapwidget->Home->safe=true;
mapwidget->Home->update();
}
}
}*/
}
}
@ -169,20 +138,15 @@ namespace mapcontrol
{
localposition=map->FromLatLngToLocal(coord);
this->setPos(localposition.X(),localposition.Y());
foreach(QGraphicsItem* i,trail->childItems())
{
TrailItem* w=qgraphicsitem_cast<TrailItem*>(i);
if(w)
w->setPos(map->FromLatLngToLocal(w->coord).X(),map->FromLatLngToLocal(w->coord).Y());
}
foreach(QGraphicsItem* i,trailLine->childItems())
{
TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
if(ww)
ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
}
emit setChildPosition();
emit setChildLine();
}
void GPSItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
void GPSItem::SetTrailType(const UAVTrailType::Types &value)
{
trailtype=value;

8
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/gpsitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file gpsitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -103,7 +103,6 @@ namespace mapcontrol
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
void RefreshPos();
QRectF boundingRect() const;
/**
* @brief Sets the trail time to be used if TrailType is ByTimeElapsed
@ -218,10 +217,13 @@ namespace mapcontrol
// QRectF rect;
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);
signals:
void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
void UAVLeftSafetyBouble(internals::PointLatLng const& position);
void setChildPosition();
void setChildLine();
};
}
#endif // GPSITEM_H

72
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file homeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -27,17 +27,32 @@
#include "homeitem.h"
namespace mapcontrol
{
HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),showsafearea(true),safearea(1000),altitude(0)
HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),
showsafearea(true),safearea(1000),altitude(0),isDragging(false),toggleRefresh(true)
{
pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsMovable,false);
this->setFlag(QGraphicsItem::ItemIsSelectable,false);
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 HomeItem::RefreshToolTip()
{
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
setToolTip(QString("Waypoint: Home\nCoordinate:%1\nAltitude:%2\n").arg(coord_str).arg(QString::number(altitude)));
}
void HomeItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
@ -56,7 +71,7 @@ namespace mapcontrol
}
QRectF HomeItem::boundingRect()const
{
if(!showsafearea)
if(pic.width()>localsafearea*2 && !toggleRefresh)
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
else
return QRectF(-localsafearea,-localsafearea,localsafearea*2,localsafearea*2);
@ -67,6 +82,7 @@ namespace mapcontrol
{
return Type;
}
void HomeItem::RefreshPos()
{
prepareGeometryChange();
@ -75,6 +91,56 @@ namespace mapcontrol
if(showsafearea)
localsafearea=safearea/map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
RefreshToolTip();
this->update();
toggleRefresh=false;
}
void HomeItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
void HomeItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
isDragging=true;
}
QGraphicsItem::mousePressEvent(event);
}
void HomeItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
isDragging=false;
emit homePositionChanged(coord,Altitude());
}
QGraphicsItem::mouseReleaseEvent(event);
RefreshToolTip();
}
void HomeItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
emit homedoubleclick(this);
}
}
void HomeItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{
if(isDragging)
{
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
emit homePositionChanged(coord,Altitude());
}
QGraphicsItem::mouseMoveEvent(event);
}
}

28
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file homeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -47,31 +47,41 @@ namespace mapcontrol
QWidget *widget);
QRectF boundingRect() const;
int type() const;
void RefreshPos();
bool ShowSafeArea()const{return showsafearea;}
void SetShowSafeArea(bool const& value){showsafearea=value;}
void SetToggleRefresh(bool const& value){toggleRefresh=value;}
int SafeArea()const{return safearea;}
void SetSafeArea(int const& value){safearea=value;}
bool safe;
void SetCoord(internals::PointLatLng const& value){coord=value;}
void SetCoord(internals::PointLatLng const& value){coord=value;emit homePositionChanged(value,Altitude());}
internals::PointLatLng Coord()const{return coord;}
void SetAltitude(int const& value){altitude=value;}
int Altitude()const{return altitude;}
void SetAltitude(float const& value){altitude=value;emit homePositionChanged(Coord(),Altitude());}
float Altitude()const{return altitude;}
void RefreshToolTip();
private:
MapGraphicItem* map;
OPMapWidget* mapwidget;
QPixmap pic;
core::Point localposition;
internals::PointLatLng coord;
bool showsafearea;
bool toggleRefresh;
int safearea;
int localsafearea;
int altitude;
float altitude;
bool isDragging;
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event );
void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);
signals:
void homePositionChanged(internals::PointLatLng coord,float);
void homedoubleclick(HomeItem* waypoint);
};
}
#endif // HOMEITEM_H

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83
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
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@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapgraphicitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The main graphicsItem used on the widget, contains the map and map logic
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -40,11 +40,13 @@ namespace mapcontrol
core->SetCurrentRegion(internals::Rectangle(0, 0, maprect.width(), maprect.height()));
core->SetMapType(MapType::GoogleHybrid);
this->SetZoom(2);
this->setFlag(ItemIsFocusable);
connect(core,SIGNAL(OnNeedInvalidation()),this,SLOT(Core_OnNeedInvalidation()));
connect(core,SIGNAL(OnMapDrag()),this,SLOT(ChildPosRefresh()));
connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(ChildPosRefresh()));
//resize();
connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh()));
connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh()));
setCacheMode(QGraphicsItem::ItemCoordinateCache);
}
void MapGraphicItem::start()
{
core->StartSystem();
@ -77,39 +79,15 @@ namespace mapcontrol
void MapGraphicItem::Core_OnNeedInvalidation()
{
this->update();
foreach(QGraphicsItem* i,this->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
w->RefreshPos();
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
if(www)
www->RefreshPos();
GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
if(wwww)
wwww->RefreshPos();
}
emit childRefreshPosition();
}
void MapGraphicItem::ChildPosRefresh()
void MapGraphicItem::childPosRefresh()
{
foreach(QGraphicsItem* i,this->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
w->RefreshPos();
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
if(www)
www->RefreshPos();
GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
if(wwww)
wwww->RefreshPos();
}
emit childRefreshPosition();
}
void MapGraphicItem::setOverlayOpacity(qreal value)
{
emit childSetOpacity(value);
}
void MapGraphicItem::ConstructLastImage(int const& zoomdiff)
{
@ -117,8 +95,7 @@ namespace mapcontrol
QSize size=boundingRect().size().toSize();
size.setWidth(size.width()*2*zoomdiff);
size.setHeight(size.height()*2*zoomdiff);
temp=QImage(size,
QImage::Format_ARGB32_Premultiplied);
temp=QImage(size,QImage::Format_ARGB32_Premultiplied);
temp.fill(0);
QPainter imagePainter(&temp);
imagePainter.translate(-boundingRect().topLeft());
@ -196,7 +173,7 @@ namespace mapcontrol
}
}
else if(isSelected && !selectionStart.IsEmpty() && (event->modifiers() == Qt::AltModifier || event->modifiers() == Qt::ShiftModifier))
else if(isSelected && !selectionStart.IsEmpty() && (event->modifiers() == Qt::ControlModifier || event->modifiers() == Qt::ShiftModifier))
{
selectionEnd = FromLocalToLatLng(event->pos().x(), event->pos().y());
{
@ -215,12 +192,9 @@ namespace mapcontrol
}
void MapGraphicItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if(!IsMouseOverMarker())
{
if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::AltModifier)||(event->modifiers()==Qt::ShiftModifier)))
if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::ShiftModifier)||(event->modifiers()==Qt::ControlModifier)))
{
core->mouseDown.SetX(event->pos().x());
core->mouseDown.SetY(event->pos().y());
@ -232,7 +206,7 @@ namespace mapcontrol
this->update();
}
else if(!isSelected && ((event->modifiers()==Qt::AltModifier)||(event->modifiers()==Qt::ShiftModifier)))
else if(!isSelected && ((event->modifiers()==Qt::ControlModifier)||(event->modifiers()==Qt::ShiftModifier)))
{
isSelected = true;
SetSelectedArea (internals::RectLatLng::Empty);
@ -240,7 +214,6 @@ namespace mapcontrol
selectionStart = FromLocalToLatLng(event->pos().x(), event->pos().y());
}
}
}
void MapGraphicItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
@ -269,11 +242,25 @@ namespace mapcontrol
if(!selectedArea.IsEmpty() && event->modifiers() == Qt::ShiftModifier)
{
SetZoomToFitRect(SelectedArea());
selectedArea=internals::RectLatLng::Empty;
}
}
}
}
void MapGraphicItem::keyPressEvent(QKeyEvent *event)
{
if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))
this->setCursor(Qt::CrossCursor);
if(event->key()==Qt::Key_Escape)
selectedArea=internals::RectLatLng::Empty;
QGraphicsItem::keyPressEvent(event);
}
void MapGraphicItem::keyReleaseEvent(QKeyEvent *event)
{
if((event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))==0)
this->setCursor(Qt::ArrowCursor);
}
bool MapGraphicItem::SetZoomToFitRect(internals::RectLatLng const& rect)
{
int maxZoom = core->GetMaxZoomToFitRect(rect);
@ -380,7 +367,6 @@ namespace mapcontrol
found = true;
{
painter->drawPixmap(core->tileRect.X(),core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height(),PureImageProxy::FromStream(img));
// qDebug()<<"tile:"<<core->tileRect.X()<<core->tileRect.Y();
}
}
}
@ -394,7 +380,6 @@ namespace mapcontrol
painter->setFont(config->MissingDataFont);
painter->setPen(Qt::red);
painter->drawText(QRectF(core->tileRect.X(), core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height()),Qt::AlignCenter,(core->GettilePoint() == core->GetcenterTileXYLocation()? "CENTER: " :"TILE: ")+core->GettilePoint().ToString());
//qDebug()<<"ShowTileGridLine:"<<core->GettilePoint().ToString()<<"=="<<core->GetcenterTileXYLocation().ToString();
}
}
@ -431,11 +416,6 @@ namespace mapcontrol
}
}
}
// painter->drawRect(core->GetrenderOffset().X()-lastimagepoint.X()-3,core->GetrenderOffset().Y()-lastimagepoint.Y()-3,lastimage.width(),lastimage.height());
// painter->setPen(Qt::red);
// painter->drawLine(-10,-10,10,10);
// painter->drawLine(10,10,-10,-10);
// painter->drawRect(boundingRect().adjusted(100,100,-100,-100));
}
@ -506,7 +486,6 @@ namespace mapcontrol
float scaleValue = zoomDigi+remainder + 1;
{
MapRenderTransform = scaleValue;
// qDebug()<<"scale="<<scaleValue<<"zoomdigi:"<<ZoomDigi()<<"integer:"<<integer;
}
if(integer>MaxZoom())
integer=MaxZoom();

14
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapgraphicitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The main graphicsItem used on the widget, contains the map and map logic
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -40,8 +40,10 @@
#include <QObject>
#include "waypointitem.h"
//#include "uavitem.h"
namespace mapcontrol
{
class WayPointItem;
class OPMapWidget;
/**
* @brief The main graphicsItem used on the widget, contains the map and map logic
@ -92,7 +94,6 @@ namespace mapcontrol
bool IsDragging()const{return core->IsDragging();}
QImage lastimage;
// QPainter* imagePainter;
core::Point lastimagepoint;
void paintImage(QPainter* painter);
void ConstructLastImage(int const& zoomdiff);
@ -100,13 +101,15 @@ namespace mapcontrol
double Zoom();
double ZoomDigi();
double ZoomTotal();
void setOverlayOpacity(qreal value);
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void wheelEvent ( QGraphicsSceneWheelEvent * event );
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
bool IsMouseOverMarker()const{return isMouseOverMarker;}
void keyPressEvent ( QKeyEvent * event );
void keyReleaseEvent ( QKeyEvent * event );
/**
* @brief Returns current map zoom
@ -197,7 +200,7 @@ namespace mapcontrol
void SetMapType(MapType::Types const& value){core->SetMapType(value);}
private slots:
void Core_OnNeedInvalidation();
void ChildPosRefresh();
void childPosRefresh();
public slots:
/**
* @brief To be called when the scene size changes
@ -211,7 +214,10 @@ namespace mapcontrol
*
* @param zoom
*/
void wpdoubleclicked(WayPointItem * wp);
void zoomChanged(double zoomtotal,double zoomreal,double zoomdigi);
void childRefreshPosition();
void childSetOpacity(qreal value);
};
}
#endif // MAPGRAPHICITEM_H

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
View File

@ -12,6 +12,9 @@
<file>images/mapquad.png</file>
<file>images/dragons1.jpg</file>
<file>images/dragons2.jpeg</file>
<file>images/waypoint_marker1.png</file>
<file>images/waypoint_marker2.png</file>
<file>images/waypoint_marker3.png</file>
</qresource>
<qresource prefix="/uavs">
<file>images/airplanepip.png</file>

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripform.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Form to be used with the MapRipper class
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -33,6 +33,7 @@ MapRipForm::MapRipForm(QWidget *parent) :
ui(new Ui::MapRipForm)
{
ui->setupUi(this);
connect(ui->cancelButton,SIGNAL(clicked()),this,SIGNAL(cancelRequest()));
}
MapRipForm::~MapRipForm()

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

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripform.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Form to be used with the MapRipper class
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -44,6 +44,8 @@ public slots:
void SetPercentage(int const& perc);
void SetProvider(QString const& prov,int const& zoom);
void SetNumberOfTiles(int const& total,int const& actual);
signals:
void cancelRequest();
private:
Ui::MapRipForm *ui;
};

8
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.ui
View File

@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>392</width>
<width>521</width>
<height>133</height>
</rect>
</property>
@ -18,7 +18,7 @@
<rect>
<x>20</x>
<y>60</y>
<width>371</width>
<width>481</width>
<height>23</height>
</rect>
</property>
@ -31,7 +31,7 @@
<rect>
<x>30</x>
<y>10</y>
<width>321</width>
<width>481</width>
<height>16</height>
</rect>
</property>
@ -55,7 +55,7 @@
<widget class="QPushButton" name="cancelButton">
<property name="geometry">
<rect>
<x>280</x>
<x>220</x>
<y>100</y>
<width>75</width>
<height>23</height>

82
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripper.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripper.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that allows ripping of a selection of the map
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -28,17 +28,19 @@
namespace mapcontrol
{
MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect):sleep(100),cancel(false),progressForm(0),core(core)
MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect):sleep(100),cancel(false),progressForm(0),core(core),yesToAll(false)
{
if(!rect.IsEmpty())
{
type=core->GetMapType();
progressForm=new MapRipForm;
connect(progressForm,SIGNAL(cancelRequest()),this,SLOT(stopFetching()));
area=rect;
zoom=core->Zoom();
maxzoom=core->MaxZoom();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
cancel=false;
progressForm->show();
connect(this,SIGNAL(percentageChanged(int)),progressForm,SLOT(SetPercentage(int)));
connect(this,SIGNAL(numberOfTilesChanged(int,int)),progressForm,SLOT(SetNumberOfTiles(int,int)));
@ -46,32 +48,58 @@ namespace mapcontrol
connect(this,SIGNAL(finished()),this,SLOT(finish()));
emit numberOfTilesChanged(0,0);
}
else
#ifdef Q_OS_DARWIN
QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <COMMAND>+Left mouse click");
#else
QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <CTRL>+Left mouse click");
#endif
}
void MapRipper::finish()
void MapRipper::finish()
{
if(zoom<maxzoom && !cancel)
{
if(zoom<maxzoom)
++zoom;
int ret;
if(!yesToAll)
{
++zoom;
QMessageBox msgBox;
msgBox.setText(QString("Continue Ripping at zoom level %1?").arg(zoom));
// msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::Yes);
int ret = msgBox.exec();
if(ret==QMessageBox::Yes)
{
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
QMessageBox msgBox;
msgBox.setText(QString("Continue Ripping at zoom level %1?").arg(zoom));
// msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::YesAll);
msgBox.setDefaultButton(QMessageBox::Yes);
ret = msgBox.exec();
}
else
ret=QMessageBox::Yes;
if(ret==QMessageBox::Yes)
{
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else if(ret==QMessageBox::YesAll)
{
yesToAll=true;
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
else
{
yesToAll=false;
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
void MapRipper::run()
@ -119,4 +147,10 @@ namespace mapcontrol
QThread::msleep(sleep);
}
}
void MapRipper::stopFetching()
{
QMutexLocker locker(&mutex);
cancel=true;
}
}

5
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripper.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripper.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that allows ripping of a selection of the map
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -50,6 +50,8 @@ namespace mapcontrol
MapRipForm * progressForm;
int maxzoom;
internals::Core * core;
bool yesToAll;
QMutex mutex;
signals:
void percentageChanged(int const& perc);
@ -58,6 +60,7 @@ namespace mapcontrol
public slots:
void stopFetching();
void finish();
};
}

104
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro
View File

@ -1,50 +1,54 @@
TEMPLATE = lib
TARGET = opmapwidget
DEFINES += OPMAPWIDGET_LIBRARY
include(../../../../openpilotgcslibrary.pri)
# DESTDIR = ../build
SOURCES += mapgraphicitem.cpp \
opmapwidget.cpp \
configuration.cpp \
waypointitem.cpp \
uavitem.cpp \
gpsitem.cpp \
trailitem.cpp \
homeitem.cpp \
mapripform.cpp \
mapripper.cpp \
traillineitem.cpp
LIBS += -L../build \
-lcore \
-linternals \
-lcore
# order of linking matters
include(../../../utils/utils.pri)
POST_TARGETDEPS += ../build/libcore.a
POST_TARGETDEPS += ../build/libinternals.a
HEADERS += mapgraphicitem.h \
opmapwidget.h \
configuration.h \
waypointitem.h \
uavitem.h \
gpsitem.h \
uavmapfollowtype.h \
uavtrailtype.h \
trailitem.h \
homeitem.h \
mapripform.h \
mapripper.h \
traillineitem.h
QT += opengl
QT += network
QT += sql
QT += svg
RESOURCES += mapresources.qrc
FORMS += \
mapripform.ui
TEMPLATE = lib
TARGET = opmapwidget
DEFINES += OPMAPWIDGET_LIBRARY
include(../../../../openpilotgcslibrary.pri)
# DESTDIR = ../build
SOURCES += mapgraphicitem.cpp \
opmapwidget.cpp \
configuration.cpp \
waypointitem.cpp \
uavitem.cpp \
gpsitem.cpp \
trailitem.cpp \
homeitem.cpp \
mapripform.cpp \
mapripper.cpp \
traillineitem.cpp \
waypointline.cpp \
waypointcircle.cpp
LIBS += -L../build \
-lcore \
-linternals \
-lcore
# order of linking matters
include(../../../utils/utils.pri)
POST_TARGETDEPS += ../build/libcore.a
POST_TARGETDEPS += ../build/libinternals.a
HEADERS += mapgraphicitem.h \
opmapwidget.h \
configuration.h \
waypointitem.h \
uavitem.h \
gpsitem.h \
uavmapfollowtype.h \
uavtrailtype.h \
trailitem.h \
homeitem.h \
mapripform.h \
mapripper.h \
traillineitem.h \
waypointline.h \
waypointcircle.h
QT += opengl
QT += network
QT += sql
QT += svg
RESOURCES += mapresources.qrc
FORMS += \
mapripform.ui

292
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file opmapwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The Map Widget, this is the part exposed to the user
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -33,13 +33,18 @@
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),showDiag(false),diagGraphItem(0),diagTimer(0)
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core=new internals::Core;
map=new MapGraphicItem(core,config);
mscene.addItem(map);
this->setScene(&mscene);
Home=new HomeItem(map,this);
Home->setParentItem(map);
Home->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)));
connect(map->core,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)),this,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
@ -50,10 +55,12 @@ namespace mapcontrol
connect(map->core,SIGNAL(OnTileLoadComplete()),this,SIGNAL(OnTileLoadComplete()));
connect(map->core,SIGNAL(OnTileLoadStart()),this,SIGNAL(OnTileLoadStart()));
connect(map->core,SIGNAL(OnTilesStillToLoad(int)),this,SIGNAL(OnTilesStillToLoad(int)));
connect(map,SIGNAL(wpdoubleclicked(WayPointItem*)),this,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)));
connect(&mscene,SIGNAL(selectionChanged()),this,SLOT(OnSelectionChanged()));
SetShowDiagnostics(showDiag);
this->setMouseTracking(followmouse);
SetShowCompass(true);
QPixmapCache::setCacheLimit(64*1024);
}
void OPMapWidget::SetShowDiagnostics(bool const& value)
{
@ -70,12 +77,24 @@ namespace mapcontrol
delete diagTimer;
diagTimer=0;
}
if(GPS!=0)
{
delete GPS;
GPS=0;
}
}
else
{
diagTimer=new QTimer();
connect(diagTimer,SIGNAL(timeout()),this,SLOT(diagRefresh()));
diagTimer->start(500);
if(GPS==0)
{
GPS=new GPSItem(map,this);
GPS->setParentItem(map);
setOverlayOpacity(overlayOpacity);
}
}
}
@ -85,8 +104,40 @@ namespace mapcontrol
UAV->SetUavPic(UAVPic);
if(GPS!=0)
GPS->SetUavPic(UAVPic);
}
WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to,QColor color)
{
if(!from|!to)
return NULL;
WayPointLine* ret= new WayPointLine(from,to,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointLine * OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to,QColor color)
{
if(!from|!to)
return NULL;
WayPointLine* ret= new WayPointLine(from,to,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise,QColor color)
{
if(!center|!radius)
return NULL;
WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise,QColor color)
{
if(!center|!radius)
return NULL;
WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
void OPMapWidget::SetShowUAV(const bool &value)
{
@ -96,47 +147,21 @@ namespace mapcontrol
UAV->setParentItem(map);
connect(this,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)),UAV,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)),UAV,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)));
UAV->setOpacity(overlayOpacity);
}
else if(!value)
{
if(UAV!=0)
{
delete UAV;
UAV=0;
}
}
if(value && GPS==0)
{
GPS=new GPSItem(map,this);
GPS->setParentItem(map);
}
else if(!value)
{
if(GPS!=0)
{
delete GPS;
GPS=0;
UAV=NULL;
}
}
}
void OPMapWidget::SetShowHome(const bool &value)
{
if(value && Home==0)
{
Home=new HomeItem(map,this);
Home->setParentItem(map);
}
else if(!value)
{
if(Home!=0)
{
delete Home;
Home=0;
}
}
Home->setVisible(value);
}
void OPMapWidget::resizeEvent(QResizeEvent *event)
@ -161,14 +186,20 @@ namespace mapcontrol
}
OPMapWidget::~OPMapWidget()
{
delete UAV;
delete Home;
delete map;
delete core;
delete configuration;
if(UAV)
delete UAV;
if(Home)
delete Home;
if(map)
delete map;
if(core)
delete core;
if(configuration)
delete configuration;
foreach(QGraphicsItem* i,this->items())
{
delete i;
if(i)
delete i;
}
}
void OPMapWidget::closeEvent(QCloseEvent *event)
@ -203,18 +234,33 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(this->CurrentPosition(),0,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
return item;
}
WayPointItem* OPMapWidget::magicWPCreate()
{
WayPointItem* item=new WayPointItem(map,true);
item->SetShowNumber(false);
item->setParentItem(map);
return item;
}
void OPMapWidget::WPCreate(WayPointItem* item)
{
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
}
WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude)
{
WayPointItem* item=new WayPointItem(coord,altitude,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description)
@ -222,6 +268,19 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(coord,altitude,description,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
{
WayPointItem* item=new WayPointItem(relativeCoord,description,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPInsert(const int &position)
@ -231,6 +290,7 @@ namespace mapcontrol
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
void OPMapWidget::WPInsert(WayPointItem* item,const int &position)
@ -239,7 +299,7 @@ namespace mapcontrol
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
}
WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude,const int &position)
{
@ -248,29 +308,131 @@ namespace mapcontrol
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
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);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPInsert(distBearingAltitude const& relative, QString const& description,const int &position)
{
WayPointItem* item=new WayPointItem(relative,description,map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
void OPMapWidget::WPDelete(WayPointItem *item)
{
emit WPDeleted(item->Number());
emit WPDeleted(item->Number(),item);
delete item;
}
void OPMapWidget::WPDeleteAll()
void OPMapWidget::WPDelete(int number)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
delete w;
{
if(w->Number()==number)
{
emit WPDeleted(w->Number(),w);
delete w;
return;
}
}
}
}
WayPointItem * OPMapWidget::WPFind(int number)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()==number)
{
return w;
}
}
}
return NULL;
}
void OPMapWidget::WPSetVisibleAll(bool value)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
w->setVisible(value);
}
}
}
void OPMapWidget::WPDeleteAll()
{
int x=0;
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
{
emit WPDeleted(w->Number(),w);
delete w;
}
}
}
}
bool OPMapWidget::WPPresent()
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
{
return true;
}
}
}
}
void OPMapWidget::deleteAllOverlays()
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointLine* w=qgraphicsitem_cast<WayPointLine*>(i);
if(w)
w->deleteLater();
else
{
WayPointCircle* ww=qgraphicsitem_cast<WayPointCircle*>(i);
if(ww)
ww->deleteLater();
}
}
}
QList<WayPointItem*> OPMapWidget::WPSelected()
@ -291,11 +453,13 @@ namespace mapcontrol
void OPMapWidget::ConnectWP(WayPointItem *item)
{
connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)));
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)));
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)));
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)));
connect(this,SIGNAL(WPDeleted(int)),item,SLOT(WPDeleted(int)));
connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SIGNAL(WPLocalPositionChanged(QPointF,WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(manualCoordChange(WayPointItem*)),this,SIGNAL(WPManualCoordChange(WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)),Qt::DirectConnection);
}
void OPMapWidget::diagRefresh()
{
@ -329,12 +493,12 @@ namespace mapcontrol
compass->setScale(0.1+0.05*(qreal)(this->size().width())/1000*(qreal)(this->size().height())/600);
// compass->setTransformOriginPoint(compass->boundingRect().width(),compass->boundingRect().height());
compass->setFlag(QGraphicsItem::ItemIsMovable,true);
compass->setFlag(QGraphicsItem::ItemIsSelectable,true);
mscene.addItem(compass);
compass->setTransformOriginPoint(compass->boundingRect().width()/2,compass->boundingRect().height()/2);
compass->setPos(55-compass->boundingRect().width()/2,55-compass->boundingRect().height()/2);
compass->setZValue(3);
compass->setOpacity(0.7);
}
if(!value && compass)
{
@ -342,6 +506,12 @@ namespace mapcontrol
compass=0;
}
}
void OPMapWidget::setOverlayOpacity(qreal value)
{
map->setOverlayOpacity(value);
overlayOpacity=value;
}
void OPMapWidget::SetRotate(qreal const& value)
{
map->mapRotate(value);
@ -353,4 +523,28 @@ namespace mapcontrol
{
new MapRipper(core,map->SelectedArea());
}
void OPMapWidget::setSelectedWP(QList<WayPointItem * >list)
{
this->scene()->clearSelection();
foreach(WayPointItem * wp,list)
{
wp->setSelected(true);
}
}
void OPMapWidget::OnSelectionChanged()
{
QList<QGraphicsItem*> list;
QList<WayPointItem*> wplist;
list=this->scene()->selectedItems();
foreach(QGraphicsItem* item,list)
{
WayPointItem * wp=qgraphicsitem_cast<WayPointItem*>(item);
if(wp)
wplist.append(wp);
}
if(wplist.length()>0)
emit selectedWPChanged(wplist);
}
}

42
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file opmapwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The Map Widget, this is the part exposed to the user
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -41,6 +41,9 @@
#include "gpsitem.h"
#include "homeitem.h"
#include "mapripper.h"
#include "waypointline.h"
#include "waypointcircle.h"
#include "waypointitem.h"
namespace mapcontrol
{
class UAVItem;
@ -279,6 +282,15 @@ namespace mapcontrol
*/
WayPointItem* WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description);
/**
* @brief Creates a new WayPoint
*
* @param coord the offset in meters to the home position
* @param altitude the Altitude of the WayPoint
* @param description the description of the WayPoint
* @return WayPointItem a pointer to the WayPoint created
*/
WayPointItem *WPCreate(const distBearingAltitude &relativeCoord, const QString &description);
/**
* @brief Inserts a new WayPoint on the specified position
*
* @param position index of the WayPoint
@ -311,6 +323,7 @@ namespace mapcontrol
* @return WayPointItem a pointer to the WayPoint Inserted
*/
WayPointItem* WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,int const& position);
WayPointItem *WPInsert(const distBearingAltitude &relative, const QString &description, const int &position);
/**
* @brief Deletes the WayPoint
@ -340,6 +353,8 @@ namespace mapcontrol
void SetShowCompass(bool const& value);
void setOverlayOpacity(qreal value);
UAVItem* UAV;
GPSItem* GPS;
HomeItem* Home;
@ -349,7 +364,18 @@ namespace mapcontrol
bool ShowHome()const{return showhome;}
void SetShowDiagnostics(bool const& value);
void SetUavPic(QString UAVPic);
private:
WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to, QColor color);
WayPointLine * WPLineCreate(HomeItem *from,WayPointItem *to, QColor color);
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise,QColor color);
WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise,QColor color);
void deleteAllOverlays();
void WPSetVisibleAll(bool value);
WayPointItem *magicWPCreate();
bool WPPresent();
void WPDelete(int number);
WayPointItem *WPFind(int number);
void setSelectedWP(QList<WayPointItem *> list);
private:
internals::Core *core;
MapGraphicItem *map;
QGraphicsScene mscene;
@ -366,6 +392,7 @@ namespace mapcontrol
QTimer * diagTimer;
QGraphicsTextItem * diagGraphItem;
bool showDiag;
qreal overlayOpacity;
private slots:
void diagRefresh();
// WayPointItem* item;//apagar
@ -398,6 +425,9 @@ namespace mapcontrol
* @param waypoint WayPoint inserted
*/
void WPReached(WayPointItem* waypoint);
void WPCreated(int const& number,WayPointItem* waypoint);
/**
* @brief Fires when a new WayPoint is inserted
*
@ -410,7 +440,10 @@ namespace mapcontrol
*
* @param number number of the deleted WayPoint
*/
void WPDeleted(int const& number);
void WPDeleted(int const& number,WayPointItem* waypoint);
void WPLocalPositionChanged(QPointF,WayPointItem*);
void WPManualCoordChange(WayPointItem*);
/**
* @brief Fires When a WayPoint is Reached
*
@ -469,11 +502,14 @@ namespace mapcontrol
* @param number the number of tiles still in the queue
*/
void OnTilesStillToLoad(int number);
void OnWayPointDoubleClicked(WayPointItem * waypoint);
void selectedWPChanged(QList<WayPointItem*>);
public slots:
/**
* @brief Ripps the current selection to the DB
*/
void RipMap();
void OnSelectionChanged();
};
}

11
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file trailitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -28,9 +28,8 @@
#include <QDateTime>
namespace mapcontrol
{
TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, QGraphicsItem* parent):QGraphicsItem(parent),coord(coord)
TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, MapGraphicItem *map):QGraphicsItem(map),coord(coord),m_brush(color),m_map(map)
{
m_brush=color;
QDateTime time=QDateTime::currentDateTime();
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
setToolTip(QString(tr("Position:")+"%1\n"+tr("Altitude:")+"%2\n"+tr("Time:")+"%3").arg(coord_str).arg(QString::number(altitude)).arg(time.toString()));
@ -38,7 +37,6 @@ namespace mapcontrol
void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
// painter->drawRect(QRectF(-3,-3,6,6));
painter->setBrush(m_brush);
painter->drawEllipse(-2,-2,4,4);
}
@ -53,5 +51,8 @@ namespace mapcontrol
return Type;
}
void TrailItem::setPosSLOT()
{
setPos(m_map->FromLatLngToLocal(this->coord).X(),m_map->FromLatLngToLocal(this->coord).Y());
}
}

10
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file trailitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -32,6 +32,7 @@
#include <QLabel>
#include "../internals/pointlatlng.h"
#include <QObject>
#include "mapgraphicitem.h"
namespace mapcontrol
{
@ -42,7 +43,7 @@ namespace mapcontrol
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 3 };
TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, QGraphicsItem* parent);
TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color,MapGraphicItem * map);
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
QRectF boundingRect() const;
@ -50,10 +51,9 @@ namespace mapcontrol
internals::PointLatLng coord;
private:
QBrush m_brush;
MapGraphicItem * m_map;
public slots:
void setPosSLOT();
signals:
};

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