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Code Issues Releases Activity

GCS - Changes to the map lib. Preparatory steps

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to allow WPs to be defined relative to home.
GPS fed UAV map item is only visible when diagnostics are enabled.
Should make users not be confused by 2 UAVs on screen.
This commit is contained in:
PT_Dreamer 2012-05-17 17:27:08 +01:00
parent 9f1afacdaf
commit bb7e85cf2c
9 changed files with 222 additions and 78 deletions
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26
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.cpp
View File

@ -215,6 +215,13 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
Lat /= (PI / 180);
Lng /= (PI / 180);
}
double PureProjection::courseBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
return fmod(atan2(sin(p1.Lng()-p2.Lng())*cos(p2.Lat()),
cos(p1.Lat())*sin(p2.Lat())-sin(p1.Lat())*cos(p2.Lat())*cos(p1.Lng()-p2.Lng())), 2*PI);
}
double PureProjection::DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
double R = 6371; // km
@ -229,4 +236,23 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
double d = R * c;
return d;
}
void PureProjection::offSetFromLatLngs(PointLatLng p1,PointLatLng p2,double &dX,double &dY)
{
dX=DistanceBetweenLatLng(p1,p2)*sin(courseBetweenLatLng(p1,p2));
dY=DistanceBetweenLatLng(p1,p2)*sin(courseBetweenLatLng(p1,p2));
}
PointLatLng PureProjection::translate(PointLatLng p1,double dX,double dY)
{
PointLatLng origin=p1;
PointLatLng ret;
double d=sqrt(pow(dX,2)+pow(dY,2));
double tc=atan2(dY,dX);
ret.SetLat(asin(sin(origin.Lat())*cos(d)+cos(origin.Lat())*sin(d)*cos(tc)));
double dlon=atan2(sin(tc)*sin(d)*cos(origin.Lat()),cos(d)-sin(origin.Lat())*sin(p1.Lat()));
ret.SetLng(fmod(origin.Lng()-dlon +PI,2*PI )-PI);
return ret;
}
}

3
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.h
View File

@ -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 dX, double dY);
double courseBetweenLatLng(const PointLatLng &p1, const PointLatLng &p2);
void offSetFromLatLngs(PointLatLng p1, PointLatLng p2, double &dX, double &dY);
protected:
static const double PI;

38
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
View File

@ -27,15 +27,20 @@
#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)
{
pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
coord=internals::PointLatLng(50,50);
setToolTip("AAAA");
qDebug()<<"HomeItem created type:"<<type();
}
void HomeItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
@ -56,7 +61,7 @@ namespace mapcontrol
}
QRectF HomeItem::boundingRect()const
{
if(!showsafearea)
if(pic.width()>localsafearea*2)
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
else
return QRectF(-localsafearea,-localsafearea,localsafearea*2,localsafearea*2);
@ -76,5 +81,34 @@ namespace mapcontrol
localsafearea=safearea/map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
}
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);
}
QGraphicsItem::mouseReleaseEvent(event);
}
void HomeItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{
if(isDragging)
{
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
emit homePositionChanged(coord);
}
QGraphicsItem::mouseMoveEvent(event);
}
}

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

@ -67,11 +67,15 @@ namespace mapcontrol
int safearea;
int localsafearea;
int altitude;
bool isDragging;
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event );
public slots:
signals:
void homePositionChanged(internals::PointLatLng coord);
};
}
#endif // HOMEITEM_H

45
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -40,6 +40,9 @@ namespace mapcontrol
map=new MapGraphicItem(core,config);
mscene.addItem(map);
this->setScene(&mscene);
Home=new HomeItem(map,this);
Home->setParentItem(map);
setStyleSheet("QToolTip {font-size:8pt; color:yellow;background-color : transparent; padding:2px; border-width:2px; border-style:solid; 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)));
@ -70,12 +73,23 @@ 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);
}
}
}
@ -106,37 +120,10 @@ namespace mapcontrol
}
}
if(value && GPS==0)
{
GPS=new GPSItem(map,this);
GPS->setParentItem(map);
}
else if(!value)
{
if(GPS!=0)
{
delete GPS;
GPS=0;
}
}
}
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)
@ -329,12 +316,12 @@ 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)
{

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

@ -36,6 +36,8 @@ namespace mapcontrol
pic.load(uavPic);
// Don't scale but trust the image we are given
// pic=pic.scaled(50,33,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
@ -57,14 +59,14 @@ namespace mapcontrol
{
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 UAVItem::boundingRect()const
{
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
}
void UAVItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude)
{
if(coord.IsEmpty())

111
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -25,9 +25,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "waypointitem.h"
#include "homeitem.h"
namespace mapcontrol
{
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, MapGraphicItem *map):coord(coord),reached(false),description(""),shownumber(true),isDragging(false),altitude(altitude),map(map)
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(""),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
{
text=0;
numberI=0;
@ -37,13 +39,31 @@ namespace mapcontrol
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
// transf.translate(picture.width()/2,picture.height());
// this->setTransform(transf);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
if(relativeCoord.isNull())
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
double X;
double Y;
map->Projection()->offSetFromLatLngs(home->Coord(),coord,X,Y);
relativeCoord.setX(X);
relativeCoord.setY(Y);
}
HomeItem * home=this->parent()->findChild<HomeItem *>();
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
{
text=0;
numberI=0;
@ -53,8 +73,58 @@ namespace mapcontrol
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
//transf.translate(picture.width()/2,picture.height());
// this->setTransform(transf);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
if(relativeCoord.isNull())
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
double X;
double Y;
map->Projection()->offSetFromLatLngs(home->Coord(),coord,X,Y);
relativeCoord.setX(X);
relativeCoord.setY(Y);
}
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
WayPointItem::WayPointItem(const QPoint &relativeCoord, const int &altitude, const QString &description, MapGraphicItem *map):relativeCoord(relativeCoord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
coord=map->Projection()->translate(home->Coord(),relativeCoord.x(),relativeCoord.y());
myType=relative;
text=0;
numberI=0;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
number=WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
@ -76,21 +146,18 @@ namespace mapcontrol
{
if(event->button()==Qt::LeftButton)
{
text=new QGraphicsSimpleTextItem(this);
text=new QGraphicsSimpleTextItem(this);
textBG=new QGraphicsRectItem(this);
// textBG->setBrush(Qt::white);
// textBG->setOpacity(0.5);
textBG->setBrush(Qt::yellow);
textBG->setBrush(QColor(255, 255, 255, 128));
text->setPen(QPen(Qt::red));
text->setPos(10,-picture.height());
textBG->setPos(10,-picture.height());
text->setZValue(3);
RefreshToolTip();
isDragging=true;
}
text->setPen(QPen(Qt::red));
text->setPos(10,-picture.height());
textBG->setPos(10,-picture.height());
text->setZValue(3);
RefreshToolTip();
isDragging=true;
}
QGraphicsItem::mousePressEvent(event);
}
void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
@ -205,6 +272,14 @@ namespace mapcontrol
this->update();
}
}
void WayPointItem::onHomePositionChanged(internals::PointLatLng homepos)
{
if(myType==relative)
{
coord=map->Projection()->translate(homepos,relativeCoord.x(),relativeCoord.y());
}
}
void WayPointItem::WPRenumbered(const int &oldnumber, const int &newnumber, WayPointItem *waypoint)
{
if (waypoint!=this)

17
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h
View File

@ -33,6 +33,8 @@
#include "../internals/pointlatlng.h"
#include "mapgraphicitem.h"
#include <QObject>
#include <QPoint>
namespace mapcontrol
{
/**
@ -46,15 +48,16 @@ class WayPointItem:public QObject,public QGraphicsItem
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 1 };
enum wptype {absolute,relative};
/**
* @brief Constructer
*
* @param coord coordinates in LatLng of the Waypoint
* @param altitude altitude of the WayPoint
* @param map pointer to map to use
* @return
* @return
*/
WayPointItem(internals::PointLatLng const& coord,int const& altitude,MapGraphicItem* map);
WayPointItem(internals::PointLatLng const& coord,int const& altitude,MapGraphicItem* map,wptype type=absolute);
/**
* @brief Constructer
*
@ -64,7 +67,9 @@ public:
* @param map pointer to map to use
* @return
*/
WayPointItem(internals::PointLatLng const& coord,int const& altitude,QString const& description,MapGraphicItem* map);
WayPointItem(internals::PointLatLng const& coord,int const& altitude,QString const& description,MapGraphicItem* map,wptype type=absolute);
WayPointItem(QPoint const& relativeCoord,int const& altitude,QString const& description,MapGraphicItem* map);
/**
* @brief Returns the WayPoint description
*
@ -149,9 +154,9 @@ protected:
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event );
private:
internals::PointLatLng coord;//coordinates of this WayPoint
QPoint relativeCoord;
bool reached;
QString description;
bool shownumber;
@ -167,6 +172,8 @@ private:
QGraphicsRectItem* numberIBG;
QTransform transf;
wptype myType;
public slots:
/**
* @brief Called when a WayPoint is deleted
@ -189,6 +196,8 @@ public slots:
* @param waypoint a pointer to the WayPoint inserted
*/
void WPInserted(int const& number,WayPointItem* waypoint);
void onHomePositionChanged(internals::PointLatLng);
signals:
/**
* @brief fires when this WayPoint number changes (not fired if due to a auto-renumbering)

46
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -178,13 +178,13 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->UAV->SetTrailType(UAVTrailType::ByDistance);
if(m_map->GPS)
{
m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
}
// **************
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
@ -269,8 +269,9 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
if(m_map->GPS)
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->WPCreate();
// **************
// create various context menu (mouse right click menu) actions
@ -390,22 +391,22 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
QString s;
if (!m_widget || !m_map)
return;
if (!m_widget || !m_map)
return;
if (event->reason() != QContextMenuEvent::Mouse)
return; // not a mouse click event
// current mouse position
QPoint p = m_map->mapFromGlobal(event->globalPos());
m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
// m_context_menu_lat_lon = m_map->currentMousePosition();
if (!m_map->contentsRect().contains(p))
return; // the mouse click was not on the map
// show the mouse position
s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
m_widget->labelMousePos->setText(s);
// find out if we have a waypoint under the mouse cursor
@ -434,12 +435,12 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
menu.addSeparator();
QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
for (int i = 0; i < maxUpdateRateAct.count(); i++)
maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
menu.addMenu(&maxUpdateRateSubMenu);
QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
for (int i = 0; i < maxUpdateRateAct.count(); i++)
maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
menu.addMenu(&maxUpdateRateSubMenu);
menu.addSeparator();
menu.addSeparator();
switch (m_map_mode)
{
@ -700,9 +701,11 @@ void OPMapGadgetWidget::updatePosition()
// *************
// set the GPS icon position on the map
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
if(m_map->GPS)
{
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
}
// *************
}
@ -1886,7 +1889,8 @@ void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
return;
m_map->UAV->DeleteTrail();
m_map->GPS->DeleteTrail();
if(m_map->GPS)
m_map->GPS->DeleteTrail();
}
void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)