GCS - Changes to the map lib. Preparatory steps

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.

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.cpp

@@ -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;
+    }
+
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.h

@@ -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;

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp

@@ -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);
+    }
 }
+

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h

@@ -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

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -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->setVisible(value);
-        {
-            Home=new HomeItem(map,this);
-            Home->setParentItem(map);
-        }
-        else if(!value)
-        {
-            if(Home!=0)
-            {
-                delete Home;
-                Home=0;
-            }
-
-        }
     }
 
     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)
         {

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp

@@ -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())

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp

@@ -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;
             }
-    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)
+
+            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,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());
+        SetShowNumber(shownumber);
-       // this->setTransform(transf);
+        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();
@@ -79,10 +149,7 @@ namespace mapcontrol
         text=new QGraphicsSimpleTextItem(this);
             textBG=new QGraphicsRectItem(this);
 
-//	    textBG->setBrush(Qt::white);
+        textBG->setBrush(Qt::yellow);
-//	    textBG->setOpacity(0.5);
-
-	    textBG->setBrush(QColor(255, 255, 255, 128));
 
         text->setPen(QPen(Qt::red));
         text->setPos(10,-picture.height());
@@ -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)

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h

@@ -33,6 +33,8 @@
 #include "../internals/pointlatlng.h"
 #include "mapgraphicitem.h"
 #include <QObject>
+#include <QPoint>
+
 namespace mapcontrol
 {
 /**
@@ -46,6 +48,7 @@ class WayPointItem:public QObject,public QGraphicsItem
     Q_INTERFACES(QGraphicsItem)
 public:
     enum { Type = UserType + 1 };
+    enum wptype {absolute,relative};
     /**
     * @brief Constructer
     *
@@ -54,7 +57,7 @@ public:
     * @param map pointer to map to use
     * @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)

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -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->SetTrailType(UAVTrailType::ByTimeElapsed);
-//  m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
+    }
-
     // **************
 
     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
+    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
 
@@ -700,9 +701,11 @@ void OPMapGadgetWidget::updatePosition()
 
 	// *************
 	// set the GPS icon position on the map
-
+    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
+    }
 
 	// *************
 }
@@ -1886,6 +1889,7 @@ void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
 		return;
 
     m_map->UAV->DeleteTrail();
+    if(m_map->GPS)
         m_map->GPS->DeleteTrail();
 }