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Code Issues Releases Activity

Added telemetry connect/disconnect detection to move map to home location on connection.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2508 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-01-21 16:51:24 +00:00 committed by pip
parent 7bcdcee5ad
commit c8b495a5c2
3 changed files with 91 additions and 26 deletions
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1
ground/src/plugins/opmap/opmap.pro
View File

@ -4,6 +4,7 @@ include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../libs/opmapcontrol/opmapcontrol.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavtalk/uavtalk.pri)
include(../../libs/utils/utils.pri)
HEADERS += opmapplugin.h \
opmapgadgetoptionspage.h \

112
ground/src/plugins/opmap/opmapgadgetwidget.cpp
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@ -39,16 +39,15 @@
#include <math.h>
#include "uavtalk/telemetrymanager.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavobject.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/homelocation.h"
#include "extensionsystem/pluginmanager.h"
//#define allow_manual_home_location_move
// *************************************************************************************
#define deg_to_rad ((double)M_PI / 180.0)
@ -95,10 +94,14 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map_mode = Normal_MapMode;
telemetry_connected = false;
context_menu_lat_lon = mouse_lat_lon = internals::PointLatLng(0, 0);
setMouseTracking(true);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
// **************
// get current location
@ -172,6 +175,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
// **************
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
@ -289,6 +293,31 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
createActions();
// **************
// connect to the UAVObject updates we require to become a bit aware of our environment:
if (pm)
{
// Register for Home Location state changes
UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
if (obm)
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
if (obj)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this , SLOT(homePositionUpdated(UAVObject*)));
}
}
// Listen to telemetry connection events
TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
if (telMngr)
{
connect(telMngr, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
}
}
// **************
// create the desired timers
@ -298,22 +327,11 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_updateTimer->start();
m_statusUpdateTimer = new QTimer();
m_statusUpdateTimer->setInterval(50);
m_statusUpdateTimer->setInterval(100);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
m_statusUpdateTimer->start();
// **************
// Last, connect to the UAVObject updates we require to become a bit aware of
// our environment:
// Register for Home Location state changes
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this , SLOT(homePositionUpdated(UAVObject*)));
m_map->setFocus();
}
@ -617,6 +635,9 @@ void OPMapGadgetWidget::updatePosition()
QMutexLocker locker(&m_map_mutex);
if (!telemetry_connected)
return;
double latitude;
double longitude;
double altitude;
@ -651,8 +672,6 @@ void OPMapGadgetWidget::updatePosition()
uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
m_map->GPS->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position
m_map->GPS->SetUAVHeading(uav_heading_degrees); // set the maps UAV heading
}
/**
@ -967,19 +986,60 @@ void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
}
// *************************************************************************************
// public functions
// public slots
/** Updates the Home position icon whenever the HomePosition object
is updated
*/
void OPMapGadgetWidget::homePositionUpdated(UAVObject* hp)
void OPMapGadgetWidget::onTelemetryConnect()
{
double lat = hp->getField("Latitude")->getDouble()*1e-7;
double lon = hp->getField("Longitude")->getDouble()*1e-7;
telemetry_connected = true;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return;
UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
if (!obm) return;
UAVDataObject *obj;
// UAVObjectField *field;
// ***********************
// fetch the home location
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
if (!obj) return;
double lat = obj->getField("Latitude")->getDouble() * 1e-7;
double lon = obj->getField("Longitude")->getDouble() * 1e-7;
// double alt = obj->getField("Altitude")->getDouble();
setHome(internals::PointLatLng(lat, lon));
if (m_map)
m_map->SetCurrentPosition(home_position.coord); // set the map position
// field = obj->getField(QString("Be"));
// if (!field) return;
// ***********************
}
void OPMapGadgetWidget::onTelemetryDisconnect()
{
telemetry_connected = false;
}
// Updates the Home position icon whenever the HomePosition object is updated
void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
{
if (!hp)
return;
double lat = hp->getField("Latitude")->getDouble() * 1e-7;
double lon = hp->getField("Longitude")->getDouble() * 1e-7;
setHome(internals::PointLatLng(lat, lon));
}
// *************************************************************************************
// public functions
/**
Sets the home position on the map widget
*/

4
ground/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -112,6 +112,8 @@ public:
public slots:
void homePositionUpdated(UAVObject*);
void onTelemetryConnect();
void onTelemetryDisconnect();
protected:
void resizeEvent(QResizeEvent *event);
@ -257,6 +259,8 @@ private:
QMutex m_map_mutex;
bool telemetry_connected;
void createActions();
QAction *closeAct1;