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Code Issues Releases Activity

OP37/GCS Added UAV overlay.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1028 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-07-05 21:06:56 +00:00 committed by zedamota
parent 4a9cc3b790
commit e67a955044
15 changed files with 472 additions and 9 deletions
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6
ground/src/libs/opmapcontrol/src/core/opmaps.h
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@ -65,8 +65,8 @@ namespace core {
void setUseMemoryCache(const bool& value){useMemoryCache=value;}
void setLanguage(const LanguageType::Types& language){Language=language;}//TODO
LanguageType::Types GetLanguage(){return Language;}//TODO
AccessMode::Types GetAccessMode()const{return accessmode;};
void setAccessMode(const AccessMode::Types& mode){accessmode=mode;};
AccessMode::Types GetAccessMode()const{return accessmode;}
void setAccessMode(const AccessMode::Types& mode){accessmode=mode;}
int MaxZoom;
int RetryLoadTile;
private:
@ -77,7 +77,7 @@ namespace core {
TileCacheQueue TileDBcacheQueue;
OPMaps();
OPMaps(OPMaps const&){};
OPMaps(OPMaps const&){}
OPMaps& operator=(OPMaps const&){ return *this; }
static OPMaps* m_pInstance;

16
ground/src/libs/opmapcontrol/src/internals/pureprojection.cpp
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@ -178,7 +178,7 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng::PointLatLng &p,const
}
void PureProjection::FromGeodeticToCartesian(double Lat,double Lng,const double &Height, double &X, double &Y, double &Z)
void PureProjection::FromGeodeticToCartesian(double Lat,double Lng,double Height, double &X, double &Y, double &Z)
{
Lat = (PI / 180) * Lat;
Lng = (PI / 180) * Lng;
@ -205,4 +205,18 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng::PointLatLng &p,const
Lat /= (PI / 180);
Lng /= (PI / 180);
}
double PureProjection::DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
double R = 6371; // km
double lat1=p1.Lat();
double lat2=p2.Lat();
double lon1=p1.Lng();
double lon2=p2.Lng();
double dLat = (lat2-lat1)* (PI / 180);
double dLon = (lon2-lon1)* (PI / 180);
double a = sin(dLat/2) * sin(dLat/2) + cos(lat1* (PI / 180)) * cos(lat2* (PI / 180)) * sin(dLon/2) * sin(dLon/2);
double c = 2 * atan2(sqrt(a), sqrt(1-a));
double d = R * c;
return d;
}
}

3
ground/src/libs/opmapcontrol/src/internals/pureprojection.h
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@ -78,8 +78,9 @@ public:
{
return (R2D * rad);
}
void FromGeodeticToCartesian(double Lat,double Lng,const double &Height, double &X, double &Y, double &Z);
void FromGeodeticToCartesian(double Lat,double Lng,double Height, double &X, double &Y, double &Z);
void FromCartesianTGeodetic(const double &X,const double &Y,const double &Z, double &Lat, double &Lng);
static double DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2);
protected:

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ground/src/libs/opmapcontrol/src/mapwidget/images/airplane.png Normal file
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113
ground/src/libs/opmapcontrol/src/mapwidget/images/airplane.svg Normal file
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@ -0,0 +1,113 @@
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6
ground/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
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@ -25,7 +25,9 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavitem.h"
#include "mapgraphicitem.h"
namespace mapcontrol
{
MapGraphicItem::MapGraphicItem(internals::Core *core, Configuration *configuration):core(core),config(configuration),MapRenderTransform(1), maxZoom(17),minZoom(2),zoomReal(0),isSelected(false),rotation(0)
@ -78,6 +80,10 @@ namespace mapcontrol
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
w->RefreshPos();
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
}
}
void MapGraphicItem::ConstructLastImage(int const& zoomdiff)

1
ground/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h
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@ -40,6 +40,7 @@
#include <QFont>
#include <QObject>
#include "waypointitem.h"
//#include "uavitem.h"
namespace mapcontrol
{
class OPMapWidget;

1
ground/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
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@ -3,5 +3,6 @@
<file>images/bigMarkerGreen.png</file>
<file>images/marker.png</file>
<file>images/compas.svg</file>
<file>images/airplane.svg</file>
</qresource>
</RCC>

6
ground/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro
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@ -8,7 +8,8 @@ SOURCES += mapgraphicitem.cpp \
opmapwidget.cpp \
configuration.cpp \
waypointitem.cpp \
uavitem.cpp
uavitem.cpp \
trailitem.cpp
LIBS += -L../build \
-lcore \
-linternals \
@ -19,7 +20,8 @@ HEADERS += mapgraphicitem.h \
waypointitem.h \
uavitem.h \
uavmapfollowtype.h \
uavtrailtype.h
uavtrailtype.h \
trailitem.h
QT += opengl
QT += network
QT += sql

25
ground/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
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@ -30,16 +30,19 @@
#include <QtGui>
#include <QMetaObject>
#include "waypointitem.h"
namespace mapcontrol
{
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),followmouse(true),compass(0)
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),followmouse(true),compass(0),showuav(false)
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core=new internals::Core;
map=new MapGraphicItem(core,config);
mscene.addItem(map);
this->setScene(&mscene);
// uav->setPos(30,30);
this->adjustSize();
connect(&mscene,SIGNAL(sceneRectChanged(QRectF)),map,SLOT(resize(QRectF)));
connect(map,SIGNAL(zoomChanged(double)),this,SIGNAL(zoomChanged(double)));
@ -53,6 +56,25 @@ namespace mapcontrol
connect(map->core,SIGNAL(OnTilesStillToLoad(int)),this,SIGNAL(OnTilesStillToLoad(int)));
this->setMouseTracking(followmouse);
SetShowCompass(true);
}
void OPMapWidget::SetShowUAV(const bool &value)
{
if(value && UAV==0)
{
UAV=new UAVItem(map,this);
UAV->setParentItem(map);
}
else if(!value)
{
if(UAV!=0)
{
delete UAV;
UAV=0;
}
}
}
void OPMapWidget::resizeEvent(QResizeEvent *event)
@ -76,6 +98,7 @@ namespace mapcontrol
}
OPMapWidget::~OPMapWidget()
{
delete UAV;
delete map;
delete core;
delete configuration;

33
ground/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
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@ -37,8 +37,10 @@
#include <QtOpenGL/QGLWidget>
#include "waypointitem.h"
#include "QtSvg/QGraphicsSvgItem"
#include "uavitem.h"
namespace mapcontrol
{
class UAVItem;
/**
* @brief Collection of static functions to help dealing with various enums used
* Contains functions for enumToString conversio, StringToEnum, QStringList of enum values...
@ -113,6 +115,31 @@ namespace mapcontrol
* @brief Returns QStringList with string representing all the enum values
*/
static QStringList AccessModeTypes(){return core::AccessMode::TypesList();}
/**
* @brief Converts from String to Type
*/
static UAVMapFollowType::Types UAVMapFollowFromString(QString const& value){return UAVMapFollowType::TypeByStr(value);}
/**
* @brief Converts from Type to String
*/
static QString StrFromUAVMapFollow(UAVMapFollowType::Types const& value){return UAVMapFollowType::StrByType(value);}
/**
* @brief Returns QStringList with string representing all the enum values
*/
static QStringList UAVMapFollowTypes(){return UAVMapFollowType::TypesList();}
/**
* @brief Converts from String to Type
*/
static UAVTrailType::Types UAVTrailTypeFromString(QString const& value){return UAVTrailType::TypeByStr(value);}
/**
* @brief Converts from Type to String
*/
static QString StrFromUAVTrailType(UAVTrailType::Types const& value){return UAVTrailType::StrByType(value);}
/**
* @brief Returns QStringList with string representing all the enum values
*/
static QStringList UAVTrailTypes(){return UAVTrailType::TypesList();}
};
class OPMapWidget:public QGraphicsView
@ -304,7 +331,10 @@ namespace mapcontrol
void SetShowCompass(bool const& value);
QImage X(){return map->lastimage;}
UAVItem* UAV;
void SetShowUAV(bool const& value);
bool ShowUAV()const{return showuav;}
private:
internals::Core *core;
@ -318,6 +348,7 @@ namespace mapcontrol
bool followmouse;
void ConnectWP(WayPointItem* item);
QGraphicsSvgItem *compass;
bool showuav;
// WayPointItem* item;//apagar
protected:
void resizeEvent(QResizeEvent *event);

57
ground/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp Normal file
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@ -0,0 +1,57 @@
/**
******************************************************************************
*
* @file trailitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "trailitem.h"
#include <QDateTime>
namespace mapcontrol
{
TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude,QGraphicsItem* parent):QGraphicsItem(parent),coord(coord)
{
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()));
}
void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
// painter->drawRect(QRectF(-3,-3,6,6));
painter->setBrush(Qt::red);
painter->drawEllipse(-2,-2,4,4);
}
QRectF TrailItem::boundingRect()const
{
return QRectF(-2,-2,4,4);
}
int TrailItem::type()const
{
return Type;
}
}

63
ground/src/libs/opmapcontrol/src/mapwidget/trailitem.h Normal file
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@ -0,0 +1,63 @@
/**
******************************************************************************
*
* @file trailitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TRAILITEM_H
#define TRAILITEM_H
#include <QGraphicsItem>
#include <QPainter>
#include <QLabel>
#include "../internals/pointlatlng.h"
#include <QObject>
namespace mapcontrol
{
class TrailItem:public QObject,public QGraphicsItem
{
Q_OBJECT
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 3 };
TrailItem(internals::PointLatLng const& coord,int const& altitude,QGraphicsItem* parent);
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
QRectF boundingRect() const;
int type() const;
internals::PointLatLng coord;
private:
public slots:
signals:
};
}
#endif // TRAILITEM_H

109
ground/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
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@ -25,8 +25,117 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "../internals/pureprojection.h"
#include "uavitem.h"
namespace mapcontrol
{
UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent):map(map),mapwidget(parent),showtrail(true),trailtime(5),traildistance(100)
{
pic.load(QString::fromUtf8(":/markers/images/airplane.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
trail=new QGraphicsItemGroup();
trail->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance;
timer.start();
// rect=QRectF(0,0,renderer.defaultSize().width()*0.05,renderer.defaultSize().height()*0.05);
}
UAVItem::~UAVItem()
{
delete trail;
}
void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *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())
lastcoord=coord;
if(coord!=position)
{
if(trailtype==UAVTrailType::ByTimeElapsed)
{
if(timer.elapsed()>trailtime*1000)
{
trail->addToGroup(new TrailItem(position,altitude,this));
timer.restart();
}
}
else if(trailtype==UAVTrailType::ByDistance)
{
if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
{
trail->addToGroup(new TrailItem(position,altitude,this));
lastcoord=position;
}
}
coord=position;
this->altitude=altitude;
RefreshPos();
if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap||mapfollowtype==UAVMapFollowType::CenterMap)
{
mapwidget->SetCurrentPosition(coord);
}
this->update();
}
}
void UAVItem::SetUAVHeading(const qreal &value)
{
if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap)
{
mapwidget->SetRotate(-value);
}
else
this->setRotation(value);
}
int UAVItem::type()const
{
return Type;
}
void UAVItem::RefreshPos()
{
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());
//this->update();
}
}
void UAVItem::SetTrailType(const UAVTrailType::Types &value)
{
trailtype=value;
if(trailtype==UAVTrailType::ByTimeElapsed)
timer.restart();
}
void UAVItem::SetShowTrail(const bool &value)
{
showtrail=value;
trail->setVisible(value);
}
void UAVItem::DeleteTrail()const
{
foreach(QGraphicsItem* i,trail->childItems())
delete i;
}
}

42
ground/src/libs/opmapcontrol/src/mapwidget/uavitem.h
View File

@ -37,8 +37,13 @@
#include <QObject>
#include "uavmapfollowtype.h"
#include "uavtrailtype.h"
#include <QtSvg/QSvgRenderer>
#include "opmapwidget.h"
#include "trailitem.h"
namespace mapcontrol
{
class WayPointItem;
class OPMapWidget;
/**
* @brief A QGraphicsItem representing the UAV
*
@ -50,10 +55,47 @@ namespace mapcontrol
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 2 };
UAVItem(MapGraphicItem* map,OPMapWidget* parent);
~UAVItem();
void SetUAVPos(internals::PointLatLng const& position,int const& altitude);
void SetUAVHeading(qreal const& value);
internals::PointLatLng UAVPos()const{return coord;}
void SetMapFollowType(UAVMapFollowType::Types const& value){mapfollowtype=value;}
void SetTrailType(UAVTrailType::Types const& value);
UAVMapFollowType::Types GetMapFollowType()const{return mapfollowtype;}
UAVTrailType::Types GetTrailType()const{return trailtype;}
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
void RefreshPos();
QRectF boundingRect() const;
void SetTrailTime(int const& seconds){trailtime=seconds;}
int TrailTime()const{return trailtime;}
void SetTrailDistance(int const& distance){traildistance=distance;}
int TrailDistance()const{return traildistance;}
bool ShowTrail()const{return showtrail;}
void SetShowTrail(bool const& value);
void DeleteTrail()const;
int type() const;
private:
MapGraphicItem* map;
int altitude;
UAVMapFollowType::Types mapfollowtype;
UAVTrailType::Types trailtype;
internals::PointLatLng coord;
internals::PointLatLng lastcoord;
QPixmap pic;
core::Point localposition;
OPMapWidget* mapwidget;
QGraphicsItemGroup* trail;
QTime timer;
bool showtrail;
int trailtime;
int traildistance;
// QRectF rect;
public slots:
signals: