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Code Issues Releases Activity

Fix indentation in the map gadget widget before starting work on waypoints

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This commit is contained in:
James Cotton 2012-05-11 19:20:35 -05:00
parent 74d96d0073
commit fa20b0de63
1 changed files with 516 additions and 516 deletions
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1032
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
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@ -7,7 +7,7 @@
* @{ * @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin * @addtogroup OPMapPlugin OpenPilot Map Plugin
* @{ * @{
* @brief The OpenPilot Map plugin * @brief The OpenPilot Map plugin
*****************************************************************************/ *****************************************************************************/
/* /*
* This program is free software; you can redistribute it and/or modify * This program is free software; you can redistribute it and/or modify
@ -90,60 +90,60 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_mouse_waypoint = NULL; m_mouse_waypoint = NULL;
pm = NULL; pm = NULL;
obm = NULL; obm = NULL;
obum = NULL; obum = NULL;
m_prev_tile_number = 0; m_prev_tile_number = 0;
m_min_zoom = m_max_zoom = 0; m_min_zoom = m_max_zoom = 0;
m_map_mode = Normal_MapMode; m_map_mode = Normal_MapMode;
m_maxUpdateRate = max_update_rate_list[4]; // 2 seconds m_maxUpdateRate = max_update_rate_list[4]; // 2 seconds
m_telemetry_connected = false; m_telemetry_connected = false;
m_context_menu_lat_lon = m_mouse_lat_lon = internals::PointLatLng(0, 0); m_context_menu_lat_lon = m_mouse_lat_lon = internals::PointLatLng(0, 0);
setMouseTracking(true); setMouseTracking(true);
pm = ExtensionSystem::PluginManager::instance(); pm = ExtensionSystem::PluginManager::instance();
if (pm) if (pm)
{ {
obm = pm->getObject<UAVObjectManager>(); obm = pm->getObject<UAVObjectManager>();
obum = pm->getObject<UAVObjectUtilManager>(); obum = pm->getObject<UAVObjectUtilManager>();
} }
// ************** // **************
// get current location // get current location
double latitude = 0; double latitude = 0;
double longitude = 0; double longitude = 0;
double altitude = 0; double altitude = 0;
// current position // current position
getUAVPosition(latitude, longitude, altitude); getUAVPosition(latitude, longitude, altitude);
internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude); internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
// ************** // **************
// default home position // default home position
m_home_position.coord = pos_lat_lon; m_home_position.coord = pos_lat_lon;
m_home_position.altitude = altitude; m_home_position.altitude = altitude;
m_home_position.locked = false; m_home_position.locked = false;
// ************** // **************
// default magic waypoint params // default magic waypoint params
m_magic_waypoint.map_wp_item = NULL; m_magic_waypoint.map_wp_item = NULL;
m_magic_waypoint.coord = m_home_position.coord; m_magic_waypoint.coord = m_home_position.coord;
m_magic_waypoint.altitude = altitude; m_magic_waypoint.altitude = altitude;
m_magic_waypoint.description = "Magic waypoint"; m_magic_waypoint.description = "Magic waypoint";
m_magic_waypoint.locked = false; m_magic_waypoint.locked = false;
m_magic_waypoint.time_seconds = 0; m_magic_waypoint.time_seconds = 0;
m_magic_waypoint.hold_time_seconds = 0; m_magic_waypoint.hold_time_seconds = 0;
// ************** // **************
// create the widget that holds the user controls and the map // create the widget that holds the user controls and the map
@ -164,8 +164,8 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); // m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); //
m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); // m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); //
m_min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept m_min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept
m_max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept m_max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions
m_map->SetFollowMouse(true); // we want a contiuous mouse position reading m_map->SetFollowMouse(true); // we want a contiuous mouse position reading
@ -173,20 +173,20 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_map->SetShowHome(true); // display the HOME position on the map m_map->SetShowHome(true); // display the HOME position on the map
m_map->SetShowUAV(true); // display the UAV position on the map m_map->SetShowUAV(true); // display the UAV position on the map
m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters) m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters)
m_map->Home->SetShowSafeArea(true); // show the safe area m_map->Home->SetShowSafeArea(true); // show the safe area
m_map->UAV->SetTrailTime(uav_trail_time_list[0]); // seconds m_map->UAV->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]); // meters m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed); m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->UAV->SetTrailType(UAVTrailType::ByDistance); // m_map->UAV->SetTrailType(UAVTrailType::ByDistance);
m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds
m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters
m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed); m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
// m_map->GPS->SetTrailType(UAVTrailType::ByDistance); // m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
// ************** // **************
@ -205,24 +205,24 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
switch (m_map_mode) switch (m_map_mode)
{ {
case Normal_MapMode: case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false); m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true); m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls(); hideMagicWaypointControls();
break; break;
case MagicWaypoint_MapMode: case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false); m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true); m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls(); showMagicWaypointControls();
break; break;
default: default:
m_map_mode = Normal_MapMode; m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false); m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true); m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls(); hideMagicWaypointControls();
break; break;
} }
m_widget->labelUAVPos->setText("---"); m_widget->labelUAVPos->setText("---");
@ -241,12 +241,12 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_widget->progressBarMap->setMaximum(1); m_widget->progressBarMap->setMaximum(1);
/* /*
#if defined(Q_OS_MAC) #if defined(Q_OS_MAC)
#elif defined(Q_OS_WIN) #elif defined(Q_OS_WIN)
m_widget->comboBoxFindPlace->clear(); m_widget->comboBoxFindPlace->clear();
loadComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt"); loadComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
m_widget->comboBoxFindPlace->setCurrentIndex(-1); m_widget->comboBoxFindPlace->setCurrentIndex(-1);
#else #else
#endif #endif
*/ */
@ -269,10 +269,10 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*))); connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&))); connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
m_map->SetCurrentPosition(m_home_position.coord); // set the map position 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->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->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 m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
// ************** // **************
// create various context menu (mouse right click menu) actions // create various context menu (mouse right click menu) actions
@ -287,10 +287,10 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
// Register for Home Location state changes // Register for Home Location state changes
if (obm) if (obm)
{ {
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation"))); UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
if (obj) if (obj)
{ {
connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *))); connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
} }
} }
@ -307,14 +307,14 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
// create the desired timers // create the desired timers
m_updateTimer = new QTimer(); m_updateTimer = new QTimer();
m_updateTimer->setInterval(m_maxUpdateRate); m_updateTimer->setInterval(m_maxUpdateRate);
connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition())); connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
m_updateTimer->start(); m_updateTimer->start();
m_statusUpdateTimer = new QTimer(); m_statusUpdateTimer = new QTimer();
m_statusUpdateTimer->setInterval(200); m_statusUpdateTimer->setInterval(200);
// m_statusUpdateTimer->setInterval(m_maxUpdateRate); // m_statusUpdateTimer->setInterval(m_maxUpdateRate);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos())); connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
m_statusUpdateTimer->start(); m_statusUpdateTimer->start();
// ************** // **************
@ -325,21 +325,21 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
// destructor // destructor
OPMapGadgetWidget::~OPMapGadgetWidget() OPMapGadgetWidget::~OPMapGadgetWidget()
{ {
if (m_map) if (m_map)
{ {
disconnect(m_map, 0, 0, 0); disconnect(m_map, 0, 0, 0);
m_map->SetShowHome(false); // doing this appears to stop the map lib crashing on exit m_map->SetShowHome(false); // doing this appears to stop the map lib crashing on exit
m_map->SetShowUAV(false); // " " m_map->SetShowUAV(false); // " "
} }
// this destructor doesn't appear to be called at shutdown??? // this destructor doesn't appear to be called at shutdown???
// #if defined(Q_OS_MAC) // #if defined(Q_OS_MAC)
// #elif defined(Q_OS_WIN) // #elif defined(Q_OS_WIN)
// saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt"); // saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
// #else // #else
// #endif // #endif
m_waypoint_list_mutex.lock(); m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list) foreach (t_waypoint *wp, m_waypoint_list)
@ -355,11 +355,11 @@ OPMapGadgetWidget::~OPMapGadgetWidget()
m_waypoint_list_mutex.unlock(); m_waypoint_list_mutex.unlock();
m_waypoint_list.clear(); m_waypoint_list.clear();
if (m_map) if (m_map)
{ {
delete m_map; delete m_map;
m_map = NULL; m_map = NULL;
} }
} }
// ************************************************************************************* // *************************************************************************************
@ -382,7 +382,7 @@ void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
if (event->buttons() & Qt::LeftButton) if (event->buttons() & Qt::LeftButton)
{ {
// QPoint pos = event->pos(); // QPoint pos = event->pos();
} }
QWidget::mouseMoveEvent(event); QWidget::mouseMoveEvent(event);
@ -393,22 +393,22 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
QString s; QString s;
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (event->reason() != QContextMenuEvent::Mouse) if (event->reason() != QContextMenuEvent::Mouse)
return; // not a mouse click event return; // not a mouse click event
// current mouse position // current mouse position
QPoint p = m_map->mapFromGlobal(event->globalPos()); 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(); // m_context_menu_lat_lon = m_map->currentMousePosition();
if (!m_map->contentsRect().contains(p)) if (!m_map->contentsRect().contains(p))
return; // the mouse click was not on the map return; // the mouse click was not on the map
// show the mouse position // 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); m_widget->labelMousePos->setText(s);
// find out if we have a waypoint under the mouse cursor // find out if we have a waypoint under the mouse cursor
@ -437,18 +437,18 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
menu.addSeparator(); menu.addSeparator();
QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this); QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
for (int i = 0; i < maxUpdateRateAct.count(); i++) for (int i = 0; i < maxUpdateRateAct.count(); i++)
maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i)); maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
menu.addMenu(&maxUpdateRateSubMenu); menu.addMenu(&maxUpdateRateSubMenu);
menu.addSeparator(); menu.addSeparator();
switch (m_map_mode) switch (m_map_mode)
{ {
case Normal_MapMode: s = tr(" (Normal)"); break; case Normal_MapMode: s = tr(" (Normal)"); break;
case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break; case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
default: s = tr(" (Unknown)"); break; default: s = tr(" (Unknown)"); break;
} }
for (int i = 0; i < mapModeAct.count(); i++) for (int i = 0; i < mapModeAct.count(); i++)
{ // set the menu to checked (or not) { // set the menu to checked (or not)
@ -478,7 +478,7 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
menu.addSeparator(); menu.addSeparator();
*/ */
QMenu safeArea("Safety Area definitions"); QMenu safeArea("Safety Area definitions");
// menu.addAction(showSafeAreaAct); // menu.addAction(showSafeAreaAct);
QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this); QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this);
for (int i = 0; i < safeAreaAct.count(); i++) for (int i = 0; i < safeAreaAct.count(); i++)
safeAreaSubMenu.addAction(safeAreaAct.at(i)); safeAreaSubMenu.addAction(safeAreaAct.at(i));
@ -551,9 +551,9 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
switch (m_map_mode) switch (m_map_mode)
{ {
case Normal_MapMode: case Normal_MapMode:
// only show the waypoint stuff if not in 'magic waypoint' mode // only show the waypoint stuff if not in 'magic waypoint' mode
/* /*
menu.addSeparator()->setText(tr("Waypoints")); menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(wayPointEditorAct); menu.addAction(wayPointEditorAct);
@ -576,12 +576,12 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
m_waypoint_list_mutex.unlock(); m_waypoint_list_mutex.unlock();
*/ */
break; break;
case MagicWaypoint_MapMode: case MagicWaypoint_MapMode:
menu.addSeparator()->setText(tr("Waypoints")); menu.addSeparator()->setText(tr("Waypoints"));
menu.addAction(homeMagicWaypointAct); menu.addAction(homeMagicWaypointAct);
break; break;
} }
// ********* // *********
@ -601,32 +601,32 @@ void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
switch (event->key()) switch (event->key())
{ {
case Qt::Key_Escape: case Qt::Key_Escape:
break; break;
case Qt::Key_F1: case Qt::Key_F1:
break; break;
case Qt::Key_F2: case Qt::Key_F2:
break; break;
case Qt::Key_Up: case Qt::Key_Up:
break; break;
case Qt::Key_Down: case Qt::Key_Down:
break; break;
case Qt::Key_Left: case Qt::Key_Left:
break; break;
case Qt::Key_Right: case Qt::Key_Right:
break; break;
case Qt::Key_PageUp: case Qt::Key_PageUp:
break; break;
case Qt::Key_PageDown: case Qt::Key_PageDown:
break; break;
} }
} }
@ -643,71 +643,71 @@ void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
*/ */
void OPMapGadgetWidget::updatePosition() void OPMapGadgetWidget::updatePosition()
{ {
double uav_latitude, uav_longitude, uav_altitude, uav_yaw; double uav_latitude, uav_longitude, uav_altitude, uav_yaw;
double gps_latitude, gps_longitude, gps_altitude, gps_heading; double gps_latitude, gps_longitude, gps_altitude, gps_heading;
internals::PointLatLng uav_pos; internals::PointLatLng uav_pos;
internals::PointLatLng gps_pos; internals::PointLatLng gps_pos;
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
// Pip I'm sorry, I know this was here with a purpose vvv // Pip I'm sorry, I know this was here with a purpose vvv
// from Pip: let you off :) // from Pip: let you off :)
//if (!telemetry_connected) //if (!telemetry_connected)
// return; // return;
// ************* // *************
// get the current UAV details // get the current UAV details
// get current UAV position // get current UAV position
if (!getUAVPosition(uav_latitude, uav_longitude, uav_altitude)) if (!getUAVPosition(uav_latitude, uav_longitude, uav_altitude))
return; return;
// get current UAV heading // get current UAV heading
uav_yaw = getUAV_Yaw(); uav_yaw = getUAV_Yaw();
uav_pos = internals::PointLatLng(uav_latitude, uav_longitude); uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
// ************* // *************
// get the current GPS details // get the current GPS details
// get current GPS position // get current GPS position
if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude)) if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude))
return; return;
// get current GPS heading // get current GPS heading
// gps_heading = getGPS_Heading(); // gps_heading = getGPS_Heading();
gps_heading = 0; gps_heading = 0;
gps_pos = internals::PointLatLng(gps_latitude, gps_longitude); gps_pos = internals::PointLatLng(gps_latitude, gps_longitude);
// ************* // *************
// display the UAV position // display the UAV position
QString str = QString str =
"lat: " + QString::number(uav_pos.Lat(), 'f', 7) + "lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
" lon: " + QString::number(uav_pos.Lng(), 'f', 7) + " lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
" " + QString::number(uav_yaw, 'f', 1) + "deg" + " " + QString::number(uav_yaw, 'f', 1) + "deg" +
" " + QString::number(uav_altitude, 'f', 1) + "m"; " " + QString::number(uav_altitude, 'f', 1) + "m";
// " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s"; // " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
m_widget->labelUAVPos->setText(str); m_widget->labelUAVPos->setText(str);
// ************* // *************
// set the UAV icon position on the map // set the UAV icon position on the map
m_map->UAV->SetUAVPos(uav_pos, uav_altitude); // set the maps UAV position m_map->UAV->SetUAVPos(uav_pos, uav_altitude); // set the maps UAV position
// qDebug()<<"UAVPOSITION"<<uav_pos.ToString(); // qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
m_map->UAV->SetUAVHeading(uav_yaw); // set the maps UAV heading m_map->UAV->SetUAVHeading(uav_yaw); // set the maps UAV heading
// ************* // *************
// set the GPS icon position on the map // set the GPS icon position on the map
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
// ************* // *************
} }
/** /**
@ -716,8 +716,8 @@ void OPMapGadgetWidget::updatePosition()
*/ */
void OPMapGadgetWidget::updateMousePos() void OPMapGadgetWidget::updateMousePos()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -727,7 +727,7 @@ void OPMapGadgetWidget::updateMousePos()
if (!m_map->contentsRect().contains(p)) if (!m_map->contentsRect().contains(p))
return; // the mouse is not on the map return; // the mouse is not on the map
// internals::PointLatLng lat_lon = m_map->currentMousePosition(); // fetch the current lat/lon mouse position // internals::PointLatLng lat_lon = m_map->currentMousePosition(); // fetch the current lat/lon mouse position
QGraphicsItem *item = m_map->itemAt(p); QGraphicsItem *item = m_map->itemAt(p);
@ -740,14 +740,14 @@ void OPMapGadgetWidget::updateMousePos()
// find out if we have a waypoint under the mouse cursor // find out if we have a waypoint under the mouse cursor
mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item); mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
if (m_mouse_lat_lon == lat_lon) if (m_mouse_lat_lon == lat_lon)
return; // the mouse has not moved return; // the mouse has not moved
m_mouse_lat_lon = lat_lon; // yes it has! m_mouse_lat_lon = lat_lon; // yes it has!
internals::PointLatLng home_lat_lon = m_map->Home->Coord(); internals::PointLatLng home_lat_lon = m_map->Home->Coord();
QString s = QString::number(m_mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_mouse_lat_lon.Lng(), 'f', 7); QString s = QString::number(m_mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_mouse_lat_lon.Lng(), 'f', 7);
if (wp) if (wp)
{ {
s += " wp[" + QString::number(wp->Number()) + "]"; s += " wp[" + QString::number(wp->Number()) + "]";
@ -758,33 +758,33 @@ void OPMapGadgetWidget::updateMousePos()
s += " " + QString::number(bear, 'f', 1) + "deg"; s += " " + QString::number(bear, 'f', 1) + "deg";
} }
else else
if (home) if (home)
{
s += " home";
double dist = distance(home_lat_lon, m_mouse_lat_lon);
double bear = bearing(home_lat_lon, m_mouse_lat_lon);
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
s += " " + QString::number(bear, 'f', 1) + "deg";
}
else
if (uav)
{
s += " uav";
double latitude;
double longitude;
double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{ {
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); s += " home";
// double dist = distance(home_lat_lon, uav_pos); double dist = distance(home_lat_lon, m_mouse_lat_lon);
// double bear = bearing(home_lat_lon, uav_pos); double bear = bearing(home_lat_lon, m_mouse_lat_lon);
// s += " " + QString::number(dist * 1000, 'f', 1) + "m"; s += " " + QString::number(dist * 1000, 'f', 1) + "m";
// s += " " + QString::number(bear, 'f', 1) + "deg"; s += " " + QString::number(bear, 'f', 1) + "deg";
} }
} else
if (uav)
{
s += " uav";
double latitude;
double longitude;
double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
// double dist = distance(home_lat_lon, uav_pos);
// double bear = bearing(home_lat_lon, uav_pos);
// s += " " + QString::number(dist * 1000, 'f', 1) + "m";
// s += " " + QString::number(bear, 'f', 1) + "deg";
}
}
m_widget->labelMousePos->setText(s); m_widget->labelMousePos->setText(s);
} }
@ -797,24 +797,24 @@ void OPMapGadgetWidget::updateMousePos()
*/ */
void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd) void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1); QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1);
m_widget->labelMapZoom->setText(s); m_widget->labelMapZoom->setText(s);
int i_zoom = (int)(zoomt + 0.5); int i_zoom = (int)(zoomt + 0.5);
if (i_zoom < m_min_zoom) i_zoom = m_min_zoom; if (i_zoom < m_min_zoom) i_zoom = m_min_zoom;
else else
if (i_zoom > m_max_zoom) i_zoom = m_max_zoom; if (i_zoom > m_max_zoom) i_zoom = m_max_zoom;
if (m_widget->horizontalSliderZoom->value() != i_zoom) if (m_widget->horizontalSliderZoom->value() != i_zoom)
m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position
int index0_zoom = i_zoom - m_min_zoom; // zoom level starting at index level '0' int index0_zoom = i_zoom - m_min_zoom; // zoom level starting at index level '0'
if (index0_zoom < zoomAct.count()) if (index0_zoom < zoomAct.count())
zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level
} }
void OPMapGadgetWidget::OnMapDrag() void OPMapGadgetWidget::OnMapDrag()
@ -823,8 +823,8 @@ void OPMapGadgetWidget::OnMapDrag()
void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point) void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " "; QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " ";
m_widget->labelMapPos->setText(coord_str); m_widget->labelMapPos->setText(coord_str);
@ -835,20 +835,20 @@ void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
*/ */
void OPMapGadgetWidget::OnTilesStillToLoad(int number) void OPMapGadgetWidget::OnTilesStillToLoad(int number)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
// if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number) // if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
// m_widget->progressBarMap->setMaximum(number); // m_widget->progressBarMap->setMaximum(number);
if (m_widget->progressBarMap->maximum() < number) if (m_widget->progressBarMap->maximum() < number)
m_widget->progressBarMap->setMaximum(number); m_widget->progressBarMap->setMaximum(number);
m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number); // update the progress bar m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number); // update the progress bar
// m_widget->labelNumTilesToLoad->setText(QString::number(number)); // m_widget->labelNumTilesToLoad->setText(QString::number(number));
m_prev_tile_number = number; m_prev_tile_number = number;
} }
/** /**
@ -856,8 +856,8 @@ void OPMapGadgetWidget::OnTilesStillToLoad(int number)
*/ */
void OPMapGadgetWidget::OnTileLoadStart() void OPMapGadgetWidget::OnTileLoadStart()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_widget->progressBarMap->setVisible(true); m_widget->progressBarMap->setVisible(true);
} }
@ -870,8 +870,8 @@ void OPMapGadgetWidget::OnTileLoadStart()
void OPMapGadgetWidget::OnTileLoadComplete() void OPMapGadgetWidget::OnTileLoadComplete()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_widget->progressBarMap->setVisible(false); m_widget->progressBarMap->setVisible(false);
} }
@ -900,38 +900,38 @@ void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumb
void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint) void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
{ {
// qDebug("opmap: WPValuesChanged"); // qDebug("opmap: WPValuesChanged");
switch (m_map_mode) switch (m_map_mode)
{ {
case Normal_MapMode: case Normal_MapMode:
m_waypoint_list_mutex.lock(); m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list) foreach (t_waypoint *wp, m_waypoint_list)
{ // search for the waypoint in our own waypoint list and update it { // search for the waypoint in our own waypoint list and update it
if (!wp) continue; if (!wp) continue;
if (!wp->map_wp_item) continue; if (!wp->map_wp_item) continue;
if (wp->map_wp_item != waypoint) continue; if (wp->map_wp_item != waypoint) continue;
// found the waypoint in our list // found the waypoint in our list
wp->coord = waypoint->Coord(); wp->coord = waypoint->Coord();
wp->altitude = waypoint->Altitude(); wp->altitude = waypoint->Altitude();
wp->description = waypoint->Description(); wp->description = waypoint->Description();
break;
}
m_waypoint_list_mutex.unlock();
break; break;
}
m_waypoint_list_mutex.unlock();
break;
case MagicWaypoint_MapMode: case MagicWaypoint_MapMode:
// update our copy of the magic waypoint // update our copy of the magic waypoint
if (m_magic_waypoint.map_wp_item && m_magic_waypoint.map_wp_item == waypoint) if (m_magic_waypoint.map_wp_item && m_magic_waypoint.map_wp_item == waypoint)
{ {
m_magic_waypoint.coord = waypoint->Coord(); m_magic_waypoint.coord = waypoint->Coord();
m_magic_waypoint.altitude = waypoint->Altitude(); m_magic_waypoint.altitude = waypoint->Altitude();
m_magic_waypoint.description = waypoint->Description(); m_magic_waypoint.description = waypoint->Description();
// move the UAV to the magic waypoint position // move the UAV to the magic waypoint position
// moveToMagicWaypointPosition(); // moveToMagicWaypointPosition();
} }
break; break;
} }
} }
@ -974,8 +974,8 @@ void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
void OPMapGadgetWidget::on_toolButtonMapUAV_clicked() void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -984,16 +984,16 @@ void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked() void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
followUAVheadingAct->toggle(); followUAVheadingAct->toggle();
} }
void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position) void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -1026,30 +1026,30 @@ void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
void OPMapGadgetWidget::onTelemetryConnect() void OPMapGadgetWidget::onTelemetryConnect()
{ {
m_telemetry_connected = true; m_telemetry_connected = true;
if (!obum) return; if (!obum) return;
bool set; bool set;
double LLA[3]; double LLA[3];
// *********************** // ***********************
// fetch the home location // fetch the home location
if (obum->getHomeLocation(set, LLA) < 0) if (obum->getHomeLocation(set, LLA) < 0)
return; // error return; // error
setHome(internals::PointLatLng(LLA[0], LLA[1])); setHome(internals::PointLatLng(LLA[0], LLA[1]));
if (m_map) if (m_map)
m_map->SetCurrentPosition(m_home_position.coord); // set the map position m_map->SetCurrentPosition(m_home_position.coord); // set the map position
// *********************** // ***********************
} }
void OPMapGadgetWidget::onTelemetryDisconnect() void OPMapGadgetWidget::onTelemetryDisconnect()
{ {
m_telemetry_connected = false; m_telemetry_connected = false;
} }
// Updates the Home position icon whenever the HomePosition object is updated // Updates the Home position icon whenever the HomePosition object is updated
@ -1071,21 +1071,21 @@ void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
*/ */
void OPMapGadgetWidget::setHome(QPointF pos) void OPMapGadgetWidget::setHome(QPointF pos)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
double latitude = pos.x(); double latitude = pos.x();
double longitude = pos.y(); double longitude = pos.y();
if (latitude > 90) latitude = 90; if (latitude > 90) latitude = 90;
else else
if (latitude < -90) latitude = -90; if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection if (longitude != longitude) longitude = 0; // nan detection
else else
if (longitude > 180) longitude = 180; if (longitude > 180) longitude = 180;
else else
if (longitude < -180) longitude = -180; if (longitude < -180) longitude = -180;
setHome(internals::PointLatLng(latitude, longitude)); setHome(internals::PointLatLng(latitude, longitude));
} }
@ -1095,8 +1095,8 @@ void OPMapGadgetWidget::setHome(QPointF pos)
*/ */
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon) void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng()) if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
return;; // nan prevention return;; // nan prevention
@ -1106,21 +1106,21 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
if (latitude != latitude) latitude = 0; // nan detection if (latitude != latitude) latitude = 0; // nan detection
else else
if (latitude > 90) latitude = 90; if (latitude > 90) latitude = 90;
else else
if (latitude < -90) latitude = -90; if (latitude < -90) latitude = -90;
if (longitude != longitude) longitude = 0; // nan detection if (longitude != longitude) longitude = 0; // nan detection
else else
if (longitude > 180) longitude = 180; if (longitude > 180) longitude = 180;
else else
if (longitude < -180) longitude = -180; if (longitude < -180) longitude = -180;
// ********* // *********
m_home_position.coord = internals::PointLatLng(latitude, longitude); m_home_position.coord = internals::PointLatLng(latitude, longitude);
m_map->Home->SetCoord(m_home_position.coord); m_map->Home->SetCoord(m_home_position.coord);
m_map->Home->RefreshPos(); m_map->Home->RefreshPos();
// move the magic waypoint to keep it within the safe area boundry // move the magic waypoint to keep it within the safe area boundry
@ -1133,74 +1133,74 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
*/ */
void OPMapGadgetWidget::goHome() void OPMapGadgetWidget::goHome()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
followUAVpositionAct->setChecked(false); followUAVpositionAct->setChecked(false);
internals::PointLatLng home_pos = m_home_position.coord; // get the home location internals::PointLatLng home_pos = m_home_position.coord; // get the home location
m_map->SetCurrentPosition(home_pos); // center the map onto the home location m_map->SetCurrentPosition(home_pos); // center the map onto the home location
} }
void OPMapGadgetWidget::zoomIn() void OPMapGadgetWidget::zoomIn()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
int zoom = m_map->ZoomTotal() + 1; int zoom = m_map->ZoomTotal() + 1;
if (zoom < m_min_zoom) zoom = m_min_zoom; if (zoom < m_min_zoom) zoom = m_min_zoom;
else else
if (zoom > m_max_zoom) zoom = m_max_zoom; if (zoom > m_max_zoom) zoom = m_max_zoom;
m_map->SetZoom(zoom); m_map->SetZoom(zoom);
} }
void OPMapGadgetWidget::zoomOut() void OPMapGadgetWidget::zoomOut()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
int zoom = m_map->ZoomTotal() - 1; int zoom = m_map->ZoomTotal() - 1;
if (zoom < m_min_zoom) zoom = m_min_zoom; if (zoom < m_min_zoom) zoom = m_min_zoom;
else else
if (zoom > m_max_zoom) zoom = m_max_zoom; if (zoom > m_max_zoom) zoom = m_max_zoom;
m_map->SetZoom(zoom); m_map->SetZoom(zoom);
} }
void OPMapGadgetWidget::setMaxUpdateRate(int update_rate) void OPMapGadgetWidget::setMaxUpdateRate(int update_rate)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
int list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]); int list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
int min_rate = max_update_rate_list[0]; int min_rate = max_update_rate_list[0];
int max_rate = max_update_rate_list[list_size - 1]; int max_rate = max_update_rate_list[list_size - 1];
if (update_rate < min_rate) update_rate = min_rate; if (update_rate < min_rate) update_rate = min_rate;
else else
if (update_rate > max_rate) update_rate = max_rate; if (update_rate > max_rate) update_rate = max_rate;
m_maxUpdateRate = update_rate; m_maxUpdateRate = update_rate;
if (m_updateTimer) if (m_updateTimer)
m_updateTimer->setInterval(m_maxUpdateRate); m_updateTimer->setInterval(m_maxUpdateRate);
// if (m_statusUpdateTimer) // if (m_statusUpdateTimer)
// m_statusUpdateTimer->setInterval(m_maxUpdateRate); // m_statusUpdateTimer->setInterval(m_maxUpdateRate);
} }
void OPMapGadgetWidget::setZoom(int zoom) void OPMapGadgetWidget::setZoom(int zoom)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (zoom < m_min_zoom) zoom = m_min_zoom; if (zoom < m_min_zoom) zoom = m_min_zoom;
else else
if (zoom > m_max_zoom) zoom = m_max_zoom; if (zoom > m_max_zoom) zoom = m_max_zoom;
internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType(); internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter); m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
@ -1212,8 +1212,8 @@ void OPMapGadgetWidget::setZoom(int zoom)
void OPMapGadgetWidget::setPosition(QPointF pos) void OPMapGadgetWidget::setPosition(QPointF pos)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
double latitude = pos.y(); double latitude = pos.y();
double longitude = pos.x(); double longitude = pos.x();
@ -1223,86 +1223,86 @@ void OPMapGadgetWidget::setPosition(QPointF pos)
if (latitude > 90) latitude = 90; if (latitude > 90) latitude = 90;
else else
if (latitude < -90) latitude = -90; if (latitude < -90) latitude = -90;
if (longitude > 180) longitude = 180; if (longitude > 180) longitude = 180;
else else
if (longitude < -180) longitude = -180; if (longitude < -180) longitude = -180;
m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude)); m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude));
} }
void OPMapGadgetWidget::setMapProvider(QString provider) void OPMapGadgetWidget::setMapProvider(QString provider)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider)); m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
} }
void OPMapGadgetWidget::setAccessMode(QString accessMode) void OPMapGadgetWidget::setAccessMode(QString accessMode)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode)); m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
} }
void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL) void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetUseOpenGL(useOpenGL); m_map->SetUseOpenGL(useOpenGL);
} }
void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines) void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetShowTileGridLines(showTileGridLines); m_map->SetShowTileGridLines(showTileGridLines);
} }
void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache) void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->configuration->SetUseMemoryCache(useMemoryCache); m_map->configuration->SetUseMemoryCache(useMemoryCache);
} }
void OPMapGadgetWidget::setCacheLocation(QString cacheLocation) void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces
if (cacheLocation.isEmpty()) return; if (cacheLocation.isEmpty()) return;
// #if defined(Q_WS_WIN) // #if defined(Q_WS_WIN)
// if (!cacheLocation.endsWith('\\')) cacheLocation += '\\'; // if (!cacheLocation.endsWith('\\')) cacheLocation += '\\';
// #elif defined(Q_WS_X11) // #elif defined(Q_WS_X11)
if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator(); if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #elif defined(Q_WS_MAC) // #elif defined(Q_WS_MAC)
// if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator(); // if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
// #endif // #endif
QDir dir; QDir dir;
if (!dir.exists(cacheLocation)) if (!dir.exists(cacheLocation))
if (!dir.mkpath(cacheLocation)) if (!dir.mkpath(cacheLocation))
return; return;
// qDebug() << "opmap: map cache dir: " << cacheLocation; // qDebug() << "opmap: map cache dir: " << cacheLocation;
m_map->configuration->SetCacheLocation(cacheLocation); m_map->configuration->SetCacheLocation(cacheLocation);
} }
void OPMapGadgetWidget::setMapMode(opMapModeType mode) void OPMapGadgetWidget::setMapMode(opMapModeType mode)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode) if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
mode = Normal_MapMode; // fix error mode = Normal_MapMode; // fix error
@ -1311,87 +1311,87 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
{ // no change in map mode { // no change in map mode
switch (mode) switch (mode)
{ // make sure the UI buttons are set correctly { // make sure the UI buttons are set correctly
case Normal_MapMode: case Normal_MapMode:
m_widget->toolButtonMagicWaypointMapMode->setChecked(false); m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true); m_widget->toolButtonNormalMapMode->setChecked(true);
break; break;
case MagicWaypoint_MapMode: case MagicWaypoint_MapMode:
m_widget->toolButtonNormalMapMode->setChecked(false); m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true); m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
break; break;
} }
return; return;
} }
switch (mode) switch (mode)
{ {
case Normal_MapMode: case Normal_MapMode:
m_map_mode = Normal_MapMode; m_map_mode = Normal_MapMode;
m_widget->toolButtonMagicWaypointMapMode->setChecked(false); m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
m_widget->toolButtonNormalMapMode->setChecked(true); m_widget->toolButtonNormalMapMode->setChecked(true);
hideMagicWaypointControls(); hideMagicWaypointControls();
// delete the magic waypoint from the map // delete the magic waypoint from the map
if (m_magic_waypoint.map_wp_item) if (m_magic_waypoint.map_wp_item)
{ {
m_magic_waypoint.coord = m_magic_waypoint.map_wp_item->Coord(); m_magic_waypoint.coord = m_magic_waypoint.map_wp_item->Coord();
m_magic_waypoint.altitude = m_magic_waypoint.map_wp_item->Altitude(); m_magic_waypoint.altitude = m_magic_waypoint.map_wp_item->Altitude();
m_magic_waypoint.description = m_magic_waypoint.map_wp_item->Description(); m_magic_waypoint.description = m_magic_waypoint.map_wp_item->Description();
m_magic_waypoint.map_wp_item = NULL; m_magic_waypoint.map_wp_item = NULL;
} }
m_map->WPDeleteAll(); m_map->WPDeleteAll();
// restore the normal waypoints on the map // restore the normal waypoints on the map
m_waypoint_list_mutex.lock(); m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list) foreach (t_waypoint *wp, m_waypoint_list)
{ {
if (!wp) continue; if (!wp) continue;
wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description); wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
if (!wp->map_wp_item) continue; if (!wp->map_wp_item) continue;
wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number()); wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked); wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
if (!wp->locked) if (!wp->locked)
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png")); wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
else else
wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png")); wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
wp->map_wp_item->update(); wp->map_wp_item->update();
} }
m_waypoint_list_mutex.unlock(); m_waypoint_list_mutex.unlock();
break; break;
case MagicWaypoint_MapMode: case MagicWaypoint_MapMode:
m_map_mode = MagicWaypoint_MapMode; m_map_mode = MagicWaypoint_MapMode;
m_widget->toolButtonNormalMapMode->setChecked(false); m_widget->toolButtonNormalMapMode->setChecked(false);
m_widget->toolButtonMagicWaypointMapMode->setChecked(true); m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
showMagicWaypointControls(); showMagicWaypointControls();
// delete the normal waypoints from the map // delete the normal waypoints from the map
m_waypoint_list_mutex.lock(); m_waypoint_list_mutex.lock();
foreach (t_waypoint *wp, m_waypoint_list) foreach (t_waypoint *wp, m_waypoint_list)
{ {
if (!wp) continue; if (!wp) continue;
if (!wp->map_wp_item) continue; if (!wp->map_wp_item) continue;
wp->coord = wp->map_wp_item->Coord(); wp->coord = wp->map_wp_item->Coord();
wp->altitude = wp->map_wp_item->Altitude(); wp->altitude = wp->map_wp_item->Altitude();
wp->description = wp->map_wp_item->Description(); wp->description = wp->map_wp_item->Description();
wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0; wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
wp->map_wp_item = NULL; wp->map_wp_item = NULL;
} }
m_map->WPDeleteAll(); m_map->WPDeleteAll();
m_waypoint_list_mutex.unlock(); m_waypoint_list_mutex.unlock();
// restore the magic waypoint on the map // restore the magic waypoint on the map
m_magic_waypoint.map_wp_item = m_map->WPCreate(m_magic_waypoint.coord, m_magic_waypoint.altitude, m_magic_waypoint.description); m_magic_waypoint.map_wp_item = m_map->WPCreate(m_magic_waypoint.coord, m_magic_waypoint.altitude, m_magic_waypoint.description);
m_magic_waypoint.map_wp_item->setZValue(10 + m_magic_waypoint.map_wp_item->Number()); m_magic_waypoint.map_wp_item->setZValue(10 + m_magic_waypoint.map_wp_item->Number());
m_magic_waypoint.map_wp_item->SetShowNumber(false); m_magic_waypoint.map_wp_item->SetShowNumber(false);
m_magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png")); m_magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
break; break;
} }
} }
@ -1400,10 +1400,10 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
void OPMapGadgetWidget::createActions() void OPMapGadgetWidget::createActions()
{ {
int list_size; int list_size;
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
// *********************** // ***********************
// create menu actions // create menu actions
@ -1482,9 +1482,9 @@ void OPMapGadgetWidget::createActions()
setHomeAct = new QAction(tr("Set the home location"), this); setHomeAct = new QAction(tr("Set the home location"), this);
setHomeAct->setStatusTip(tr("Set the home location to where you clicked")); setHomeAct->setStatusTip(tr("Set the home location to where you clicked"));
#if !defined(allow_manual_home_location_move) #if !defined(allow_manual_home_location_move)
setHomeAct->setEnabled(false); setHomeAct->setEnabled(false);
#endif #endif
connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered())); connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered()));
goHomeAct = new QAction(tr("Go to &Home location"), this); goHomeAct = new QAction(tr("Go to &Home location"), this);
@ -1575,7 +1575,7 @@ void OPMapGadgetWidget::createActions()
zoomActGroup = new QActionGroup(this); zoomActGroup = new QActionGroup(this);
connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *))); connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
zoomAct.clear(); zoomAct.clear();
for (int i = m_min_zoom; i <= m_max_zoom; i++) for (int i = m_min_zoom; i <= m_max_zoom; i++)
{ {
QAction *zoom_act = new QAction(QString::number(i), zoomActGroup); QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
zoom_act->setCheckable(true); zoom_act->setCheckable(true);
@ -1583,22 +1583,22 @@ void OPMapGadgetWidget::createActions()
zoomAct.append(zoom_act); zoomAct.append(zoom_act);
} }
maxUpdateRateActGroup = new QActionGroup(this); maxUpdateRateActGroup = new QActionGroup(this);
connect(maxUpdateRateActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMaxUpdateRateActGroup_triggered(QAction *))); connect(maxUpdateRateActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMaxUpdateRateActGroup_triggered(QAction *)));
maxUpdateRateAct.clear(); maxUpdateRateAct.clear();
list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]); list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
for (int i = 0; i < list_size; i++) for (int i = 0; i < list_size; i++)
{ {
QAction *maxUpdateRate_act; QAction *maxUpdateRate_act;
int j = max_update_rate_list[i]; int j = max_update_rate_list[i];
maxUpdateRate_act = new QAction(QString::number(j), maxUpdateRateActGroup); maxUpdateRate_act = new QAction(QString::number(j), maxUpdateRateActGroup);
maxUpdateRate_act->setCheckable(true); maxUpdateRate_act->setCheckable(true);
maxUpdateRate_act->setData(j); maxUpdateRate_act->setData(j);
maxUpdateRate_act->setChecked(j == m_maxUpdateRate); maxUpdateRate_act->setChecked(j == m_maxUpdateRate);
maxUpdateRateAct.append(maxUpdateRate_act); maxUpdateRateAct.append(maxUpdateRate_act);
} }
// ***** // *****
// safe area // safe area
showSafeAreaAct = new QAction(tr("Show Safe Area"), this); showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
@ -1610,8 +1610,8 @@ void OPMapGadgetWidget::createActions()
safeAreaActGroup = new QActionGroup(this); safeAreaActGroup = new QActionGroup(this);
connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *))); connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
safeAreaAct.clear(); safeAreaAct.clear();
list_size = sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0]); list_size = sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0]);
for (int i = 0; i < list_size; i++) for (int i = 0; i < list_size; i++)
{ {
int safeArea = safe_area_radius_list[i]; int safeArea = safe_area_radius_list[i];
QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup); QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
@ -1657,8 +1657,8 @@ void OPMapGadgetWidget::createActions()
uavTrailTimeActGroup = new QActionGroup(this); uavTrailTimeActGroup = new QActionGroup(this);
connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *))); connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
uavTrailTimeAct.clear(); uavTrailTimeAct.clear();
list_size = sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0]); list_size = sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0]);
for (int i = 0; i < list_size; i++) for (int i = 0; i < list_size; i++)
{ {
int uav_trail_time = uav_trail_time_list[i]; int uav_trail_time = uav_trail_time_list[i];
QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup); QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
@ -1671,8 +1671,8 @@ void OPMapGadgetWidget::createActions()
uavTrailDistanceActGroup = new QActionGroup(this); uavTrailDistanceActGroup = new QActionGroup(this);
connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *))); connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
uavTrailDistanceAct.clear(); uavTrailDistanceAct.clear();
list_size = sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0]); list_size = sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0]);
for (int i = 0; i < list_size; i++) for (int i = 0; i < list_size; i++)
{ {
int uav_trail_distance = uav_trail_distance_list[i]; int uav_trail_distance = uav_trail_distance_list[i];
QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup); QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
@ -1689,8 +1689,8 @@ void OPMapGadgetWidget::createActions()
void OPMapGadgetWidget::onReloadAct_triggered() void OPMapGadgetWidget::onReloadAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->ReloadMap(); m_map->ReloadMap();
} }
@ -1703,50 +1703,50 @@ void OPMapGadgetWidget::onRipAct_triggered()
void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered() void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
{ {
QClipboard *clipboard = QApplication::clipboard(); QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard); clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
} }
void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered() void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
{ {
QClipboard *clipboard = QApplication::clipboard(); QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard); clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
} }
void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered() void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
{ {
QClipboard *clipboard = QApplication::clipboard(); QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard); clipboard->setText(QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
} }
void OPMapGadgetWidget::onShowCompassAct_toggled(bool show) void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetShowCompass(show); m_map->SetShowCompass(show);
} }
void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show) void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetShowDiagnostics(show); m_map->SetShowDiagnostics(show);
} }
void OPMapGadgetWidget::onShowHomeAct_toggled(bool show) void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->Home->setVisible(show); m_map->Home->setVisible(show);
} }
void OPMapGadgetWidget::onShowUAVAct_toggled(bool show) void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->setVisible(show); m_map->UAV->setVisible(show);
m_map->GPS->setVisible(show); m_map->GPS->setVisible(show);
@ -1754,8 +1754,8 @@ void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
void OPMapGadgetWidget::onShowTrailAct_toggled(bool show) void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->SetShowTrail(show); m_map->UAV->SetShowTrail(show);
m_map->GPS->SetShowTrail(show); m_map->GPS->SetShowTrail(show);
@ -1763,8 +1763,8 @@ void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show) void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->SetShowTrailLine(show); m_map->UAV->SetShowTrailLine(show);
m_map->GPS->SetShowTrailLine(show); m_map->GPS->SetShowTrailLine(show);
@ -1792,55 +1792,55 @@ void OPMapGadgetWidget::onGoZoomOutAct_triggered()
void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action) void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map || !action) if (!m_widget || !m_map || !action)
return; return;
setZoom(action->data().toInt()); setZoom(action->data().toInt());
} }
void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action) void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map || !action) if (!m_widget || !m_map || !action)
return; return;
setMaxUpdateRate(action->data().toInt()); setMaxUpdateRate(action->data().toInt());
} }
void OPMapGadgetWidget::onGoMouseClickAct_triggered() void OPMapGadgetWidget::onGoMouseClickAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position
} }
void OPMapGadgetWidget::onSetHomeAct_triggered() void OPMapGadgetWidget::onSetHomeAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
setHome(m_context_menu_lat_lon); setHome(m_context_menu_lat_lon);
setHomeLocationObject(); // update the HomeLocation UAVObject setHomeLocationObject(); // update the HomeLocation UAVObject
} }
void OPMapGadgetWidget::onGoHomeAct_triggered() void OPMapGadgetWidget::onGoHomeAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
goHome(); goHome();
} }
void OPMapGadgetWidget::onGoUAVAct_triggered() void OPMapGadgetWidget::onGoUAVAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
double latitude; double latitude;
double longitude; double longitude;
double altitude; double altitude;
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
{ {
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position
@ -1850,8 +1850,8 @@ void OPMapGadgetWidget::onGoUAVAct_triggered()
void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked) void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_widget->toolButtonMapUAV->isChecked() != checked) if (m_widget->toolButtonMapUAV->isChecked() != checked)
m_widget->toolButtonMapUAV->setChecked(checked); m_widget->toolButtonMapUAV->setChecked(checked);
@ -1861,8 +1861,8 @@ void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked) void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_widget->toolButtonMapUAVheading->isChecked() != checked) if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
m_widget->toolButtonMapUAVheading->setChecked(checked); m_widget->toolButtonMapUAVheading->setChecked(checked);
@ -1872,8 +1872,8 @@ void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action) void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map || !action) if (!m_widget || !m_map || !action)
return; return;
int trail_type_idx = action->data().toInt(); int trail_type_idx = action->data().toInt();
@ -1885,8 +1885,8 @@ void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
void OPMapGadgetWidget::onClearUAVtrailAct_triggered() void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->DeleteTrail(); m_map->UAV->DeleteTrail();
m_map->GPS->DeleteTrail(); m_map->GPS->DeleteTrail();
@ -1894,8 +1894,8 @@ void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action) void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map || !action) if (!m_widget || !m_map || !action)
return; return;
int trail_time = (double)action->data().toInt(); int trail_time = (double)action->data().toInt();
@ -1904,8 +1904,8 @@ void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action) void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map || !action) if (!m_widget || !m_map || !action)
return; return;
int trail_distance = action->data().toInt(); int trail_distance = action->data().toInt();
@ -1918,15 +1918,15 @@ void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
/* /*
void OPMapGadgetWidget::onAddWayPointAct_triggered() void OPMapGadgetWidget::onAddWayPointAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_map_mode != Normal_MapMode) if (m_map_mode != Normal_MapMode)
return; return;
m_waypoint_list_mutex.lock(); m_waypoint_list_mutex.lock();
// create a waypoint on the map at the last known mouse position // create a waypoint on the map at the last known mouse position
t_waypoint *wp = new t_waypoint; t_waypoint *wp = new t_waypoint;
wp->map_wp_item = NULL; wp->map_wp_item = NULL;
wp->coord = context_menu_lat_lon; wp->coord = context_menu_lat_lon;
@ -1966,8 +1966,8 @@ void OPMapGadgetWidget::onAddWayPointAct_triggered()
/* /*
void OPMapGadgetWidget::onEditWayPointAct_triggered() void OPMapGadgetWidget::onEditWayPointAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_map_mode != Normal_MapMode) if (m_map_mode != Normal_MapMode)
return; return;
@ -2078,7 +2078,7 @@ void OPMapGadgetWidget::onClearWayPointsAct_triggered()
QMutexLocker locker(&m_waypoint_list_mutex); QMutexLocker locker(&m_waypoint_list_mutex);
m_map->WPDeleteAll(); m_map->WPDeleteAll();
foreach (t_waypoint *wp, m_waypoint_list) foreach (t_waypoint *wp, m_waypoint_list)
{ {
@ -2110,7 +2110,7 @@ void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action) void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map || !action) if (!m_widget || !m_map || !action)
return; return;
int radius = action->data().toInt(); int radius = action->data().toInt();
@ -2133,10 +2133,10 @@ void OPMapGadgetWidget::homeMagicWaypoint()
if (m_map_mode != MagicWaypoint_MapMode) if (m_map_mode != MagicWaypoint_MapMode)
return; return;
m_magic_waypoint.coord = m_home_position.coord; m_magic_waypoint.coord = m_home_position.coord;
if (m_magic_waypoint.map_wp_item) if (m_magic_waypoint.map_wp_item)
m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord); m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
} }
// ************************************************************************************* // *************************************************************************************
@ -2150,8 +2150,8 @@ void OPMapGadgetWidget::moveToMagicWaypointPosition()
if (m_map_mode != MagicWaypoint_MapMode) if (m_map_mode != MagicWaypoint_MapMode)
return; return;
// internals::PointLatLng coord = magic_waypoint.coord; // internals::PointLatLng coord = magic_waypoint.coord;
// double altitude = magic_waypoint.altitude; // double altitude = magic_waypoint.altitude;
// ToDo: // ToDo:
@ -2220,11 +2220,11 @@ void OPMapGadgetWidget::showMagicWaypointControls()
m_widget->lineWaypoint->setVisible(true); m_widget->lineWaypoint->setVisible(true);
m_widget->toolButtonHomeWaypoint->setVisible(true); m_widget->toolButtonHomeWaypoint->setVisible(true);
#if defined(allow_manual_home_location_move) #if defined(allow_manual_home_location_move)
m_widget->toolButtonMoveToWP->setVisible(true); m_widget->toolButtonMoveToWP->setVisible(true);
#else #else
m_widget->toolButtonMoveToWP->setVisible(false); m_widget->toolButtonMoveToWP->setVisible(false);
#endif #endif
} }
// ************************************************************************************* // *************************************************************************************
@ -2234,25 +2234,25 @@ void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
{ {
// calcute the bearing and distance from the home position to the magic waypoint // calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(m_home_position.coord, m_magic_waypoint.coord); double dist = distance(m_home_position.coord, m_magic_waypoint.coord);
double bear = bearing(m_home_position.coord, m_magic_waypoint.coord); double bear = bearing(m_home_position.coord, m_magic_waypoint.coord);
// get the maximum safe distance - in kilometers // get the maximum safe distance - in kilometers
double boundry_dist = (double)m_map->Home->SafeArea() / 1000; double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
// if (dist <= boundry_dist) // if (dist <= boundry_dist)
// return; // the magic waypoint is still within the safe area, don't move it // return; // the magic waypoint is still within the safe area, don't move it
if (dist > boundry_dist) dist = boundry_dist; if (dist > boundry_dist) dist = boundry_dist;
// move the magic waypoint // move the magic waypoint
m_magic_waypoint.coord = destPoint(m_home_position.coord, bear, dist); m_magic_waypoint.coord = destPoint(m_home_position.coord, bear, dist);
if (m_map_mode == MagicWaypoint_MapMode) if (m_map_mode == MagicWaypoint_MapMode)
{ // move the on-screen waypoint { // move the on-screen waypoint
if (m_magic_waypoint.map_wp_item) if (m_magic_waypoint.map_wp_item)
m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord); m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
} }
} }
@ -2269,7 +2269,7 @@ double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::Point
// *********************** // ***********************
// Haversine formula // Haversine formula
/* /*
double delta_lat = lat2 - lat1; double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1; double delta_lon = lon2 - lon1;
@ -2299,7 +2299,7 @@ double OPMapGadgetWidget::bearing(internals::PointLatLng from, internals::PointL
double lat2 = to.Lat() * deg_to_rad; double lat2 = to.Lat() * deg_to_rad;
double lon2 = to.Lng() * deg_to_rad; double lon2 = to.Lng() * deg_to_rad;
// double delta_lat = lat2 - lat1; // double delta_lat = lat2 - lat1;
double delta_lon = lon2 - lon1; double delta_lon = lon2 - lon1;
double y = sin(delta_lon) * cos(lat2); double y = sin(delta_lon) * cos(lat2);
@ -2379,33 +2379,33 @@ bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, doub
double OPMapGadgetWidget::getUAV_Yaw() double OPMapGadgetWidget::getUAV_Yaw()
{ {
if (!obm) if (!obm)
return 0; return 0;
UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual"))); UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
double yaw = obj->getField(QString("Yaw"))->getDouble(); double yaw = obj->getField(QString("Yaw"))->getDouble();
if (yaw != yaw) yaw = 0; // nan detection if (yaw != yaw) yaw = 0; // nan detection
while (yaw < 0) yaw += 360; while (yaw < 0) yaw += 360;
while (yaw >= 360) yaw -= 360; while (yaw >= 360) yaw -= 360;
return yaw; return yaw;
} }
bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude) bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
{ {
double LLA[3]; double LLA[3];
if (!obum) if (!obum)
return false; return false;
if (obum->getGPSPosition(LLA) < 0) if (obum->getGPSPosition(LLA) < 0)
return false; // error return false; // error
latitude = LLA[0]; latitude = LLA[0];
longitude = LLA[1]; longitude = LLA[1];
altitude = LLA[2]; altitude = LLA[2];
return true; return true;
} }
@ -2423,18 +2423,18 @@ void OPMapGadgetWidget::setMapFollowingMode()
m_map->SetRotate(0); // reset map rotation to 0deg m_map->SetRotate(0); // reset map rotation to 0deg
} }
else else
if (!followUAVheadingAct->isChecked()) if (!followUAVheadingAct->isChecked())
{ {
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap); m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);
m_map->SetRotate(0); // reset map rotation to 0deg m_map->SetRotate(0); // reset map rotation to 0deg
} }
else else
{ {
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap); // the map library won't let you reset the uav rotation if it's already in rotate mode m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap); // the map library won't let you reset the uav rotation if it's already in rotate mode
m_map->UAV->SetUAVHeading(0); // reset the UAV heading to 0deg m_map->UAV->SetUAVHeading(0); // reset the UAV heading to 0deg
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap); m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap);
} }
} }
// ************************************************************************************* // *************************************************************************************
@ -2442,11 +2442,11 @@ void OPMapGadgetWidget::setMapFollowingMode()
bool OPMapGadgetWidget::setHomeLocationObject() bool OPMapGadgetWidget::setHomeLocationObject()
{ {
if (!obum) if (!obum)
return false; return false;
double LLA[3] = {m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude}; double LLA[3] = {m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude};
return (obum->setHomeLocation(LLA, true) >= 0); return (obum->setHomeLocation(LLA, true) >= 0);
} }
// ************************************************************************************* // *************************************************************************************