rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/input.ui
This commit is contained in:
PT_Dreamer 2012-08-21 14:46:16 +01:00
commit fa465c54a8
168 changed files with 5825 additions and 2311 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.h
View File

@ -1 +1,20 @@
#ifndef OPMAP_CONTROL_H_
#define OPMAP_CONTROL_H_
#include "src/mapwidget/opmapwidget.h"
namespace mapcontrol
{
struct customData
{
float velocity;
int mode;
float mode_params[4];
int condition;
float condition_params[4];
int command;
int jumpdestination;
int errordestination;
};
}
Q_DECLARE_METATYPE(mapcontrol::customData)
#endif

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/accessmode.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file accessmode.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/alllayersoftype.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file alllayersoftype.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/alllayersoftype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file alllayersoftype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cacheitemqueue.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cacheitemqueue.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/cacheitemqueue.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file cacheitemqueue.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/diagnostics.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file diagnostics.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/diagnostics.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file diagnostics.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/geodecoderstatus.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file geodecoderstatus.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/kibertilecache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file kibertilecache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/kibertilecache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file kibertilecache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/languagetype.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file languagetype.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/languagetype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file languagetype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/maptype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file maptype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/memorycache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file memorycache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/memorycache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file memorycache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file OPMaps.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file OPMaps.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/placemark.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file placemark.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/placemark.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file placemark.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/point.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file point.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/point.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file point.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/providerstrings.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file providerstrings.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/providerstrings.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file providerstrings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimage.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimage.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimagecache.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimagecache.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimagecache.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureimagecache.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/rawtile.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rawtile.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/rawtile.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rawtile.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/size.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file size.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/size.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file size.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/tilecachequeue.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilecachequeue.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/tilecachequeue.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilecachequeue.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/urlfactory.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file urlfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/urlfactory.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file urlfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/MouseWheelZoomType.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file MouseWheelZoomType.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

12
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/copyrightstrings.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file copyrightstrings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -31,11 +31,11 @@
#include <QDateTime>
namespace internals {
static const QString googleCopyright = QString("©%1 Google - Map data ©%1 Tele Atlas, Imagery ©%1 TerraMetrics").arg(QDate::currentDate().year());
static const QString openStreetMapCopyright = QString("© OpenStreetMap - Map data ©%1 OpenStreetMap").arg(QDate::currentDate().year());
static const QString yahooMapCopyright = QString("© Yahoo! Inc. - Map data & Imagery ©%1 NAVTEQ").arg(QDate::currentDate().year());
static const QString virtualEarthCopyright = QString("©%1 Microsoft Corporation, ©%1 NAVTEQ, ©%1 Image courtesy of NASA").arg(QDate::currentDate().year());
static const QString arcGisCopyright = QString("©%1 ESRI - Map data ©%1 ArcGIS").arg(QDate::currentDate().year());
static const QString googleCopyright = QString("%1 Google - Map data %1 Tele Atlas, Imagery %1 TerraMetrics").arg(QDate::currentDate().year());
static const QString openStreetMapCopyright = QString(" OpenStreetMap - Map data %1 OpenStreetMap").arg(QDate::currentDate().year());
static const QString yahooMapCopyright = QString(" Yahoo! Inc. - Map data & Imagery %1 NAVTEQ").arg(QDate::currentDate().year());
static const QString virtualEarthCopyright = QString("%1 Microsoft Corporation, %1 NAVTEQ, %1 Image courtesy of NASA").arg(QDate::currentDate().year());
static const QString arcGisCopyright = QString("%1 ESRI - Map data %1 ArcGIS").arg(QDate::currentDate().year());
}
#endif // COPYRIGHTSTRINGS_H

19
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/core.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file core.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -251,6 +251,7 @@ namespace internals {
Matrix.Clear();
GoToCurrentPositionOnZoom();
UpdateBounds();
keepInBounds();
emit OnMapDrag();
emit OnMapZoomChanged();
emit OnNeedInvalidation();
@ -572,7 +573,7 @@ namespace internals {
{
renderOffset.SetX(pt.X() - dragPoint.X());
renderOffset.SetY(pt.Y() - dragPoint.Y());
keepInBounds();
UpdateCenterTileXYLocation();
if(centerTileXYLocation != centerTileXYLocationLast)
@ -692,4 +693,18 @@ namespace internals {
pxRes1000km = (int) (1000000.0 / rez); // 1000km
pxRes5000km = (int) (5000000.0 / rez); // 5000km
}
void Core::keepInBounds()
{
if(renderOffset.X()>0)
renderOffset.SetX(0);
if(renderOffset.Y()>0)
renderOffset.SetY(0);
int maxDragY=GetCurrentRegion().Height()-GettileRect().Height()*(maxOfTiles.Height()-minOfTiles.Height()+1);
int maxDragX=GetCurrentRegion().Width()-GettileRect().Width()*(maxOfTiles.Width()-minOfTiles.Width()+1);
if(maxDragY>renderOffset.Y())
renderOffset.SetY(maxDragY);
if(maxDragX>renderOffset.X())
renderOffset.SetX(maxDragX);
}
}

5
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/core.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file core.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -193,6 +193,7 @@ namespace internals {
bool isStarted(){return started;}
diagnostics GetDiagnostics();
signals:
void OnCurrentPositionChanged(internals::PointLatLng point);
void OnTileLoadComplete();
@ -206,7 +207,7 @@ namespace internals {
private:
void keepInBounds();
PointLatLng currentPosition;
core::Point currentPositionPixel;
core::Point renderOffset;

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/loadtask.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file loadtask.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/loadtask.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file loadtask.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/mousewheelzoomtype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mousewheelzoomtype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pointlatlng.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pointlatlng.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pointlatlng.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pointlatlng.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

5
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file lks94projection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -614,6 +614,9 @@ double LKS94Projection::GetTileMatrixResolution(int const& zoom)
return ret;
}
/*
* Returns the conversion from pixels to meters
*/
double LKS94Projection::GetGroundResolution(int const& zoom, double const& latitude)
{
Q_UNUSED(zoom);

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file lks94projection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojectionyandex.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mercatorprojectionyandex.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojectionpergo.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file platecarreeprojectionpergo.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

47
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureprojection.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -103,6 +103,9 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
return ret;
}
/*
* Returns the conversion from pixels to meters
*/
double PureProjection::GetGroundResolution(const int &zoom,const double &latitude)
{
return (cos(latitude * (PI / 180)) * 2 * PI * Axis()) / GetTileMatrixSizePixel(zoom).Width();
@ -215,6 +218,18 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
Lat /= (PI / 180);
Lng /= (PI / 180);
}
double PureProjection::courseBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
double lon1=p1.Lng()* (M_PI / 180);
double lat1=p1.Lat()* (M_PI / 180);
double lon2=p2.Lng()* (M_PI / 180);
double lat2=p2.Lat()* (M_PI / 180);
return 2*M_PI-myfmod(atan2(sin(lon1-lon2)*cos(lat2),
cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon1-lon2)), 2*M_PI);
}
double PureProjection::DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
double R = 6371; // km
@ -229,4 +244,34 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
double d = R * c;
return d;
}
void PureProjection::offSetFromLatLngs(PointLatLng p1,PointLatLng p2,double &distance,double &bearing)
{
distance=DistanceBetweenLatLng(p1,p2)*1000;
bearing=courseBetweenLatLng(p1,p2);
}
double PureProjection::myfmod(double x,double y)
{
return x - y*floor(x/y);
}
PointLatLng PureProjection::translate(PointLatLng p1,double distance,double bearing)
{
PointLatLng ret;
double d=distance;
double tc=bearing;
double lat1=p1.Lat()*M_PI/180;
double lon1=p1.Lng()*M_PI/180;
double R=6378137;
double lat2 = asin(sin(lat1)*cos(d/R) + cos(lat1)*sin(d/R)*cos(tc) );
double lon2 = lon1 + atan2(sin(tc)*sin(d/R)*cos(lat1),
cos(d/R)-sin(lat1)*sin(lat2));
lat2=lat2*180/M_PI;
lon2=lon2*180/M_PI;
ret.SetLat(lat2);
ret.SetLng(lon2);
return ret;
}
}

10
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file pureprojection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -33,7 +33,7 @@
#include "pointlatlng.h"
#include "cmath"
#include "rectlatlng.h"
#include <QDebug>
using namespace core;
namespace internals
@ -81,6 +81,9 @@ public:
void FromCartesianTGeodetic(const double &X,const double &Y,const double &Z, double &Lat, double &Lng);
static double DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2);
PointLatLng translate(PointLatLng p1, double distance, double bearing);
double courseBetweenLatLng(const PointLatLng &p1, const PointLatLng &p2);
void offSetFromLatLngs(PointLatLng p1, PointLatLng p2, double &dX, double &dY);
protected:
static const double PI;
@ -103,7 +106,8 @@ protected:
static double e3fn(const double &x);
static double mlfn(const double &e0,const double &e1,const double &e2,const double &e3,const double &phi);
static qlonglong GetUTMzone(const double &lon);
private:
double myfmod(double x, double y);
};
}

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectangle.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectangle.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectangle.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectangle.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectlatlng.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectlatlng.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectlatlng.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file rectlatlng.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/sizelatlng.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file sizelatlng.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/sizelatlng.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file sizelatlng.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tile.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tile.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tile.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tile.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tilematrix.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilematrix.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tilematrix.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file tilematrix.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/configuration.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configuration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that centralizes most of the mapcontrol configurations
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/configuration.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configuration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that centralizes most of the mapcontrol configurations
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

94
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/gpsitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file gpsitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a UAV
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -37,27 +37,27 @@ namespace mapcontrol
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
trail=new QGraphicsItemGroup();
trail=new QGraphicsItemGroup(this);
trail->setParentItem(map);
trailLine=new QGraphicsItemGroup();
trailLine=new QGraphicsItemGroup(this);
trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance;
timer.start();
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
GPSItem::~GPSItem()
{
delete trail;
}
void GPSItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
// painter->rotate(-90);
painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
// painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
}
QRectF GPSItem::boundingRect()const
{
@ -74,9 +74,15 @@ namespace mapcontrol
{
if(timer.elapsed()>trailtime*1000)
{
trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,map)));
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
timer.restart();
}
@ -86,10 +92,15 @@ namespace mapcontrol
{
if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
{
trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,this)));
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
lastcoord=position;
}
@ -97,48 +108,6 @@ namespace mapcontrol
coord=position;
this->altitude=altitude;
RefreshPos();
/*if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap||mapfollowtype==UAVMapFollowType::CenterMap)
{
mapwidget->SetCurrentPosition(coord);
}*/
this->update();
/*if(autosetreached)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* wp=qgraphicsitem_cast<WayPointItem*>(i);
if(wp)
{
if(Distance3D(wp->Coord(),wp->Altitude())<autosetdistance)
{
wp->SetReached(true);
emit UAVReachedWayPoint(wp->Number(),wp);
}
}
}
}
if(mapwidget->Home!=0)
{
//verify if the UAV is inside the safety bouble
if(Distance3D(mapwidget->Home->Coord(),mapwidget->Home->Altitude())>mapwidget->Home->SafeArea())
{
if(mapwidget->Home->safe!=false)
{
mapwidget->Home->safe=false;
mapwidget->Home->update();
emit UAVLeftSafetyBouble(this->coord);
}
}
else
{
if(mapwidget->Home->safe!=true)
{
mapwidget->Home->safe=true;
mapwidget->Home->update();
}
}
}*/
}
}
@ -169,20 +138,15 @@ namespace mapcontrol
{
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());
}
foreach(QGraphicsItem* i,trailLine->childItems())
{
TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
if(ww)
ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
}
emit setChildPosition();
emit setChildLine();
}
void GPSItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
void GPSItem::SetTrailType(const UAVTrailType::Types &value)
{
trailtype=value;

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

@ -2,7 +2,7 @@
******************************************************************************
*
* @file gpsitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -103,7 +103,6 @@ namespace mapcontrol
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
void RefreshPos();
QRectF boundingRect() const;
/**
* @brief Sets the trail time to be used if TrailType is ByTimeElapsed
@ -218,10 +217,13 @@ namespace mapcontrol
// QRectF rect;
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);
signals:
void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
void UAVLeftSafetyBouble(internals::PointLatLng const& position);
void setChildPosition();
void setChildLine();
};
}
#endif // GPSITEM_H

72
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file homeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -27,17 +27,32 @@
#include "homeitem.h"
namespace mapcontrol
{
HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),showsafearea(true),safearea(1000),altitude(0)
HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),
showsafearea(true),safearea(1000),altitude(0),isDragging(false),toggleRefresh(true)
{
pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsMovable,false);
this->setFlag(QGraphicsItem::ItemIsSelectable,false);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
coord=internals::PointLatLng(50,50);
RefreshToolTip();
setCacheMode(QGraphicsItem::DeviceCoordinateCache);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
void HomeItem::RefreshToolTip()
{
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
setToolTip(QString("Waypoint: Home\nCoordinate:%1\nAltitude:%2\n").arg(coord_str).arg(QString::number(altitude)));
}
void HomeItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
@ -56,7 +71,7 @@ namespace mapcontrol
}
QRectF HomeItem::boundingRect()const
{
if(!showsafearea)
if(pic.width()>localsafearea*2 && !toggleRefresh)
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
else
return QRectF(-localsafearea,-localsafearea,localsafearea*2,localsafearea*2);
@ -67,6 +82,7 @@ namespace mapcontrol
{
return Type;
}
void HomeItem::RefreshPos()
{
prepareGeometryChange();
@ -75,6 +91,56 @@ namespace mapcontrol
if(showsafearea)
localsafearea=safearea/map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
RefreshToolTip();
this->update();
toggleRefresh=false;
}
void HomeItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
void HomeItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
isDragging=true;
}
QGraphicsItem::mousePressEvent(event);
}
void HomeItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
isDragging=false;
emit homePositionChanged(coord,Altitude());
}
QGraphicsItem::mouseReleaseEvent(event);
RefreshToolTip();
}
void HomeItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
emit homedoubleclick(this);
}
}
void HomeItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{
if(isDragging)
{
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
emit homePositionChanged(coord,Altitude());
}
QGraphicsItem::mouseMoveEvent(event);
}
}

28
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file homeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -47,31 +47,41 @@ namespace mapcontrol
QWidget *widget);
QRectF boundingRect() const;
int type() const;
void RefreshPos();
bool ShowSafeArea()const{return showsafearea;}
void SetShowSafeArea(bool const& value){showsafearea=value;}
void SetToggleRefresh(bool const& value){toggleRefresh=value;}
int SafeArea()const{return safearea;}
void SetSafeArea(int const& value){safearea=value;}
bool safe;
void SetCoord(internals::PointLatLng const& value){coord=value;}
void SetCoord(internals::PointLatLng const& value){coord=value;emit homePositionChanged(value,Altitude());}
internals::PointLatLng Coord()const{return coord;}
void SetAltitude(int const& value){altitude=value;}
int Altitude()const{return altitude;}
void SetAltitude(float const& value){altitude=value;emit homePositionChanged(Coord(),Altitude());}
float Altitude()const{return altitude;}
void RefreshToolTip();
private:
MapGraphicItem* map;
OPMapWidget* mapwidget;
QPixmap pic;
core::Point localposition;
internals::PointLatLng coord;
bool showsafearea;
bool toggleRefresh;
int safearea;
int localsafearea;
int altitude;
float altitude;
bool isDragging;
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event );
void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);
signals:
void homePositionChanged(internals::PointLatLng coord,float);
void homedoubleclick(HomeItem* waypoint);
};
}
#endif // HOMEITEM_H

BIN
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/images/waypoint_marker1.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 4.3 KiB

BIN
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/images/waypoint_marker2.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 4.3 KiB

BIN
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/images/waypoint_marker3.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 1.6 KiB

83
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapgraphicitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The main graphicsItem used on the widget, contains the map and map logic
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -40,11 +40,13 @@ namespace mapcontrol
core->SetCurrentRegion(internals::Rectangle(0, 0, maprect.width(), maprect.height()));
core->SetMapType(MapType::GoogleHybrid);
this->SetZoom(2);
this->setFlag(ItemIsFocusable);
connect(core,SIGNAL(OnNeedInvalidation()),this,SLOT(Core_OnNeedInvalidation()));
connect(core,SIGNAL(OnMapDrag()),this,SLOT(ChildPosRefresh()));
connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(ChildPosRefresh()));
//resize();
connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh()));
connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh()));
setCacheMode(QGraphicsItem::ItemCoordinateCache);
}
void MapGraphicItem::start()
{
core->StartSystem();
@ -77,39 +79,15 @@ namespace mapcontrol
void MapGraphicItem::Core_OnNeedInvalidation()
{
this->update();
foreach(QGraphicsItem* i,this->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
w->RefreshPos();
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
if(www)
www->RefreshPos();
GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
if(wwww)
wwww->RefreshPos();
}
emit childRefreshPosition();
}
void MapGraphicItem::ChildPosRefresh()
void MapGraphicItem::childPosRefresh()
{
foreach(QGraphicsItem* i,this->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
w->RefreshPos();
UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
if(ww)
ww->RefreshPos();
HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
if(www)
www->RefreshPos();
GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
if(wwww)
wwww->RefreshPos();
}
emit childRefreshPosition();
}
void MapGraphicItem::setOverlayOpacity(qreal value)
{
emit childSetOpacity(value);
}
void MapGraphicItem::ConstructLastImage(int const& zoomdiff)
{
@ -117,8 +95,7 @@ namespace mapcontrol
QSize size=boundingRect().size().toSize();
size.setWidth(size.width()*2*zoomdiff);
size.setHeight(size.height()*2*zoomdiff);
temp=QImage(size,
QImage::Format_ARGB32_Premultiplied);
temp=QImage(size,QImage::Format_ARGB32_Premultiplied);
temp.fill(0);
QPainter imagePainter(&temp);
imagePainter.translate(-boundingRect().topLeft());
@ -196,7 +173,7 @@ namespace mapcontrol
}
}
else if(isSelected && !selectionStart.IsEmpty() && (event->modifiers() == Qt::AltModifier || event->modifiers() == Qt::ShiftModifier))
else if(isSelected && !selectionStart.IsEmpty() && (event->modifiers() == Qt::ControlModifier || event->modifiers() == Qt::ShiftModifier))
{
selectionEnd = FromLocalToLatLng(event->pos().x(), event->pos().y());
{
@ -215,12 +192,9 @@ namespace mapcontrol
}
void MapGraphicItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if(!IsMouseOverMarker())
{
if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::AltModifier)||(event->modifiers()==Qt::ShiftModifier)))
if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::ShiftModifier)||(event->modifiers()==Qt::ControlModifier)))
{
core->mouseDown.SetX(event->pos().x());
core->mouseDown.SetY(event->pos().y());
@ -232,7 +206,7 @@ namespace mapcontrol
this->update();
}
else if(!isSelected && ((event->modifiers()==Qt::AltModifier)||(event->modifiers()==Qt::ShiftModifier)))
else if(!isSelected && ((event->modifiers()==Qt::ControlModifier)||(event->modifiers()==Qt::ShiftModifier)))
{
isSelected = true;
SetSelectedArea (internals::RectLatLng::Empty);
@ -240,7 +214,6 @@ namespace mapcontrol
selectionStart = FromLocalToLatLng(event->pos().x(), event->pos().y());
}
}
}
void MapGraphicItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
@ -269,11 +242,25 @@ namespace mapcontrol
if(!selectedArea.IsEmpty() && event->modifiers() == Qt::ShiftModifier)
{
SetZoomToFitRect(SelectedArea());
selectedArea=internals::RectLatLng::Empty;
}
}
}
}
void MapGraphicItem::keyPressEvent(QKeyEvent *event)
{
if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))
this->setCursor(Qt::CrossCursor);
if(event->key()==Qt::Key_Escape)
selectedArea=internals::RectLatLng::Empty;
QGraphicsItem::keyPressEvent(event);
}
void MapGraphicItem::keyReleaseEvent(QKeyEvent *event)
{
if((event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))==0)
this->setCursor(Qt::ArrowCursor);
}
bool MapGraphicItem::SetZoomToFitRect(internals::RectLatLng const& rect)
{
int maxZoom = core->GetMaxZoomToFitRect(rect);
@ -380,7 +367,6 @@ namespace mapcontrol
found = true;
{
painter->drawPixmap(core->tileRect.X(),core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height(),PureImageProxy::FromStream(img));
// qDebug()<<"tile:"<<core->tileRect.X()<<core->tileRect.Y();
}
}
}
@ -394,7 +380,6 @@ namespace mapcontrol
painter->setFont(config->MissingDataFont);
painter->setPen(Qt::red);
painter->drawText(QRectF(core->tileRect.X(), core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height()),Qt::AlignCenter,(core->GettilePoint() == core->GetcenterTileXYLocation()? "CENTER: " :"TILE: ")+core->GettilePoint().ToString());
//qDebug()<<"ShowTileGridLine:"<<core->GettilePoint().ToString()<<"=="<<core->GetcenterTileXYLocation().ToString();
}
}
@ -431,11 +416,6 @@ namespace mapcontrol
}
}
}
// painter->drawRect(core->GetrenderOffset().X()-lastimagepoint.X()-3,core->GetrenderOffset().Y()-lastimagepoint.Y()-3,lastimage.width(),lastimage.height());
// painter->setPen(Qt::red);
// painter->drawLine(-10,-10,10,10);
// painter->drawLine(10,10,-10,-10);
// painter->drawRect(boundingRect().adjusted(100,100,-100,-100));
}
@ -506,7 +486,6 @@ namespace mapcontrol
float scaleValue = zoomDigi+remainder + 1;
{
MapRenderTransform = scaleValue;
// qDebug()<<"scale="<<scaleValue<<"zoomdigi:"<<ZoomDigi()<<"integer:"<<integer;
}
if(integer>MaxZoom())
integer=MaxZoom();

14
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapgraphicitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The main graphicsItem used on the widget, contains the map and map logic
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -40,8 +40,10 @@
#include <QObject>
#include "waypointitem.h"
//#include "uavitem.h"
namespace mapcontrol
{
class WayPointItem;
class OPMapWidget;
/**
* @brief The main graphicsItem used on the widget, contains the map and map logic
@ -92,7 +94,6 @@ namespace mapcontrol
bool IsDragging()const{return core->IsDragging();}
QImage lastimage;
// QPainter* imagePainter;
core::Point lastimagepoint;
void paintImage(QPainter* painter);
void ConstructLastImage(int const& zoomdiff);
@ -100,13 +101,15 @@ namespace mapcontrol
double Zoom();
double ZoomDigi();
double ZoomTotal();
void setOverlayOpacity(qreal value);
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void wheelEvent ( QGraphicsSceneWheelEvent * event );
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
bool IsMouseOverMarker()const{return isMouseOverMarker;}
void keyPressEvent ( QKeyEvent * event );
void keyReleaseEvent ( QKeyEvent * event );
/**
* @brief Returns current map zoom
@ -197,7 +200,7 @@ namespace mapcontrol
void SetMapType(MapType::Types const& value){core->SetMapType(value);}
private slots:
void Core_OnNeedInvalidation();
void ChildPosRefresh();
void childPosRefresh();
public slots:
/**
* @brief To be called when the scene size changes
@ -211,7 +214,10 @@ namespace mapcontrol
*
* @param zoom
*/
void wpdoubleclicked(WayPointItem * wp);
void zoomChanged(double zoomtotal,double zoomreal,double zoomdigi);
void childRefreshPosition();
void childSetOpacity(qreal value);
};
}
#endif // MAPGRAPHICITEM_H

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
View File

@ -12,6 +12,9 @@
<file>images/mapquad.png</file>
<file>images/dragons1.jpg</file>
<file>images/dragons2.jpeg</file>
<file>images/waypoint_marker1.png</file>
<file>images/waypoint_marker2.png</file>
<file>images/waypoint_marker3.png</file>
</qresource>
<qresource prefix="/uavs">
<file>images/airplanepip.png</file>

3
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripform.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Form to be used with the MapRipper class
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -33,6 +33,7 @@ MapRipForm::MapRipForm(QWidget *parent) :
ui(new Ui::MapRipForm)
{
ui->setupUi(this);
connect(ui->cancelButton,SIGNAL(clicked()),this,SIGNAL(cancelRequest()));
}
MapRipForm::~MapRipForm()

4
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripform.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Form to be used with the MapRipper class
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -44,6 +44,8 @@ public slots:
void SetPercentage(int const& perc);
void SetProvider(QString const& prov,int const& zoom);
void SetNumberOfTiles(int const& total,int const& actual);
signals:
void cancelRequest();
private:
Ui::MapRipForm *ui;
};

8
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.ui
View File

@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>392</width>
<width>521</width>
<height>133</height>
</rect>
</property>
@ -18,7 +18,7 @@
<rect>
<x>20</x>
<y>60</y>
<width>371</width>
<width>481</width>
<height>23</height>
</rect>
</property>
@ -31,7 +31,7 @@
<rect>
<x>30</x>
<y>10</y>
<width>321</width>
<width>481</width>
<height>16</height>
</rect>
</property>
@ -55,7 +55,7 @@
<widget class="QPushButton" name="cancelButton">
<property name="geometry">
<rect>
<x>280</x>
<x>220</x>
<y>100</y>
<width>75</width>
<height>23</height>

82
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripper.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripper.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that allows ripping of a selection of the map
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -28,17 +28,19 @@
namespace mapcontrol
{
MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect):sleep(100),cancel(false),progressForm(0),core(core)
MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect):sleep(100),cancel(false),progressForm(0),core(core),yesToAll(false)
{
if(!rect.IsEmpty())
{
type=core->GetMapType();
progressForm=new MapRipForm;
connect(progressForm,SIGNAL(cancelRequest()),this,SLOT(stopFetching()));
area=rect;
zoom=core->Zoom();
maxzoom=core->MaxZoom();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
cancel=false;
progressForm->show();
connect(this,SIGNAL(percentageChanged(int)),progressForm,SLOT(SetPercentage(int)));
connect(this,SIGNAL(numberOfTilesChanged(int,int)),progressForm,SLOT(SetNumberOfTiles(int,int)));
@ -46,32 +48,58 @@ namespace mapcontrol
connect(this,SIGNAL(finished()),this,SLOT(finish()));
emit numberOfTilesChanged(0,0);
}
else
#ifdef Q_OS_DARWIN
QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <COMMAND>+Left mouse click");
#else
QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <CTRL>+Left mouse click");
#endif
}
void MapRipper::finish()
void MapRipper::finish()
{
if(zoom<maxzoom && !cancel)
{
if(zoom<maxzoom)
++zoom;
int ret;
if(!yesToAll)
{
++zoom;
QMessageBox msgBox;
msgBox.setText(QString("Continue Ripping at zoom level %1?").arg(zoom));
// msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::Yes);
int ret = msgBox.exec();
if(ret==QMessageBox::Yes)
{
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
QMessageBox msgBox;
msgBox.setText(QString("Continue Ripping at zoom level %1?").arg(zoom));
// msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::YesAll);
msgBox.setDefaultButton(QMessageBox::Yes);
ret = msgBox.exec();
}
else
ret=QMessageBox::Yes;
if(ret==QMessageBox::Yes)
{
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else if(ret==QMessageBox::YesAll)
{
yesToAll=true;
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
else
{
yesToAll=false;
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
void MapRipper::run()
@ -119,4 +147,10 @@ namespace mapcontrol
QThread::msleep(sleep);
}
}
void MapRipper::stopFetching()
{
QMutexLocker locker(&mutex);
cancel=true;
}
}

5
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripper.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file mapripper.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A class that allows ripping of a selection of the map
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -50,6 +50,8 @@ namespace mapcontrol
MapRipForm * progressForm;
int maxzoom;
internals::Core * core;
bool yesToAll;
QMutex mutex;
signals:
void percentageChanged(int const& perc);
@ -58,6 +60,7 @@ namespace mapcontrol
public slots:
void stopFetching();
void finish();
};
}

8
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro
View File

@ -14,7 +14,9 @@ SOURCES += mapgraphicitem.cpp \
homeitem.cpp \
mapripform.cpp \
mapripper.cpp \
traillineitem.cpp
traillineitem.cpp \
waypointline.cpp \
waypointcircle.cpp
LIBS += -L../build \
-lcore \
@ -39,7 +41,9 @@ HEADERS += mapgraphicitem.h \
homeitem.h \
mapripform.h \
mapripper.h \
traillineitem.h
traillineitem.h \
waypointline.h \
waypointcircle.h
QT += opengl
QT += network
QT += sql

292
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file opmapwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The Map Widget, this is the part exposed to the user
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -33,13 +33,18 @@
namespace mapcontrol
{
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0),followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0)
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
{
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core=new internals::Core;
map=new MapGraphicItem(core,config);
mscene.addItem(map);
this->setScene(&mscene);
Home=new HomeItem(map,this);
Home->setParentItem(map);
Home->setZValue(-1);
setStyleSheet("QToolTip {font-size:8pt; color:blue;opacity: 223; padding:2px; border-width:2px; border-style:solid; border-color: rgb(170, 170, 127);border-radius:4px }");
this->adjustSize();
connect(map,SIGNAL(zoomChanged(double,double,double)),this,SIGNAL(zoomChanged(double,double,double)));
connect(map->core,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)),this,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
@ -50,10 +55,12 @@ namespace mapcontrol
connect(map->core,SIGNAL(OnTileLoadComplete()),this,SIGNAL(OnTileLoadComplete()));
connect(map->core,SIGNAL(OnTileLoadStart()),this,SIGNAL(OnTileLoadStart()));
connect(map->core,SIGNAL(OnTilesStillToLoad(int)),this,SIGNAL(OnTilesStillToLoad(int)));
connect(map,SIGNAL(wpdoubleclicked(WayPointItem*)),this,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)));
connect(&mscene,SIGNAL(selectionChanged()),this,SLOT(OnSelectionChanged()));
SetShowDiagnostics(showDiag);
this->setMouseTracking(followmouse);
SetShowCompass(true);
QPixmapCache::setCacheLimit(64*1024);
}
void OPMapWidget::SetShowDiagnostics(bool const& value)
{
@ -70,12 +77,24 @@ namespace mapcontrol
delete diagTimer;
diagTimer=0;
}
if(GPS!=0)
{
delete GPS;
GPS=0;
}
}
else
{
diagTimer=new QTimer();
connect(diagTimer,SIGNAL(timeout()),this,SLOT(diagRefresh()));
diagTimer->start(500);
if(GPS==0)
{
GPS=new GPSItem(map,this);
GPS->setParentItem(map);
setOverlayOpacity(overlayOpacity);
}
}
}
@ -85,8 +104,40 @@ namespace mapcontrol
UAV->SetUavPic(UAVPic);
if(GPS!=0)
GPS->SetUavPic(UAVPic);
}
WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to,QColor color)
{
if(!from|!to)
return NULL;
WayPointLine* ret= new WayPointLine(from,to,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointLine * OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to,QColor color)
{
if(!from|!to)
return NULL;
WayPointLine* ret= new WayPointLine(from,to,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise,QColor color)
{
if(!center|!radius)
return NULL;
WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise,QColor color)
{
if(!center|!radius)
return NULL;
WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
ret->setOpacity(overlayOpacity);
return ret;
}
void OPMapWidget::SetShowUAV(const bool &value)
{
@ -96,47 +147,21 @@ namespace mapcontrol
UAV->setParentItem(map);
connect(this,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)),UAV,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)),UAV,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)));
UAV->setOpacity(overlayOpacity);
}
else if(!value)
{
if(UAV!=0)
{
delete UAV;
UAV=0;
}
}
if(value && GPS==0)
{
GPS=new GPSItem(map,this);
GPS->setParentItem(map);
}
else if(!value)
{
if(GPS!=0)
{
delete GPS;
GPS=0;
UAV=NULL;
}
}
}
void OPMapWidget::SetShowHome(const bool &value)
{
if(value && Home==0)
{
Home=new HomeItem(map,this);
Home->setParentItem(map);
}
else if(!value)
{
if(Home!=0)
{
delete Home;
Home=0;
}
}
Home->setVisible(value);
}
void OPMapWidget::resizeEvent(QResizeEvent *event)
@ -161,14 +186,20 @@ namespace mapcontrol
}
OPMapWidget::~OPMapWidget()
{
delete UAV;
delete Home;
delete map;
delete core;
delete configuration;
if(UAV)
delete UAV;
if(Home)
delete Home;
if(map)
delete map;
if(core)
delete core;
if(configuration)
delete configuration;
foreach(QGraphicsItem* i,this->items())
{
delete i;
if(i)
delete i;
}
}
void OPMapWidget::closeEvent(QCloseEvent *event)
@ -203,18 +234,33 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(this->CurrentPosition(),0,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
return item;
}
WayPointItem* OPMapWidget::magicWPCreate()
{
WayPointItem* item=new WayPointItem(map,true);
item->SetShowNumber(false);
item->setParentItem(map);
return item;
}
void OPMapWidget::WPCreate(WayPointItem* item)
{
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
}
WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude)
{
WayPointItem* item=new WayPointItem(coord,altitude,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description)
@ -222,6 +268,19 @@ namespace mapcontrol
WayPointItem* item=new WayPointItem(coord,altitude,description,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
{
WayPointItem* item=new WayPointItem(relativeCoord,description,map);
ConnectWP(item);
item->setParentItem(map);
int position=item->Number();
emit WPCreated(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPInsert(const int &position)
@ -231,6 +290,7 @@ namespace mapcontrol
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
void OPMapWidget::WPInsert(WayPointItem* item,const int &position)
@ -239,7 +299,7 @@ namespace mapcontrol
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
}
WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude,const int &position)
{
@ -248,29 +308,131 @@ namespace mapcontrol
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,const int &position)
{
WayPointItem* item=new WayPointItem(coord,altitude,description,map);
internals::PointLatLng mcoord;
bool reloc=false;
if(mcoord==internals::PointLatLng(0,0))
{
mcoord=CurrentPosition();
reloc=true;
}
else
mcoord=coord;
WayPointItem* item=new WayPointItem(mcoord,altitude,description,map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
if(reloc)
emit WPValuesChanged(item);
setOverlayOpacity(overlayOpacity);
return item;
}
WayPointItem* OPMapWidget::WPInsert(distBearingAltitude const& relative, QString const& description,const int &position)
{
WayPointItem* item=new WayPointItem(relative,description,map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
emit WPInserted(position,item);
setOverlayOpacity(overlayOpacity);
return item;
}
void OPMapWidget::WPDelete(WayPointItem *item)
{
emit WPDeleted(item->Number());
emit WPDeleted(item->Number(),item);
delete item;
}
void OPMapWidget::WPDeleteAll()
void OPMapWidget::WPDelete(int number)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
delete w;
{
if(w->Number()==number)
{
emit WPDeleted(w->Number(),w);
delete w;
return;
}
}
}
}
WayPointItem * OPMapWidget::WPFind(int number)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()==number)
{
return w;
}
}
}
return NULL;
}
void OPMapWidget::WPSetVisibleAll(bool value)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
w->setVisible(value);
}
}
}
void OPMapWidget::WPDeleteAll()
{
int x=0;
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
{
emit WPDeleted(w->Number(),w);
delete w;
}
}
}
}
bool OPMapWidget::WPPresent()
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
if(w)
{
if(w->Number()!=-1)
{
return true;
}
}
}
}
void OPMapWidget::deleteAllOverlays()
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointLine* w=qgraphicsitem_cast<WayPointLine*>(i);
if(w)
w->deleteLater();
else
{
WayPointCircle* ww=qgraphicsitem_cast<WayPointCircle*>(i);
if(ww)
ww->deleteLater();
}
}
}
QList<WayPointItem*> OPMapWidget::WPSelected()
@ -291,11 +453,13 @@ namespace mapcontrol
void OPMapWidget::ConnectWP(WayPointItem *item)
{
connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)));
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)));
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)));
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)));
connect(this,SIGNAL(WPDeleted(int)),item,SLOT(WPDeleted(int)));
connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SIGNAL(WPLocalPositionChanged(QPointF,WayPointItem*)),Qt::DirectConnection);
connect(item,SIGNAL(manualCoordChange(WayPointItem*)),this,SIGNAL(WPManualCoordChange(WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)),Qt::DirectConnection);
connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)),Qt::DirectConnection);
}
void OPMapWidget::diagRefresh()
{
@ -329,12 +493,12 @@ namespace mapcontrol
compass->setScale(0.1+0.05*(qreal)(this->size().width())/1000*(qreal)(this->size().height())/600);
// compass->setTransformOriginPoint(compass->boundingRect().width(),compass->boundingRect().height());
compass->setFlag(QGraphicsItem::ItemIsMovable,true);
compass->setFlag(QGraphicsItem::ItemIsSelectable,true);
mscene.addItem(compass);
compass->setTransformOriginPoint(compass->boundingRect().width()/2,compass->boundingRect().height()/2);
compass->setPos(55-compass->boundingRect().width()/2,55-compass->boundingRect().height()/2);
compass->setZValue(3);
compass->setOpacity(0.7);
}
if(!value && compass)
{
@ -342,6 +506,12 @@ namespace mapcontrol
compass=0;
}
}
void OPMapWidget::setOverlayOpacity(qreal value)
{
map->setOverlayOpacity(value);
overlayOpacity=value;
}
void OPMapWidget::SetRotate(qreal const& value)
{
map->mapRotate(value);
@ -353,4 +523,28 @@ namespace mapcontrol
{
new MapRipper(core,map->SelectedArea());
}
void OPMapWidget::setSelectedWP(QList<WayPointItem * >list)
{
this->scene()->clearSelection();
foreach(WayPointItem * wp,list)
{
wp->setSelected(true);
}
}
void OPMapWidget::OnSelectionChanged()
{
QList<QGraphicsItem*> list;
QList<WayPointItem*> wplist;
list=this->scene()->selectedItems();
foreach(QGraphicsItem* item,list)
{
WayPointItem * wp=qgraphicsitem_cast<WayPointItem*>(item);
if(wp)
wplist.append(wp);
}
if(wplist.length()>0)
emit selectedWPChanged(wplist);
}
}

42
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file opmapwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The Map Widget, this is the part exposed to the user
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -41,6 +41,9 @@
#include "gpsitem.h"
#include "homeitem.h"
#include "mapripper.h"
#include "waypointline.h"
#include "waypointcircle.h"
#include "waypointitem.h"
namespace mapcontrol
{
class UAVItem;
@ -279,6 +282,15 @@ namespace mapcontrol
*/
WayPointItem* WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description);
/**
* @brief Creates a new WayPoint
*
* @param coord the offset in meters to the home position
* @param altitude the Altitude of the WayPoint
* @param description the description of the WayPoint
* @return WayPointItem a pointer to the WayPoint created
*/
WayPointItem *WPCreate(const distBearingAltitude &relativeCoord, const QString &description);
/**
* @brief Inserts a new WayPoint on the specified position
*
* @param position index of the WayPoint
@ -311,6 +323,7 @@ namespace mapcontrol
* @return WayPointItem a pointer to the WayPoint Inserted
*/
WayPointItem* WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,int const& position);
WayPointItem *WPInsert(const distBearingAltitude &relative, const QString &description, const int &position);
/**
* @brief Deletes the WayPoint
@ -340,6 +353,8 @@ namespace mapcontrol
void SetShowCompass(bool const& value);
void setOverlayOpacity(qreal value);
UAVItem* UAV;
GPSItem* GPS;
HomeItem* Home;
@ -349,7 +364,18 @@ namespace mapcontrol
bool ShowHome()const{return showhome;}
void SetShowDiagnostics(bool const& value);
void SetUavPic(QString UAVPic);
private:
WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to, QColor color);
WayPointLine * WPLineCreate(HomeItem *from,WayPointItem *to, QColor color);
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise,QColor color);
WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise,QColor color);
void deleteAllOverlays();
void WPSetVisibleAll(bool value);
WayPointItem *magicWPCreate();
bool WPPresent();
void WPDelete(int number);
WayPointItem *WPFind(int number);
void setSelectedWP(QList<WayPointItem *> list);
private:
internals::Core *core;
MapGraphicItem *map;
QGraphicsScene mscene;
@ -366,6 +392,7 @@ namespace mapcontrol
QTimer * diagTimer;
QGraphicsTextItem * diagGraphItem;
bool showDiag;
qreal overlayOpacity;
private slots:
void diagRefresh();
// WayPointItem* item;//apagar
@ -398,6 +425,9 @@ namespace mapcontrol
* @param waypoint WayPoint inserted
*/
void WPReached(WayPointItem* waypoint);
void WPCreated(int const& number,WayPointItem* waypoint);
/**
* @brief Fires when a new WayPoint is inserted
*
@ -410,7 +440,10 @@ namespace mapcontrol
*
* @param number number of the deleted WayPoint
*/
void WPDeleted(int const& number);
void WPDeleted(int const& number,WayPointItem* waypoint);
void WPLocalPositionChanged(QPointF,WayPointItem*);
void WPManualCoordChange(WayPointItem*);
/**
* @brief Fires When a WayPoint is Reached
*
@ -469,11 +502,14 @@ namespace mapcontrol
* @param number the number of tiles still in the queue
*/
void OnTilesStillToLoad(int number);
void OnWayPointDoubleClicked(WayPointItem * waypoint);
void selectedWPChanged(QList<WayPointItem*>);
public slots:
/**
* @brief Ripps the current selection to the DB
*/
void RipMap();
void OnSelectionChanged();
};
}

11
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file trailitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -28,9 +28,8 @@
#include <QDateTime>
namespace mapcontrol
{
TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, QGraphicsItem* parent):QGraphicsItem(parent),coord(coord)
TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, MapGraphicItem *map):QGraphicsItem(map),coord(coord),m_brush(color),m_map(map)
{
m_brush=color;
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()));
@ -38,7 +37,6 @@ namespace mapcontrol
void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
// painter->drawRect(QRectF(-3,-3,6,6));
painter->setBrush(m_brush);
painter->drawEllipse(-2,-2,4,4);
}
@ -53,5 +51,8 @@ namespace mapcontrol
return Type;
}
void TrailItem::setPosSLOT()
{
setPos(m_map->FromLatLngToLocal(this->coord).X(),m_map->FromLatLngToLocal(this->coord).Y());
}
}

10
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file trailitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -32,6 +32,7 @@
#include <QLabel>
#include "../internals/pointlatlng.h"
#include <QObject>
#include "mapgraphicitem.h"
namespace mapcontrol
{
@ -42,7 +43,7 @@ namespace mapcontrol
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 3 };
TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, QGraphicsItem* parent);
TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color,MapGraphicItem * map);
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
QRectF boundingRect() const;
@ -50,10 +51,9 @@ namespace mapcontrol
internals::PointLatLng coord;
private:
QBrush m_brush;
MapGraphicItem * m_map;
public slots:
void setPosSLOT();
signals:
};

22
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/traillineitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file trailitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a trail point
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -28,29 +28,21 @@
namespace mapcontrol
{
TrailLineItem::TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color, QGraphicsItem* parent):QGraphicsLineItem(parent),coord1(coord1),coord2(coord2)
TrailLineItem::TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color, MapGraphicItem * map):QGraphicsLineItem(map),coord1(coord1),coord2(coord2),m_brush(color),m_map(map)
{
m_brush=color;
QPen pen;
pen.setBrush(m_brush);
pen.setWidth(1);
this->setPen(pen);
}
/*
void TrailLineItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
// painter->drawRect(QRectF(-3,-3,6,6));
painter->setBrush(m_brush);
QPen pen;
pen.setBrush(m_brush);
pen.setWidth(2);
painter->drawLine(this->line().x1(),this->line().y1(),this->line().x2(),this->line().y2());
}
*/
int TrailLineItem::type()const
{
return Type;
}
void TrailLineItem::setLineSlot()
{
setLine(m_map->FromLatLngToLocal(this->coord1).X(),m_map->FromLatLngToLocal(this->coord1).Y(),m_map->FromLatLngToLocal(this->coord2).X(),m_map->FromLatLngToLocal(this->coord2).Y());
}
}

12
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/traillineitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file traillineitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -32,6 +32,7 @@
#include <QLabel>
#include "../internals/pointlatlng.h"
#include <QObject>
#include "mapgraphicitem.h"
namespace mapcontrol
{
@ -42,18 +43,15 @@ namespace mapcontrol
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 7 };
TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color, QGraphicsItem* parent);
TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color,MapGraphicItem * map);
int type() const;
// void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
// QWidget *widget);
internals::PointLatLng coord1;
internals::PointLatLng coord2;
private:
QBrush m_brush;
MapGraphicItem * m_map;
public slots:
void setLineSlot();
signals:
};

290
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file uavitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a UAV
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -26,45 +26,225 @@
*/
#include "../internals/pureprojection.h"
#include "uavitem.h"
#include <math.h>
namespace mapcontrol
{
double UAVItem::groundspeed_mps_filt = 0;
UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent,QString uavPic):map(map),mapwidget(parent),showtrail(true),showtrailline(true),trailtime(5),traildistance(50),autosetreached(true)
,autosetdistance(100)
,autosetdistance(100),altitude(0),showUAVInfo(false)
{
//QDir dir(":/uavs/images/");
//QStringList list=dir.entryList();
pic.load(uavPic);
// Don't scale but trust the image we are given
// pic=pic.scaled(50,33,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIsMovable,false);
this->setFlag(QGraphicsItem::ItemIsSelectable,false);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
trail=new QGraphicsItemGroup();
trail=new QGraphicsItemGroup(this);
trail->setParentItem(map);
trailLine=new QGraphicsItemGroup();
trailLine=new QGraphicsItemGroup(this);
trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
setCacheMode(QGraphicsItem::ItemCoordinateCache);
mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance;
timer.start();
generateArrowhead();
double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
meters2pixels=1.0 / pixels2meters;
setCacheMode(QGraphicsItem::DeviceCoordinateCache);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
connect(map,SIGNAL(zoomChanged(double,double,double)),this,SLOT(zoomChangedSlot()));
}
UAVItem::~UAVItem()
{
delete trail;
}
void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
// painter->rotate(-90);
//Draw plane
painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
// painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
//Return if UAV Info context menu is turned off
if(!showUAVInfo){
return;
}
QPen myPen;
//Turn on anti-aliasing so the fonts don't look terrible
painter->setRenderHint(QPainter::Antialiasing, true);
//Set pen attributes
QColor myColor(Qt::red);
myPen.setWidth(3);
myPen.setColor(myColor);
painter->setPen(myPen);
painter->drawPolygon(arrowHead);
painter->setPen(myPen);
painter->drawLine(arrowShaft);
//Set trend arc's color
myPen.setColor(Qt::magenta);
painter->setPen(myPen);
if (trendSpanAngle > 0){
QRectF rect(0, -trendRadius, trendRadius*2, trendRadius*2);
painter->drawArc(rect, 180*16, -trendSpanAngle*16);
}
else{
QRectF rect(-2*trendRadius, -trendRadius, trendRadius*2, trendRadius*2);
painter->drawArc(rect, 0*16, -trendSpanAngle*16);
}
//*********** Create time rings
if(groundspeed_mps_filt > 0){ //Don't clutter the display with rings that are only one pixel wide
myPen.setWidth(2);
myPen.setColor(QColor(0, 0, 0, 100));
painter->setPen(myPen);
painter->drawEllipse(QPointF(0,0),precalcRings,precalcRings);
myPen.setColor(QColor(0, 0, 0, 110));
painter->setPen(myPen);
painter->drawEllipse(QPointF(0,0),precalcRings*2,precalcRings*2);
myPen.setColor(QColor(0, 0, 0, 120));
painter->setPen(myPen);
painter->drawEllipse(QPointF(0,0),precalcRings*4,precalcRings*4);
}
//Rotate the text back to vertical
qreal rot=this->rotation();
painter->rotate(-1*rot);
myPen.setWidth(1);
myPen.setColor(Qt::white);
painter->setBrush(Qt::white);
painter->setPen(myPen);
painter->drawPath(textPath);
}
void UAVItem::updateTextOverlay()
{
QPainterPath temp;
if(!showUAVInfo)
{
temp.swap(textPath);
return;
}
QFont borderfont( "Arial", 14, QFont::Normal, false );
//Top left corner of text
int textAnchorX = 20;
int textAnchorY = 20;
QString uavoInfoStrLine1, uavoInfoStrLine2;
QString uavoInfoStrLine3, uavoInfoStrLine4;
QString uavoInfoStrLine5;
uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps));
uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));
uavoInfoStrLine5.append(QString("Altitude: %1 m").arg(-NED[2], 0, 'f',1));
temp.addText(textAnchorX, textAnchorY+16*0, borderfont, uavoInfoStrLine1);
temp.addText(textAnchorX, textAnchorY+16*1, borderfont, uavoInfoStrLine2);
temp.addText(textAnchorX, textAnchorY+16*2, borderfont, uavoInfoStrLine3);
temp.addText(textAnchorX, textAnchorY+16*3, borderfont, uavoInfoStrLine4);
temp.addText(textAnchorX, textAnchorY+16*4, borderfont, uavoInfoStrLine5);
//Add text for time rings.
if(groundspeed_mps > 0){
//Always add the left side...
temp.addText(-(groundspeed_mps_filt*ringTime*1*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
temp.addText(-(groundspeed_mps_filt*ringTime*2*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
temp.addText(-(groundspeed_mps_filt*ringTime*4*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
//... and add the right side, only if it doesn't interfere with the uav info text
if(groundspeed_mps_filt*ringTime*4*meters2pixels > 200){
if(groundspeed_mps_filt*ringTime*2*meters2pixels > 200){
if(groundspeed_mps_filt*ringTime*1*meters2pixels > 200){
temp.addText(groundspeed_mps_filt*ringTime*1*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
}
temp.addText(groundspeed_mps_filt*ringTime*2*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
}
temp.addText(groundspeed_mps_filt*ringTime*4*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
}
}
temp.swap(textPath);
}
QRectF UAVItem::boundingRect()const
{
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
if(showUAVInfo){
if (boundingRectSize < 220){
//In case the bounding rectangle isn't big enough to get the whole of the UAV Info graphic
return QRectF(-boundingRectSize,-80,boundingRectSize+220,180);
}
else{
return QRectF(-boundingRectSize,-boundingRectSize,2*boundingRectSize,2*boundingRectSize);
}
}
else{
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
}
}
void UAVItem::SetNED(double NED[3]){
this->NED[0] = NED[0];
this->NED[1] = NED[1];
this->NED[2] = NED[2];
}
void UAVItem::SetYawRate(double yawRate_dps){
this->yawRate_dps=yawRate_dps;
if (fabs(this->yawRate_dps) < 5e-1){ //This number is really the smallest we can go. Any smaller, and it might have problems if we forecast a shorter distance into the future
this->yawRate_dps=5e-1;
}
//*********** Create trend arc
trendSpanAngle = this->yawRate_dps * 5; //Forecast 5 seconds into the future
//Calculate radius in [m], and then convert to pixels in local frame (not the same frame as is displayed on the map widget)
trendRadius=fabs(groundspeed_mps/(this->yawRate_dps*M_PI/180))*meters2pixels;
}
void UAVItem::SetCAS(double CAS_mps){
this->CAS_mps=CAS_mps;
}
void UAVItem::SetGroundspeed(double vNED[3], int m_maxUpdateRate_ms){
this->vNED[0] = vNED[0];
this->vNED[1] = vNED[1];
this->vNED[2] = vNED[2];
groundspeed_kph=sqrt(vNED[0]*vNED[0] + vNED[1]*vNED[1] + vNED[2]*vNED[2])*3.6;
groundspeed_mps=groundspeed_kph/3.6;
//On the first pass, set the filtered speed to the reported speed.
static bool firstGroundspeed=true;
if (firstGroundspeed){
groundspeed_mps_filt=groundspeed_kph/3.6;
firstGroundspeed=false;
}
else{
int riseTime_ms=1000;
double alpha= m_maxUpdateRate_ms/(double)(m_maxUpdateRate_ms+riseTime_ms);
groundspeed_mps_filt= alpha*groundspeed_mps_filt + (1-alpha)*(groundspeed_kph/3.6);
}
ringTime=10*pow(2,17-map->ZoomTotal()); //Basic ring is 10 seconds wide at zoom level 17
precalcRings=groundspeed_mps_filt*ringTime*meters2pixels;
boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
prepareGeometryChange();
}
void UAVItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude)
{
if(coord.IsEmpty())
@ -76,9 +256,15 @@ namespace mapcontrol
{
if(timer.elapsed()>trailtime*1000)
{
trail->addToGroup(new TrailItem(position,altitude,Qt::red,this));
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::red,map)));
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
timer.restart();
}
@ -88,9 +274,15 @@ namespace mapcontrol
{
if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
{
trail->addToGroup(new TrailItem(position,altitude,Qt::red,this));
TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
trail->addToGroup(ob);
connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::red,map)));
{
TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
trailLine->addToGroup(obj);
connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
}
lasttrailline=position;
lastcoord=position;
}
@ -102,7 +294,6 @@ namespace mapcontrol
{
mapwidget->SetCurrentPosition(coord);
}
this->update();
if(autosetreached)
{
foreach(QGraphicsItem* i,map->childItems())
@ -170,19 +361,24 @@ namespace mapcontrol
{
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());
}
foreach(QGraphicsItem* i,trailLine->childItems())
{
TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
if(ww)
ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
}
emit setChildPosition();
emit setChildLine();
updateTextOverlay();
}
void UAVItem::setOpacitySlot(qreal opacity)
{
this->setOpacity(opacity);
}
void UAVItem::zoomChangedSlot()
{
double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
meters2pixels=1.0 / pixels2meters;
boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
prepareGeometryChange();
updateTextOverlay();
update();
}
void UAVItem::SetTrailType(const UAVTrailType::Types &value)
{
@ -217,4 +413,40 @@ namespace mapcontrol
{
pic.load(":/uavs/images/"+UAVPic);
}
void UAVItem::SetShowUAVInfo(bool const& value)
{
showUAVInfo=value;
showJustChanged=true;
update();
}
void UAVItem::generateArrowhead(){
qreal arrowSize = 10;
//Create line from (0,0), to (1,1). Later, we'll scale and rotate it
arrowShaft=QLineF(0,0,1.0,1.0);
//Set the starting point to (0,0)
arrowShaft.setP1(QPointF(0,0));
//Set angle and length
arrowShaft.setLength(60.0);
arrowShaft.setAngle(90.0);
//Form arrowhead
double angle = ::acos(arrowShaft.dx() / arrowShaft.length());
if (arrowShaft.dy() <= 0)
angle = (M_PI * 2) - angle;
QPointF arrowP1 = arrowShaft.pointAt(1) + QPointF(sin(angle + M_PI / 3) * arrowSize,
cos(angle + M_PI / 3) * arrowSize);
QPointF arrowP2 = arrowShaft.pointAt(1) + QPointF(sin(angle + M_PI - M_PI / 3) * arrowSize,
cos(angle + M_PI - M_PI / 3) * arrowSize);
//Assemble arrowhead
arrowHead.clear();
arrowHead << arrowShaft.pointAt(1) << arrowP1 << arrowP2;
}
}

62
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file uavitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -57,6 +57,31 @@ namespace mapcontrol
enum { Type = UserType + 2 };
UAVItem(MapGraphicItem* map,OPMapWidget* parent, QString uavPic=QString::fromUtf8(":/uavs/images/mapquad.png"));
~UAVItem();
/**
* @brief Sets the UAV NED position
*
* @param NED
*/
void SetNED(double NED[3]);
/**
* @brief Sets the UAV groundspeed
*
* @param NED
*/
void SetGroundspeed(double vNED[3], int m_maxUpdateRate);
/**
* @brief Sets the UAV Calibrated Airspeed
*
* @param NED
*/
void SetCAS(double CAS);
/**
* @brief Sets the UAV yaw rate
*
* @param NED
*/
void SetYawRate(double yawRate_dps);
/**
* @brief Sets the UAV position
*
@ -103,7 +128,6 @@ namespace mapcontrol
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
QWidget *widget);
void RefreshPos();
QRectF boundingRect() const;
/**
* @brief Sets the trail time to be used if TrailType is ByTimeElapsed
@ -193,17 +217,32 @@ namespace mapcontrol
int type() const;
void SetUavPic(QString UAVPic);
void SetShowUAVInfo(bool const& value);
void updateTextOverlay();
private:
void generateArrowhead();
MapGraphicItem* map;
OPMapWidget* mapwidget;
QPolygonF arrowHead;
QLineF arrowShaft;
int altitude;
UAVMapFollowType::Types mapfollowtype;
UAVTrailType::Types trailtype;
internals::PointLatLng coord;
internals::PointLatLng lastcoord;
double NED[3];
double vNED[3];
double CAS_mps;
double groundspeed_kph;
double groundspeed_mps;
double yawRate_dps;
double trendRadius;
double trendSpanAngle;
float meters2pixels;
double precalcRings;
double ringTime;
QPixmap pic;
core::Point localposition;
OPMapWidget* mapwidget;
QGraphicsItemGroup* trail;
QGraphicsItemGroup * trailLine;
internals::PointLatLng lasttrailline;
@ -215,13 +254,24 @@ namespace mapcontrol
bool autosetreached;
double Distance3D(internals::PointLatLng const& coord, int const& altitude);
double autosetdistance;
// QRectF rect;
bool showUAVInfo;
static double groundspeed_mps_filt;
float boundingRectSize;
bool showJustChanged;
bool refreshPaint_flag;
QPainterPath textPath;
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);
void zoomChangedSlot();
signals:
void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
void UAVLeftSafetyBouble(internals::PointLatLng const& position);
void setChildPosition();
void setChildLine();
};
}
#endif // UAVITEM_H

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavmapfollowtype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file uavmapfollowtype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief An enum representing the various map follow modes
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavtrailtype.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file uavtrailtype.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief An enum representing the uav trailing modes
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget

116
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp Normal file
View File

@ -0,0 +1,116 @@
/**
******************************************************************************
*
* @file waypointcircle.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a circle connecting 2 waypoints
* @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 "waypointcircle.h"
#include <math.h>
#include "homeitem.h"
namespace mapcontrol
{
WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius,bool clockwise, MapGraphicItem *map,QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{
connect(center,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
connect(radius,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
refreshLocations();
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
WayPointCircle::WayPointCircle(HomeItem *radius, WayPointItem *center, bool clockwise, MapGraphicItem *map, QColor color):my_center(center),
my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
{
connect(radius,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
refreshLocations();
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
int WayPointCircle::type() const
{
// Enable the use of qgraphicsitem_cast with this item.
return Type;
}
void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
QPointF p1;
QPointF p2;
p1=QPointF(line.p1().x(),line.p1().y()+line.length());
p2=QPointF(line.p1().x(),line.p1().y()-line.length());
QPen myPen = pen();
myPen.setColor(myColor);
qreal arrowSize = 10;
painter->setPen(myPen);
QBrush brush=painter->brush();
painter->setBrush(myColor);
double angle =0;
if(!myClockWise)
angle+=M_PI;
QPointF arrowP1 = p1 + QPointF(sin(angle + M_PI / 3) * arrowSize,
cos(angle + M_PI / 3) * arrowSize);
QPointF arrowP2 = p1 + QPointF(sin(angle + M_PI - M_PI / 3) * arrowSize,
cos(angle + M_PI - M_PI / 3) * arrowSize);
QPointF arrowP21 = p2 + QPointF(sin(angle + M_PI + M_PI / 3) * arrowSize,
cos(angle + M_PI + M_PI / 3) * arrowSize);
QPointF arrowP22 = p2 + QPointF(sin(angle + M_PI + M_PI - M_PI / 3) * arrowSize,
cos(angle + M_PI + M_PI - M_PI / 3) * arrowSize);
arrowHead.clear();
arrowHead << p1 << arrowP1 << arrowP2;
painter->drawPolygon(arrowHead);
arrowHead.clear();
arrowHead << p2 << arrowP21 << arrowP22;
painter->drawPolygon(arrowHead);
painter->translate(-line.length(),-line.length());
painter->setBrush(brush);
painter->drawEllipse(this->rect());
}
void WayPointCircle::refreshLocations()
{
line=QLineF(my_center->pos(),my_radius->pos());
this->setRect(my_center->pos().x(),my_center->pos().y(),2*line.length(),2*line.length());
this->update();
}
void WayPointCircle::waypointdeleted()
{
this->deleteLater();
}
void WayPointCircle::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
}

69
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.h Normal file
View File

@ -0,0 +1,69 @@
/**
******************************************************************************
*
* @file waypointcircle.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a circle connecting 2 waypoints
* @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 WAYPOINTCIRCLE_H
#define WAYPOINTCIRCLE_H
#include <QGraphicsItem>
#include <QPainter>
#include <QLabel>
#include "../internals/pointlatlng.h"
#include "mapgraphicitem.h"
#include "waypointitem.h"
#include <QObject>
#include <QPoint>
namespace mapcontrol
{
class WayPointCircle:public QObject,public QGraphicsEllipseItem
{
Q_OBJECT
Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 9 };
WayPointCircle(WayPointItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green);
WayPointCircle(HomeItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green);
int type() const;
void setColor(const QColor &color)
{ myColor = color; }
private:
QGraphicsItem * my_center;
QGraphicsItem * my_radius;
MapGraphicItem * my_map;
QPolygonF arrowHead;
QColor myColor;
bool myClockWise;
QLineF line;
protected:
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
public slots:
void refreshLocations();
void waypointdeleted();
void setOpacitySlot(qreal opacity);
};
}
#endif // WAYPOINTCIRCLE_H

354
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file waypointitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A graphicsItem representing a WayPoint
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
@ -25,39 +25,167 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "waypointitem.h"
#include "homeitem.h"
namespace mapcontrol
{
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, MapGraphicItem *map):coord(coord),reached(false),description(""),shownumber(true),isDragging(false),altitude(altitude),map(map)
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(""),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
{
text=0;
numberI=0;
isMagic=false;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
number=WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
// transf.translate(picture.width()/2,picture.height());
// this->setTransform(transf);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
myHome=h;
}
if(myHome)
{
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
relativeCoord.altitudeRelative=Altitude()-myHome->Altitude();
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
}
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
emit manualCoordChange(this);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(false),description(""),shownumber(true),isDragging(false),altitude(0),map(map)
{
relativeCoord.bearing=0;
relativeCoord.distance=0;
relativeCoord.altitudeRelative=0;
myType=relative;
if(magicwaypoint)
{
isMagic=true;
picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
number=-1;
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
else
{
isMagic=false;
number=WayPointItem::snumber;
++WayPointItem::snumber;
}
text=0;
numberI=0;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
myHome=h;
}
if(myHome)
{
coord=map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing);
SetAltitude(myHome->Altitude()+relativeCoord.altitudeRelative);
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
}
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
emit manualCoordChange(this);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
{
text=0;
numberI=0;
isMagic=false;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
number=WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
//transf.translate(picture.width()/2,picture.height());
// this->setTransform(transf);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
myHome=h;
}
if(myHome)
{
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
relativeCoord.altitudeRelative=Altitude()-myHome->Altitude();
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
}
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
emit manualCoordChange(this);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate, const QString &description, MapGraphicItem *map):relativeCoord(relativeCoordenate),reached(false),description(description),shownumber(true),isDragging(false),map(map)
{
myHome=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
myHome=h;
}
if(myHome)
{
connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
coord=map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing);
SetAltitude(myHome->Altitude()+relativeCoord.altitudeRelative);
}
myType=relative;
text=0;
numberI=0;
isMagic=false;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
number=WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable,true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
emit manualCoordChange(this);
connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
}
void WayPointItem::setWPType(wptype type)
{
myType=type;
emit WPValuesChanged(this);
RefreshPos();
RefreshToolTip();
this->update();
}
QRectF WayPointItem::boundingRect() const
@ -69,40 +197,55 @@ namespace mapcontrol
Q_UNUSED(option);
Q_UNUSED(widget);
painter->drawPixmap(-picture.width()/2,-picture.height(),picture);
painter->setPen(Qt::green);
if(this->isSelected())
painter->drawRect(QRectF(-picture.width()/2,-picture.height(),picture.width()-1,picture.height()-1));
}
void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
emit waypointdoubleclick(this);
}
}
void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
text=new QGraphicsSimpleTextItem(this);
text=new QGraphicsSimpleTextItem(this);
textBG=new QGraphicsRectItem(this);
// textBG->setBrush(Qt::white);
// textBG->setOpacity(0.5);
textBG->setBrush(Qt::yellow);
textBG->setBrush(QColor(255, 255, 255, 128));
text->setPen(QPen(Qt::red));
text->setPos(10,-picture.height());
textBG->setPos(10,-picture.height());
text->setZValue(3);
RefreshToolTip();
isDragging=true;
}
text->setPen(QPen(Qt::red));
text->setPos(10,-picture.height());
textBG->setPos(10,-picture.height());
text->setZValue(3);
RefreshToolTip();
isDragging=true;
}
QGraphicsItem::mousePressEvent(event);
}
void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
if(event->button()==Qt::LeftButton)
{
delete text;
delete textBG;
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
if(text)
{
delete text;
text=NULL;
}
if(textBG)
{
delete textBG;
textBG=NULL;
}
isDragging=false;
RefreshToolTip();
emit manualCoordChange(this);
emit localPositionChanged(this->pos(),this);
emit WPValuesChanged(this);
}
QGraphicsItem::mouseReleaseEvent(event);
@ -114,31 +257,77 @@ namespace mapcontrol
{
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
text->setText(coord_str);
if(myHome)
{
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
}
QString relativeCoord_str = QString::number(relativeCoord.distance) + "m " + QString::number(relativeCoord.bearing*180/M_PI)+"deg";
text->setText(coord_str+"\n"+relativeCoord_str);
textBG->setRect(text->boundingRect());
emit localPositionChanged(this->pos(),this);
emit WPValuesChanged(this);
}
QGraphicsItem::mouseMoveEvent(event);
}
void WayPointItem::SetAltitude(const int &value)
void WayPointItem::SetAltitude(const float &value)
{
if(altitude==value)
return;
altitude=value;
if(myHome)
{
relativeCoord.altitudeRelative=altitude-myHome->Altitude();
}
RefreshToolTip();
emit WPValuesChanged(this);
this->update();
}
void WayPointItem::setRelativeCoord(distBearingAltitude value)
{
if(qAbs(value.distance-relativeCoord.distance)<0.1
&& qAbs(value.bearing-relativeCoord.bearing)<0.01 && value.altitudeRelative==relativeCoord.altitudeRelative)
return;
relativeCoord=value;
if(myHome)
{
SetCoord(map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing));
SetAltitude(myHome->Altitude()+relativeCoord.altitudeRelative);
}
RefreshPos();
RefreshToolTip();
emit WPValuesChanged(this);
this->update();
}
void WayPointItem::SetCoord(const internals::PointLatLng &value)
{
qDebug()<<"1 SetCoord("<<value.Lat()<<","<<value.Lng()<<")"<<"OLD:"<<Coord().Lat()<<","<<Coord().Lng();
if(qAbs(Coord().Lat()-value.Lat())<0.0001 && qAbs(Coord().Lng()-value.Lng())<0.0001)
{
qDebug()<<"2 SetCoord nothing changed returning";
return;
}
qDebug()<<"3 setCoord there were changes";
coord=value;
distBearingAltitude back=relativeCoord;
if(myHome)
map->Projection()->offSetFromLatLngs(myHome->Coord(),Coord(),back.distance,back.bearing);
if(qAbs(back.bearing-relativeCoord.bearing)>0.01 || qAbs(back.distance-relativeCoord.distance)>0.1)
{
qDebug()<<"4 setCoord-relative coordinates where also updated";
relativeCoord=back;
}
emit WPValuesChanged(this);
RefreshPos();
RefreshToolTip();
this->update();
qDebug()<<"5 setCoord EXIT";
}
void WayPointItem::SetDescription(const QString &value)
{
if(description==value)
return;
description=value;
RefreshToolTip();
emit WPValuesChanged(this);
@ -146,12 +335,13 @@ namespace mapcontrol
}
void WayPointItem::SetNumber(const int &value)
{
emit WPNumberChanged(number,value,this);
int oldnumber=number;
number=value;
RefreshToolTip();
numberI->setText(QString::number(number));
numberI->setText(QString::number(numberAdjusted()));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
this->update();
emit WPNumberChanged(oldnumber,value,this);
}
void WayPointItem::SetReached(const bool &value)
{
@ -160,8 +350,20 @@ namespace mapcontrol
if(value)
picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png"));
else
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
this->update();
{
if(!isMagic)
{
if(this->flags() & QGraphicsItem::ItemIsMovable==QGraphicsItem::ItemIsMovable)
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
else
picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
}
else
{
picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
}
}
this->update();
}
void WayPointItem::SetShowNumber(const bool &value)
@ -177,7 +379,7 @@ namespace mapcontrol
numberI->setPen(QPen(Qt::blue));
numberI->setPos(0,-13-picture.height());
numberIBG->setPos(0,-13-picture.height());
numberI->setText(QString::number(number));
numberI->setText(QString::number(numberAdjusted()));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
}
else if (!value && numberI)
@ -187,49 +389,61 @@ namespace mapcontrol
}
this->update();
}
void WayPointItem::WPDeleted(const int &onumber)
void WayPointItem::WPDeleted(const int &onumber,WayPointItem *waypoint)
{
if(number>onumber) --number;
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
RefreshToolTip();
this->update();
Q_UNUSED(waypoint);
int n=number;
if(number>onumber) SetNumber(--n);
}
void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
{
if(Number()==-1)
return;
if(waypoint!=this)
{
if(onumber<=number) ++number;
numberI->setText(QString::number(number));
if(onumber<=number) SetNumber(++number);
}
}
void WayPointItem::onHomePositionChanged(internals::PointLatLng homepos, float homeAltitude)
{
if(myType==relative)
{
coord=map->Projection()->translate(homepos,relativeCoord.distance,relativeCoord.bearing);
SetAltitude(relativeCoord.altitudeRelative+homeAltitude);
emit WPValuesChanged(this);
RefreshPos();
RefreshToolTip();
this->update();
}
else
{
if(myHome)
{
map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
relativeCoord.altitudeRelative=Altitude()-homeAltitude;
}
emit WPValuesChanged(this);
}
}
void WayPointItem::WPRenumbered(const int &oldnumber, const int &newnumber, WayPointItem *waypoint)
{
if (waypoint!=this)
{
if(((oldnumber>number) && (newnumber<=number)))
{
++number;
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
RefreshToolTip();
SetNumber(++number);
}
else if (((oldnumber<number) && (newnumber>number)))
{
--number;
numberI->setText(QString::number(number));
numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
RefreshToolTip();
SetNumber(--number);
}
else if (newnumber==number)
{
++number;
numberI->setText(QString::number(number));
RefreshToolTip();
SetNumber(++number);
}
this->update();
}
}
int WayPointItem::type() const
@ -240,17 +454,51 @@ namespace mapcontrol
WayPointItem::~WayPointItem()
{
emit aboutToBeDeleted(this);
--WayPointItem::snumber;
}
void WayPointItem::RefreshPos()
{
core::Point point=map->FromLatLngToLocal(coord);
this->setPos(point.X(),point.Y());
emit localPositionChanged(this->pos(),this);
}
void WayPointItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);
}
void WayPointItem::RefreshToolTip()
{
QString type_str;
if(myType==relative)
type_str="Relative";
else
type_str="Absolute";
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nAltitude:%5").arg(QString::number(WayPointItem::number)).arg(description).arg(coord_str).arg(QString::number(altitude)));
QString relativeCoord_str = " Distance:" + QString::number(relativeCoord.distance) + " Bearing:" + QString::number(relativeCoord.bearing*180/M_PI);
QString relativeAltitude_str=QString::number(relativeCoord.altitudeRelative);
if(Number()!=-1)
setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nFrom Home:%5\nRelative altitude:%6\nAltitude:%7\nType:%8\n%9").arg(QString::number(numberAdjusted())).arg(description).arg(coord_str).arg(relativeCoord_str).arg(relativeAltitude_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
else
setToolTip(QString("Magic WayPoint\nCoordinate:%1\nFrom Home:%2\nAltitude:%3\nType:%4\n%5").arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
}
void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
{
if(isMagic)
{
QGraphicsItem::setFlag(flag,enabled);
return;
}
else if(flag==QGraphicsItem::ItemIsMovable)
{
if(enabled)
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
else
picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
}
QGraphicsItem::setFlag(flag,enabled);
}
int WayPointItem::snumber=0;

Some files were not shown because too many files have changed in this diff Show More