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Code Issues Releases Activity

Improvement by pip1996 on opmpap widget, to limit update rate and solve the CPU hogging issue.

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This commit is contained in:
elafargue 2011-05-14 14:47:49 +02:00
parent dceae1a9b0
commit fab880a7d2
6 changed files with 3188 additions and 3047 deletions
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26
ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.cpp
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@ -40,11 +40,13 @@ OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId, QSettings*
m_accessMode("ServerAndCache"), m_accessMode("ServerAndCache"),
m_useMemoryCache(true), m_useMemoryCache(true),
m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()), m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()),
m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png")) m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png")),
m_maxUpdateRate(2000) // ms
{ {
//if a saved configuration exists load it //if a saved configuration exists load it
if(qSettings != 0) { if (qSettings != 0) {
QString mapProvider = qSettings->value("mapProvider").toString(); QString mapProvider = qSettings->value("mapProvider").toString();
int zoom = qSettings->value("defaultZoom").toInt(); int zoom = qSettings->value("defaultZoom").toInt();
double latitude= qSettings->value("defaultLatitude").toDouble(); double latitude= qSettings->value("defaultLatitude").toDouble();
@ -55,16 +57,25 @@ OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId, QSettings*
bool useMemoryCache= qSettings->value("useMemoryCache").toBool(); bool useMemoryCache= qSettings->value("useMemoryCache").toBool();
QString cacheLocation= qSettings->value("cacheLocation").toString(); QString cacheLocation= qSettings->value("cacheLocation").toString();
QString uavSymbol=qSettings->value("uavSymbol").toString(); QString uavSymbol=qSettings->value("uavSymbol").toString();
int max_update_rate = qSettings->value("maxUpdateRate").toInt();
if (!mapProvider.isEmpty()) m_mapProvider = mapProvider; if (!mapProvider.isEmpty()) m_mapProvider = mapProvider;
m_defaultZoom = zoom; m_defaultZoom = zoom;
m_defaultLatitude = latitude; m_defaultLatitude = latitude;
m_defaultLongitude = longitude; m_defaultLongitude = longitude;
m_useOpenGL = useOpenGL; m_useOpenGL = useOpenGL;
m_showTileGridLines = showTileGridLines; m_showTileGridLines = showTileGridLines;
m_uavSymbol=uavSymbol; m_uavSymbol = uavSymbol;
if (!accessMode.isEmpty()) m_accessMode = accessMode;
m_maxUpdateRate = max_update_rate;
if (m_maxUpdateRate < 100 || m_maxUpdateRate > 5000)
m_maxUpdateRate = 2000;
if (!accessMode.isEmpty())
m_accessMode = accessMode;
m_useMemoryCache = useMemoryCache; m_useMemoryCache = useMemoryCache;
if (!cacheLocation.isEmpty()) m_cacheLocation = Utils::PathUtils().InsertStoragePath(cacheLocation); if (!cacheLocation.isEmpty())
m_cacheLocation = Utils::PathUtils().InsertStoragePath(cacheLocation);
} }
} }
@ -81,7 +92,9 @@ IUAVGadgetConfiguration * OPMapGadgetConfiguration::clone()
m->m_accessMode = m_accessMode; m->m_accessMode = m_accessMode;
m->m_useMemoryCache = m_useMemoryCache; m->m_useMemoryCache = m_useMemoryCache;
m->m_cacheLocation = m_cacheLocation; m->m_cacheLocation = m_cacheLocation;
m->m_uavSymbol=m_uavSymbol; m->m_uavSymbol = m_uavSymbol;
m->m_maxUpdateRate = m_maxUpdateRate;
return m; return m;
} }
@ -96,6 +109,7 @@ void OPMapGadgetConfiguration::saveConfig(QSettings* qSettings) const {
qSettings->setValue("useMemoryCache", m_useMemoryCache); qSettings->setValue("useMemoryCache", m_useMemoryCache);
qSettings->setValue("uavSymbol", m_uavSymbol); qSettings->setValue("uavSymbol", m_uavSymbol);
qSettings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation)); qSettings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation));
qSettings->setValue("maxUpdateRate", m_maxUpdateRate);
} }
void OPMapGadgetConfiguration::setCacheLocation(QString cacheLocation){ void OPMapGadgetConfiguration::setCacheLocation(QString cacheLocation){
m_cacheLocation = cacheLocation; m_cacheLocation = cacheLocation;

6
ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.h
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@ -47,6 +47,7 @@ Q_PROPERTY(QString accessMode READ accessMode WRITE setAccessMode)
Q_PROPERTY(bool useMemoryCache READ useMemoryCache WRITE setUseMemoryCache) Q_PROPERTY(bool useMemoryCache READ useMemoryCache WRITE setUseMemoryCache)
Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation) Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation)
Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol) Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol)
Q_PROPERTY(int maxUpdateRate READ maxUpdateRate WRITE setMaxUpdateRate)
public: public:
explicit OPMapGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0); explicit OPMapGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
@ -64,6 +65,7 @@ public:
bool useMemoryCache() const { return m_useMemoryCache; } bool useMemoryCache() const { return m_useMemoryCache; }
QString cacheLocation() const { return m_cacheLocation; } QString cacheLocation() const { return m_cacheLocation; }
QString uavSymbol() const { return m_uavSymbol; } QString uavSymbol() const { return m_uavSymbol; }
int maxUpdateRate() const { return m_maxUpdateRate; }
public slots: public slots:
void setMapProvider(QString provider) { m_mapProvider = provider; } void setMapProvider(QString provider) { m_mapProvider = provider; }
@ -76,6 +78,8 @@ public slots:
void setUseMemoryCache(bool useMemoryCache) { m_useMemoryCache = useMemoryCache; } void setUseMemoryCache(bool useMemoryCache) { m_useMemoryCache = useMemoryCache; }
void setCacheLocation(QString cacheLocation); void setCacheLocation(QString cacheLocation);
void setUavSymbol(QString symbol){m_uavSymbol=symbol;} void setUavSymbol(QString symbol){m_uavSymbol=symbol;}
void setMaxUpdateRate(int update_rate){m_maxUpdateRate = update_rate;}
private: private:
QString m_mapProvider; QString m_mapProvider;
int m_defaultZoom; int m_defaultZoom;
@ -87,7 +91,7 @@ private:
bool m_useMemoryCache; bool m_useMemoryCache;
QString m_cacheLocation; QString m_cacheLocation;
QString m_uavSymbol; QString m_uavSymbol;
int m_maxUpdateRate;
}; };
#endif // OPMAP_GADGETCONFIGURATION_H #endif // OPMAP_GADGETCONFIGURATION_H

24
ground/openpilotgcs/src/plugins/opmap/opmapgadgetoptionspage.cpp
View File

@ -49,7 +49,9 @@ OPMapGadgetOptionsPage::OPMapGadgetOptionsPage(OPMapGadgetConfiguration *config,
QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent) QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
{ {
m_page = new Ui::OPMapGadgetOptionsPage(); int index;
m_page = new Ui::OPMapGadgetOptionsPage();
QWidget *w = new QWidget(parent); QWidget *w = new QWidget(parent);
m_page->setupUi(w); m_page->setupUi(w);
@ -61,9 +63,22 @@ QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
m_page->accessModeComboBox->clear(); m_page->accessModeComboBox->clear();
m_page->accessModeComboBox->addItems(mapcontrol::Helper::AccessModeTypes()); m_page->accessModeComboBox->addItems(mapcontrol::Helper::AccessModeTypes());
int index = m_page->providerComboBox->findText(m_config->mapProvider()); index = m_page->providerComboBox->findText(m_config->mapProvider());
index = (index >= 0) ? index : 0; index = (index >= 0) ? index : 0;
m_page->providerComboBox->setCurrentIndex(index); m_page->providerComboBox->setCurrentIndex(index);
// populate the map max update rate combobox
m_page->maxUpdateRateComboBox->clear();
m_page->maxUpdateRateComboBox->addItem("100ms", 100);
m_page->maxUpdateRateComboBox->addItem("200ms", 200);
m_page->maxUpdateRateComboBox->addItem("500ms", 500);
m_page->maxUpdateRateComboBox->addItem("1 sec", 1000);
m_page->maxUpdateRateComboBox->addItem("2 sec", 2000);
m_page->maxUpdateRateComboBox->addItem("5 sec", 5000);
index = m_page->maxUpdateRateComboBox->findData(m_config->maxUpdateRate());
index = (index >= 0) ? index : 4;
m_page->maxUpdateRateComboBox->setCurrentIndex(index);
m_page->zoomSpinBox->setValue(m_config->zoom()); m_page->zoomSpinBox->setValue(m_config->zoom());
m_page->latitudeSpinBox->setValue(m_config->latitude()); m_page->latitudeSpinBox->setValue(m_config->latitude());
@ -125,6 +140,7 @@ void OPMapGadgetOptionsPage::apply()
m_config->setUseMemoryCache(m_page->checkBoxUseMemoryCache->isChecked()); m_config->setUseMemoryCache(m_page->checkBoxUseMemoryCache->isChecked());
m_config->setCacheLocation(m_page->lineEditCacheLocation->path()); m_config->setCacheLocation(m_page->lineEditCacheLocation->path());
m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString()); m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString());
m_config->setMaxUpdateRate(m_page->maxUpdateRateComboBox->itemData(m_page->maxUpdateRateComboBox->currentIndex()).toInt());
} }
void OPMapGadgetOptionsPage::finish() void OPMapGadgetOptionsPage::finish()

15
ground/openpilotgcs/src/plugins/opmap/opmapgadgetoptionspage.ui
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@ -30,7 +30,7 @@
<number>5</number> <number>5</number>
</property> </property>
<item row="1" column="0"> <item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0" rowminimumheight="22,22,22,0,22"> <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0" rowminimumheight="22,22,22,0,22,0">
<item row="2" column="0"> <item row="2" column="0">
<spacer name="horizontalSpacer_4"> <spacer name="horizontalSpacer_4">
<property name="orientation"> <property name="orientation">
@ -249,6 +249,19 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="3">
<widget class="QComboBox" name="maxUpdateRateComboBox"/>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Default Max Update Rate </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item row="8" column="0"> <item row="8" column="0">

512
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -66,6 +66,8 @@ const int uav_trail_time_list[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500}; // meters const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500}; // meters
const int max_update_rate_list[] = {100, 200, 500, 1000, 2000, 5000}; // milliseconds
// ************************************************************************************* // *************************************************************************************
@ -89,15 +91,17 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
obm = NULL; obm = NULL;
obum = NULL; obum = NULL;
prev_tile_number = 0; m_prev_tile_number = 0;
min_zoom = max_zoom = 0; m_min_zoom = m_max_zoom = 0;
m_map_mode = Normal_MapMode; m_map_mode = Normal_MapMode;
telemetry_connected = false; m_maxUpdateRate = max_update_rate_list[4]; // 2 seconds
context_menu_lat_lon = mouse_lat_lon = internals::PointLatLng(0, 0); m_telemetry_connected = false;
m_context_menu_lat_lon = m_mouse_lat_lon = internals::PointLatLng(0, 0);
setMouseTracking(true); setMouseTracking(true);
@ -123,20 +127,20 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
// ************** // **************
// default home position // default home position
home_position.coord = pos_lat_lon; m_home_position.coord = pos_lat_lon;
home_position.altitude = altitude; m_home_position.altitude = altitude;
home_position.locked = false; m_home_position.locked = false;
// ************** // **************
// default magic waypoint params // default magic waypoint params
magic_waypoint.map_wp_item = NULL; m_magic_waypoint.map_wp_item = NULL;
magic_waypoint.coord = home_position.coord; m_magic_waypoint.coord = m_home_position.coord;
magic_waypoint.altitude = altitude; m_magic_waypoint.altitude = altitude;
magic_waypoint.description = "Magic waypoint"; m_magic_waypoint.description = "Magic waypoint";
magic_waypoint.locked = false; m_magic_waypoint.locked = false;
magic_waypoint.time_seconds = 0; m_magic_waypoint.time_seconds = 0;
magic_waypoint.hold_time_seconds = 0; m_magic_waypoint.hold_time_seconds = 0;
// ************** // **************
// create the widget that holds the user controls and the map // create the widget that holds the user controls and the map
@ -157,8 +161,8 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); // m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); //
m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); // m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); //
min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept m_min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept
max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept m_max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions
m_map->SetFollowMouse(true); // we want a contiuous mouse position reading m_map->SetFollowMouse(true); // we want a contiuous mouse position reading
@ -262,10 +266,10 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*))); connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&))); connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
m_map->SetCurrentPosition(home_position.coord); // set the map position m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(home_position.coord); // set the HOME position m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
m_map->UAV->SetUAVPos(home_position.coord, 0.0); // set the UAV position m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->GPS->SetUAVPos(home_position.coord, 0.0); // set the UAV position m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
// ************** // **************
// create various context menu (mouse right click menu) actions // create various context menu (mouse right click menu) actions
@ -300,13 +304,14 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
// create the desired timers // create the desired timers
m_updateTimer = new QTimer(); m_updateTimer = new QTimer();
m_updateTimer->setInterval(200); m_updateTimer->setInterval(m_maxUpdateRate);
connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition())); connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
m_updateTimer->start(); m_updateTimer->start();
m_statusUpdateTimer = new QTimer(); m_statusUpdateTimer = new QTimer();
m_statusUpdateTimer->setInterval(100); m_statusUpdateTimer->setInterval(200);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos())); // m_statusUpdateTimer->setInterval(m_maxUpdateRate);
connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
m_statusUpdateTimer->start(); m_statusUpdateTimer->start();
// ************** // **************
@ -385,22 +390,22 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
QString s; QString s;
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (event->reason() != QContextMenuEvent::Mouse) if (event->reason() != QContextMenuEvent::Mouse)
return; // not a mouse click event return; // not a mouse click event
// current mouse position // current mouse position
QPoint p = m_map->mapFromGlobal(event->globalPos()); QPoint p = m_map->mapFromGlobal(event->globalPos());
context_menu_lat_lon = m_map->GetFromLocalToLatLng(p); m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
// context_menu_lat_lon = m_map->currentMousePosition(); // m_context_menu_lat_lon = m_map->currentMousePosition();
if (!m_map->contentsRect().contains(p)) if (!m_map->contentsRect().contains(p))
return; // the mouse click was not on the map return; // the mouse click was not on the map
// show the mouse position // show the mouse position
s = QString::number(context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(context_menu_lat_lon.Lng(), 'f', 7); s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
m_widget->labelMousePos->setText(s); m_widget->labelMousePos->setText(s);
// find out if we have a waypoint under the mouse cursor // find out if we have a waypoint under the mouse cursor
@ -425,6 +430,13 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
menu.addSeparator(); menu.addSeparator();
QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
for (int i = 0; i < maxUpdateRateAct.count(); i++)
maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
menu.addMenu(&maxUpdateRateSubMenu);
menu.addSeparator();
switch (m_map_mode) switch (m_map_mode)
{ {
case Normal_MapMode: s = tr(" (Normal)"); break; case Normal_MapMode: s = tr(" (Normal)"); break;
@ -612,58 +624,81 @@ void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
// ************************************************************************************* // *************************************************************************************
// timer signals // timer signals
/** /**
Updates the UAV position on the map. It is called every 200ms Updates the UAV position on the map. It is called every 200ms
by a timer. by a timer.
TODO: consider updating upon object update, not timer. TODO: consider updating upon object update, not timer.
from Pip: No don't update on object update - had reports that peoples PC's can't cope with high update rates - have had to allow user to set map update from 100ms to 5 seconds (depending on their PC's graphics processing ability), so this needs to be kept on a timer.
*/ */
void OPMapGadgetWidget::updatePosition() void OPMapGadgetWidget::updatePosition()
{ {
if (!m_widget || !m_map) double uav_latitude, uav_longitude, uav_altitude, uav_yaw;
return; double gps_latitude, gps_longitude, gps_altitude, gps_heading;
internals::PointLatLng uav_pos;
internals::PointLatLng gps_pos;
if (!m_widget || !m_map)
return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
//Pip I'm sorry, I know this was here with a purpose vvv // Pip I'm sorry, I know this was here with a purpose vvv
//if (!telemetry_connected) // from Pip: let you off :)
// return; //if (!telemetry_connected)
// return;
double latitude; // *************
double longitude; // get the current UAV details
double altitude;
// get current UAV position // get current UAV position
if (!getUAVPosition(latitude, longitude, altitude)) if (!getUAVPosition(uav_latitude, uav_longitude, uav_altitude))
return; return;
// get current UAV heading // get current UAV heading
float yaw = getUAV_Yaw(); uav_yaw = getUAV_Yaw();
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
float uav_heading_degrees = yaw; // current UAV heading
float uav_altitude_meters = altitude; // current UAV height // *************
float uav_ground_speed_meters_per_second = 0; //data.Groundspeed; // current UAV ground speed // get the current GPS details
// get current GPS position
if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude))
return;
// get current GPS heading
// gps_heading = getGPS_Heading();
gps_heading = 0;
gps_pos = internals::PointLatLng(gps_latitude, gps_longitude);
// *************
// display the UAV position
// display the UAV lat/lon position
QString str = QString str =
"lat: " + QString::number(uav_pos.Lat(), 'f', 7) + "lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
" lon: " + QString::number(uav_pos.Lng(), 'f', 7) + " lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
" " + QString::number(uav_heading_degrees, 'f', 1) + "deg" + " " + QString::number(uav_yaw, 'f', 1) + "deg" +
" " + QString::number(uav_altitude_meters, 'f', 1) + "m" + " " + QString::number(uav_altitude, 'f', 1) + "m";
" " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s"; // " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
m_widget->labelUAVPos->setText(str); m_widget->labelUAVPos->setText(str);
m_map->UAV->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position // *************
// qDebug()<<"UAVPOSITION"<<uav_pos.ToString(); // set the UAV icon position on the map
m_map->UAV->SetUAVHeading(uav_heading_degrees); // set the maps UAV heading
if (!getGPSPosition(latitude, longitude, altitude)) m_map->UAV->SetUAVPos(uav_pos, uav_altitude); // set the maps UAV position
return; // qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
m_map->UAV->SetUAVHeading(uav_yaw); // set the maps UAV heading
uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position // *************
m_map->GPS->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position // set the GPS icon position on the map
m_map->GPS->SetUAVHeading(uav_heading_degrees); // set the maps UAV heading
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
// *************
} }
/** /**
@ -672,8 +707,8 @@ void OPMapGadgetWidget::updatePosition()
*/ */
void OPMapGadgetWidget::updateMousePos() void OPMapGadgetWidget::updateMousePos()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -696,14 +731,14 @@ void OPMapGadgetWidget::updateMousePos()
// find out if we have a waypoint under the mouse cursor // find out if we have a waypoint under the mouse cursor
mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item); mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
if (mouse_lat_lon == lat_lon) if (m_mouse_lat_lon == lat_lon)
return; // the mouse has not moved return; // the mouse has not moved
mouse_lat_lon = lat_lon; // yes it has! m_mouse_lat_lon = lat_lon; // yes it has!
internals::PointLatLng home_lat_lon = m_map->Home->Coord(); internals::PointLatLng home_lat_lon = m_map->Home->Coord();
QString s = QString::number(mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(mouse_lat_lon.Lng(), 'f', 7); QString s = QString::number(m_mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_mouse_lat_lon.Lng(), 'f', 7);
if (wp) if (wp)
{ {
s += " wp[" + QString::number(wp->Number()) + "]"; s += " wp[" + QString::number(wp->Number()) + "]";
@ -718,8 +753,8 @@ void OPMapGadgetWidget::updateMousePos()
{ {
s += " home"; s += " home";
double dist = distance(home_lat_lon, mouse_lat_lon); double dist = distance(home_lat_lon, m_mouse_lat_lon);
double bear = bearing(home_lat_lon, mouse_lat_lon); double bear = bearing(home_lat_lon, m_mouse_lat_lon);
s += " " + QString::number(dist * 1000, 'f', 1) + "m"; s += " " + QString::number(dist * 1000, 'f', 1) + "m";
s += " " + QString::number(bear, 'f', 1) + "deg"; s += " " + QString::number(bear, 'f', 1) + "deg";
} }
@ -753,22 +788,22 @@ void OPMapGadgetWidget::updateMousePos()
*/ */
void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd) void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1); QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1);
m_widget->labelMapZoom->setText(s); m_widget->labelMapZoom->setText(s);
int i_zoom = (int)(zoomt + 0.5); int i_zoom = (int)(zoomt + 0.5);
if (i_zoom < min_zoom) i_zoom = min_zoom; if (i_zoom < m_min_zoom) i_zoom = m_min_zoom;
else else
if (i_zoom > max_zoom) i_zoom = max_zoom; if (i_zoom > m_max_zoom) i_zoom = m_max_zoom;
if (m_widget->horizontalSliderZoom->value() != i_zoom) if (m_widget->horizontalSliderZoom->value() != i_zoom)
m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position
int index0_zoom = i_zoom - min_zoom; // zoom level starting at index level '0' int index0_zoom = i_zoom - m_min_zoom; // zoom level starting at index level '0'
if (index0_zoom < zoomAct.count()) if (index0_zoom < zoomAct.count())
zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level
} }
@ -779,8 +814,8 @@ void OPMapGadgetWidget::OnMapDrag()
void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point) void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " "; QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " ";
m_widget->labelMapPos->setText(coord_str); m_widget->labelMapPos->setText(coord_str);
@ -791,8 +826,8 @@ void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
*/ */
void OPMapGadgetWidget::OnTilesStillToLoad(int number) void OPMapGadgetWidget::OnTilesStillToLoad(int number)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
// if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number) // if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
// m_widget->progressBarMap->setMaximum(number); // m_widget->progressBarMap->setMaximum(number);
@ -804,7 +839,7 @@ void OPMapGadgetWidget::OnTilesStillToLoad(int number)
// m_widget->labelNumTilesToLoad->setText(QString::number(number)); // m_widget->labelNumTilesToLoad->setText(QString::number(number));
prev_tile_number = number; m_prev_tile_number = number;
} }
/** /**
@ -812,8 +847,8 @@ void OPMapGadgetWidget::OnTilesStillToLoad(int number)
*/ */
void OPMapGadgetWidget::OnTileLoadStart() void OPMapGadgetWidget::OnTileLoadStart()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_widget->progressBarMap->setVisible(true); m_widget->progressBarMap->setVisible(true);
} }
@ -826,8 +861,8 @@ void OPMapGadgetWidget::OnTileLoadStart()
void OPMapGadgetWidget::OnTileLoadComplete() void OPMapGadgetWidget::OnTileLoadComplete()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_widget->progressBarMap->setVisible(false); m_widget->progressBarMap->setVisible(false);
} }
@ -878,11 +913,11 @@ void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
case MagicWaypoint_MapMode: case MagicWaypoint_MapMode:
// update our copy of the magic waypoint // update our copy of the magic waypoint
if (magic_waypoint.map_wp_item && magic_waypoint.map_wp_item == waypoint) if (m_magic_waypoint.map_wp_item && m_magic_waypoint.map_wp_item == waypoint)
{ {
magic_waypoint.coord = waypoint->Coord(); m_magic_waypoint.coord = waypoint->Coord();
magic_waypoint.altitude = waypoint->Altitude(); m_magic_waypoint.altitude = waypoint->Altitude();
magic_waypoint.description = waypoint->Description(); m_magic_waypoint.description = waypoint->Description();
// move the UAV to the magic waypoint position // move the UAV to the magic waypoint position
// moveToMagicWaypointPosition(); // moveToMagicWaypointPosition();
@ -930,8 +965,8 @@ void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
void OPMapGadgetWidget::on_toolButtonMapUAV_clicked() void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -940,16 +975,16 @@ void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked() void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
followUAVheadingAct->toggle(); followUAVheadingAct->toggle();
} }
void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position) void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
QMutexLocker locker(&m_map_mutex); QMutexLocker locker(&m_map_mutex);
@ -982,7 +1017,7 @@ void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
void OPMapGadgetWidget::onTelemetryConnect() void OPMapGadgetWidget::onTelemetryConnect()
{ {
telemetry_connected = true; m_telemetry_connected = true;
if (!obum) return; if (!obum) return;
@ -998,14 +1033,14 @@ void OPMapGadgetWidget::onTelemetryConnect()
setHome(internals::PointLatLng(LLA[0], LLA[1])); setHome(internals::PointLatLng(LLA[0], LLA[1]));
if (m_map) if (m_map)
m_map->SetCurrentPosition(home_position.coord); // set the map position m_map->SetCurrentPosition(m_home_position.coord); // set the map position
// *********************** // ***********************
} }
void OPMapGadgetWidget::onTelemetryDisconnect() void OPMapGadgetWidget::onTelemetryDisconnect()
{ {
telemetry_connected = false; m_telemetry_connected = false;
} }
// Updates the Home position icon whenever the HomePosition object is updated // Updates the Home position icon whenever the HomePosition object is updated
@ -1027,8 +1062,8 @@ void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
*/ */
void OPMapGadgetWidget::setHome(QPointF pos) void OPMapGadgetWidget::setHome(QPointF pos)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
double latitude = pos.x(); double latitude = pos.x();
double longitude = pos.y(); double longitude = pos.y();
@ -1051,8 +1086,8 @@ void OPMapGadgetWidget::setHome(QPointF pos)
*/ */
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon) void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng()) if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
return;; // nan prevention return;; // nan prevention
@ -1074,9 +1109,9 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
// ********* // *********
home_position.coord = internals::PointLatLng(latitude, longitude); m_home_position.coord = internals::PointLatLng(latitude, longitude);
m_map->Home->SetCoord(home_position.coord); m_map->Home->SetCoord(m_home_position.coord);
m_map->Home->RefreshPos(); m_map->Home->RefreshPos();
// move the magic waypoint to keep it within the safe area boundry // move the magic waypoint to keep it within the safe area boundry
@ -1089,52 +1124,74 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
*/ */
void OPMapGadgetWidget::goHome() void OPMapGadgetWidget::goHome()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
followUAVpositionAct->setChecked(false); followUAVpositionAct->setChecked(false);
internals::PointLatLng home_pos = home_position.coord; // get the home location internals::PointLatLng home_pos = m_home_position.coord; // get the home location
m_map->SetCurrentPosition(home_pos); // center the map onto the home location m_map->SetCurrentPosition(home_pos); // center the map onto the home location
} }
void OPMapGadgetWidget::zoomIn() void OPMapGadgetWidget::zoomIn()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
int zoom = m_map->ZoomTotal() + 1; int zoom = m_map->ZoomTotal() + 1;
if (zoom < min_zoom) zoom = min_zoom; if (zoom < m_min_zoom) zoom = m_min_zoom;
else else
if (zoom > max_zoom) zoom = max_zoom; if (zoom > m_max_zoom) zoom = m_max_zoom;
m_map->SetZoom(zoom); m_map->SetZoom(zoom);
} }
void OPMapGadgetWidget::zoomOut() void OPMapGadgetWidget::zoomOut()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
int zoom = m_map->ZoomTotal() - 1; int zoom = m_map->ZoomTotal() - 1;
if (zoom < min_zoom) zoom = min_zoom; if (zoom < m_min_zoom) zoom = m_min_zoom;
else else
if (zoom > max_zoom) zoom = max_zoom; if (zoom > m_max_zoom) zoom = m_max_zoom;
m_map->SetZoom(zoom); m_map->SetZoom(zoom);
} }
void OPMapGadgetWidget::setMaxUpdateRate(int update_rate)
{
if (!m_widget || !m_map)
return;
int list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
int min_rate = max_update_rate_list[0];
int max_rate = max_update_rate_list[list_size - 1];
if (update_rate < min_rate) update_rate = min_rate;
else
if (update_rate > max_rate) update_rate = max_rate;
m_maxUpdateRate = update_rate;
if (m_updateTimer)
m_updateTimer->setInterval(m_maxUpdateRate);
// if (m_statusUpdateTimer)
// m_statusUpdateTimer->setInterval(m_maxUpdateRate);
}
void OPMapGadgetWidget::setZoom(int zoom) void OPMapGadgetWidget::setZoom(int zoom)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (zoom < min_zoom) zoom = min_zoom; if (zoom < m_min_zoom) zoom = m_min_zoom;
else else
if (zoom > max_zoom) zoom = max_zoom; if (zoom > m_max_zoom) zoom = m_max_zoom;
internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType(); internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter); m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
@ -1146,8 +1203,8 @@ void OPMapGadgetWidget::setZoom(int zoom)
void OPMapGadgetWidget::setPosition(QPointF pos) void OPMapGadgetWidget::setPosition(QPointF pos)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
double latitude = pos.y(); double latitude = pos.y();
double longitude = pos.x(); double longitude = pos.x();
@ -1168,48 +1225,48 @@ void OPMapGadgetWidget::setPosition(QPointF pos)
void OPMapGadgetWidget::setMapProvider(QString provider) void OPMapGadgetWidget::setMapProvider(QString provider)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider)); m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
} }
void OPMapGadgetWidget::setAccessMode(QString accessMode) void OPMapGadgetWidget::setAccessMode(QString accessMode)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode)); m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
} }
void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL) void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetUseOpenGL(useOpenGL); m_map->SetUseOpenGL(useOpenGL);
} }
void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines) void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetShowTileGridLines(showTileGridLines); m_map->SetShowTileGridLines(showTileGridLines);
} }
void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache) void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->configuration->SetUseMemoryCache(useMemoryCache); m_map->configuration->SetUseMemoryCache(useMemoryCache);
} }
void OPMapGadgetWidget::setCacheLocation(QString cacheLocation) void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces
@ -1235,8 +1292,8 @@ void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
void OPMapGadgetWidget::setMapMode(opMapModeType mode) void OPMapGadgetWidget::setMapMode(opMapModeType mode)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode) if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
mode = Normal_MapMode; // fix error mode = Normal_MapMode; // fix error
@ -1268,12 +1325,12 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
hideMagicWaypointControls(); hideMagicWaypointControls();
// delete the magic waypoint from the map // delete the magic waypoint from the map
if (magic_waypoint.map_wp_item) if (m_magic_waypoint.map_wp_item)
{ {
magic_waypoint.coord = magic_waypoint.map_wp_item->Coord(); m_magic_waypoint.coord = m_magic_waypoint.map_wp_item->Coord();
magic_waypoint.altitude = magic_waypoint.map_wp_item->Altitude(); m_magic_waypoint.altitude = m_magic_waypoint.map_wp_item->Altitude();
magic_waypoint.description = magic_waypoint.map_wp_item->Description(); m_magic_waypoint.description = m_magic_waypoint.map_wp_item->Description();
magic_waypoint.map_wp_item = NULL; m_magic_waypoint.map_wp_item = NULL;
} }
m_map->WPDeleteAll(); m_map->WPDeleteAll();
@ -1320,10 +1377,10 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
m_waypoint_list_mutex.unlock(); m_waypoint_list_mutex.unlock();
// restore the magic waypoint on the map // restore the magic waypoint on the map
magic_waypoint.map_wp_item = m_map->WPCreate(magic_waypoint.coord, magic_waypoint.altitude, magic_waypoint.description); m_magic_waypoint.map_wp_item = m_map->WPCreate(m_magic_waypoint.coord, m_magic_waypoint.altitude, m_magic_waypoint.description);
magic_waypoint.map_wp_item->setZValue(10 + magic_waypoint.map_wp_item->Number()); m_magic_waypoint.map_wp_item->setZValue(10 + m_magic_waypoint.map_wp_item->Number());
magic_waypoint.map_wp_item->SetShowNumber(false); m_magic_waypoint.map_wp_item->SetShowNumber(false);
magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png")); m_magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
break; break;
} }
@ -1334,8 +1391,10 @@ void OPMapGadgetWidget::setMapMode(opMapModeType mode)
void OPMapGadgetWidget::createActions() void OPMapGadgetWidget::createActions()
{ {
if (!m_widget) int list_size;
return;
if (!m_widget || !m_map)
return;
// *********************** // ***********************
// create menu actions // create menu actions
@ -1503,7 +1562,7 @@ void OPMapGadgetWidget::createActions()
zoomActGroup = new QActionGroup(this); zoomActGroup = new QActionGroup(this);
connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *))); connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
zoomAct.clear(); zoomAct.clear();
for (int i = min_zoom; i <= max_zoom; i++) for (int i = m_min_zoom; i <= m_max_zoom; i++)
{ {
QAction *zoom_act = new QAction(QString::number(i), zoomActGroup); QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
zoom_act->setCheckable(true); zoom_act->setCheckable(true);
@ -1511,7 +1570,22 @@ void OPMapGadgetWidget::createActions()
zoomAct.append(zoom_act); zoomAct.append(zoom_act);
} }
// ***** maxUpdateRateActGroup = new QActionGroup(this);
connect(maxUpdateRateActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMaxUpdateRateActGroup_triggered(QAction *)));
maxUpdateRateAct.clear();
list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
for (int i = 0; i < list_size; i++)
{
QAction *maxUpdateRate_act;
int j = max_update_rate_list[i];
maxUpdateRate_act = new QAction(QString::number(j), maxUpdateRateActGroup);
maxUpdateRate_act->setCheckable(true);
maxUpdateRate_act->setData(j);
maxUpdateRate_act->setChecked(j == m_maxUpdateRate);
maxUpdateRateAct.append(maxUpdateRate_act);
}
// *****
// safe area // safe area
showSafeAreaAct = new QAction(tr("Show Safe Area"), this); showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
@ -1523,7 +1597,8 @@ void OPMapGadgetWidget::createActions()
safeAreaActGroup = new QActionGroup(this); safeAreaActGroup = new QActionGroup(this);
connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *))); connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
safeAreaAct.clear(); safeAreaAct.clear();
for (int i = 0; i < (int)(sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0])); i++) list_size = sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0]);
for (int i = 0; i < list_size; i++)
{ {
int safeArea = safe_area_radius_list[i]; int safeArea = safe_area_radius_list[i];
QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup); QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
@ -1569,7 +1644,8 @@ void OPMapGadgetWidget::createActions()
uavTrailTimeActGroup = new QActionGroup(this); uavTrailTimeActGroup = new QActionGroup(this);
connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *))); connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
uavTrailTimeAct.clear(); uavTrailTimeAct.clear();
for (int i = 0; i < (int)(sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0])); i++) list_size = sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0]);
for (int i = 0; i < list_size; i++)
{ {
int uav_trail_time = uav_trail_time_list[i]; int uav_trail_time = uav_trail_time_list[i];
QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup); QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
@ -1582,7 +1658,8 @@ void OPMapGadgetWidget::createActions()
uavTrailDistanceActGroup = new QActionGroup(this); uavTrailDistanceActGroup = new QActionGroup(this);
connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *))); connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
uavTrailDistanceAct.clear(); uavTrailDistanceAct.clear();
for (int i = 0; i < (int)(sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0])); i++) list_size = sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0]);
for (int i = 0; i < list_size; i++)
{ {
int uav_trail_distance = uav_trail_distance_list[i]; int uav_trail_distance = uav_trail_distance_list[i];
QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup); QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
@ -1599,62 +1676,59 @@ void OPMapGadgetWidget::createActions()
void OPMapGadgetWidget::onReloadAct_triggered() void OPMapGadgetWidget::onReloadAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->ReloadMap(); m_map->ReloadMap();
} }
void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered() void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
{ {
// QClipboard *clipboard = qApp->clipboard();
QClipboard *clipboard = QApplication::clipboard(); QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard); clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
} }
void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered() void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
{ {
// QClipboard *clipboard = qApp->clipboard();
QClipboard *clipboard = QApplication::clipboard(); QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard); clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
} }
void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered() void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
{ {
// QClipboard *clipboard = qApp->clipboard();
QClipboard *clipboard = QApplication::clipboard(); QClipboard *clipboard = QApplication::clipboard();
clipboard->setText(QString::number(context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard); clipboard->setText(QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
} }
void OPMapGadgetWidget::onShowCompassAct_toggled(bool show) void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetShowCompass(show); m_map->SetShowCompass(show);
} }
void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show) void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetShowDiagnostics(show); m_map->SetShowDiagnostics(show);
} }
void OPMapGadgetWidget::onShowHomeAct_toggled(bool show) void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->Home->setVisible(show); m_map->Home->setVisible(show);
} }
void OPMapGadgetWidget::onShowUAVAct_toggled(bool show) void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->setVisible(show); m_map->UAV->setVisible(show);
m_map->GPS->setVisible(show); m_map->GPS->setVisible(show);
@ -1662,8 +1736,8 @@ void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
void OPMapGadgetWidget::onShowTrailAct_toggled(bool show) void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->SetShowTrail(show); m_map->UAV->SetShowTrail(show);
m_map->GPS->SetShowTrail(show); m_map->GPS->SetShowTrail(show);
@ -1671,8 +1745,8 @@ void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show) void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->SetShowTrailLine(show); m_map->UAV->SetShowTrailLine(show);
m_map->GPS->SetShowTrailLine(show); m_map->GPS->SetShowTrailLine(show);
@ -1700,42 +1774,50 @@ void OPMapGadgetWidget::onGoZoomOutAct_triggered()
void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action) void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
{ {
if (!m_widget || !action) if (!m_widget || !m_map || !action)
return; return;
setZoom(action->data().toInt()); setZoom(action->data().toInt());
} }
void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action)
{
if (!m_widget || !m_map || !action)
return;
setMaxUpdateRate(action->data().toInt());
}
void OPMapGadgetWidget::onGoMouseClickAct_triggered() void OPMapGadgetWidget::onGoMouseClickAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position
} }
void OPMapGadgetWidget::onSetHomeAct_triggered() void OPMapGadgetWidget::onSetHomeAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
setHome(context_menu_lat_lon); setHome(m_context_menu_lat_lon);
setHomeLocationObject(); // update the HomeLocation UAVObject setHomeLocationObject(); // update the HomeLocation UAVObject
} }
void OPMapGadgetWidget::onGoHomeAct_triggered() void OPMapGadgetWidget::onGoHomeAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
goHome(); goHome();
} }
void OPMapGadgetWidget::onGoUAVAct_triggered() void OPMapGadgetWidget::onGoUAVAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
double latitude; double latitude;
double longitude; double longitude;
@ -1750,8 +1832,8 @@ void OPMapGadgetWidget::onGoUAVAct_triggered()
void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked) void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_widget->toolButtonMapUAV->isChecked() != checked) if (m_widget->toolButtonMapUAV->isChecked() != checked)
m_widget->toolButtonMapUAV->setChecked(checked); m_widget->toolButtonMapUAV->setChecked(checked);
@ -1761,8 +1843,8 @@ void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked) void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_widget->toolButtonMapUAVheading->isChecked() != checked) if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
m_widget->toolButtonMapUAVheading->setChecked(checked); m_widget->toolButtonMapUAVheading->setChecked(checked);
@ -1772,8 +1854,8 @@ void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action) void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map || !action)
return; return;
int trail_type_idx = action->data().toInt(); int trail_type_idx = action->data().toInt();
@ -1785,8 +1867,8 @@ void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
void OPMapGadgetWidget::onClearUAVtrailAct_triggered() void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
m_map->UAV->DeleteTrail(); m_map->UAV->DeleteTrail();
m_map->GPS->DeleteTrail(); m_map->GPS->DeleteTrail();
@ -1794,8 +1876,8 @@ void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action) void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map || !action)
return; return;
int trail_time = (double)action->data().toInt(); int trail_time = (double)action->data().toInt();
@ -1804,8 +1886,8 @@ void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action) void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map || !action)
return; return;
int trail_distance = action->data().toInt(); int trail_distance = action->data().toInt();
@ -1818,8 +1900,8 @@ void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
/* /*
void OPMapGadgetWidget::onAddWayPointAct_triggered() void OPMapGadgetWidget::onAddWayPointAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_map_mode != Normal_MapMode) if (m_map_mode != Normal_MapMode)
return; return;
@ -1866,8 +1948,8 @@ void OPMapGadgetWidget::onAddWayPointAct_triggered()
/* /*
void OPMapGadgetWidget::onEditWayPointAct_triggered() void OPMapGadgetWidget::onEditWayPointAct_triggered()
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map)
return; return;
if (m_map_mode != Normal_MapMode) if (m_map_mode != Normal_MapMode)
return; return;
@ -2010,7 +2092,7 @@ void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action) void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
{ {
if (!m_widget || !m_map) if (!m_widget || !m_map || !action)
return; return;
int radius = action->data().toInt(); int radius = action->data().toInt();
@ -2033,10 +2115,10 @@ void OPMapGadgetWidget::homeMagicWaypoint()
if (m_map_mode != MagicWaypoint_MapMode) if (m_map_mode != MagicWaypoint_MapMode)
return; return;
magic_waypoint.coord = home_position.coord; m_magic_waypoint.coord = m_home_position.coord;
if (magic_waypoint.map_wp_item) if (m_magic_waypoint.map_wp_item)
magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord); m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
} }
// ************************************************************************************* // *************************************************************************************
@ -2134,8 +2216,8 @@ void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
{ {
// calcute the bearing and distance from the home position to the magic waypoint // calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(home_position.coord, magic_waypoint.coord); double dist = distance(m_home_position.coord, m_magic_waypoint.coord);
double bear = bearing(home_position.coord, magic_waypoint.coord); double bear = bearing(m_home_position.coord, m_magic_waypoint.coord);
// get the maximum safe distance - in kilometers // get the maximum safe distance - in kilometers
double boundry_dist = (double)m_map->Home->SafeArea() / 1000; double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
@ -2147,12 +2229,12 @@ void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
// move the magic waypoint // move the magic waypoint
magic_waypoint.coord = destPoint(home_position.coord, bear, dist); m_magic_waypoint.coord = destPoint(m_home_position.coord, bear, dist);
if (m_map_mode == MagicWaypoint_MapMode) if (m_map_mode == MagicWaypoint_MapMode)
{ // move the on-screen waypoint { // move the on-screen waypoint
if (magic_waypoint.map_wp_item) if (m_magic_waypoint.map_wp_item)
magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord); m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
} }
} }
@ -2289,7 +2371,21 @@ bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, doub
return true; return true;
} }
// ************************************************************************************* double OPMapGadgetWidget::getUAV_Yaw()
{
if (!obm)
return 0;
UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
double yaw = obj->getField(QString("Yaw"))->getDouble();
if (yaw != yaw) yaw = 0; // nan detection
while (yaw < 0) yaw += 360;
while (yaw >= 360) yaw -= 360;
return yaw;
}
bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude) bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
{ {
@ -2308,22 +2404,6 @@ bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, doub
return true; return true;
} }
double OPMapGadgetWidget::getUAV_Yaw()
{
if (!obm)
return 0;
UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
double yaw = obj->getField(QString("Yaw"))->getDouble();
if (yaw != yaw) yaw = 0; // nan detection
while (yaw < 0) yaw += 360;
while (yaw >= 360) yaw -= 360;
return yaw;
}
// ************************************************************************************* // *************************************************************************************
void OPMapGadgetWidget::setMapFollowingMode() void OPMapGadgetWidget::setMapFollowingMode()
@ -2359,7 +2439,7 @@ bool OPMapGadgetWidget::setHomeLocationObject()
if (!obum) if (!obum)
return false; return false;
double LLA[3] = {home_position.coord.Lat(), home_position.coord.Lng(), home_position.altitude}; double LLA[3] = {m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude};
return (obum->setHomeLocation(LLA, true) >= 0); return (obum->setHomeLocation(LLA, true) >= 0);
} }

38
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -115,7 +115,8 @@ public:
void setUseMemoryCache(bool useMemoryCache); void setUseMemoryCache(bool useMemoryCache);
void setCacheLocation(QString cacheLocation); void setCacheLocation(QString cacheLocation);
void setMapMode(opMapModeType mode); void setMapMode(opMapModeType mode);
void SetUavPic(QString UAVPic); void SetUavPic(QString UAVPic);
void setMaxUpdateRate(int update_rate);
public slots: public slots:
void homePositionUpdated(UAVObject *); void homePositionUpdated(UAVObject *);
@ -221,25 +222,31 @@ private slots:
void onClearUAVtrailAct_triggered(); void onClearUAVtrailAct_triggered();
void onUAVTrailTimeActGroup_triggered(QAction *action); void onUAVTrailTimeActGroup_triggered(QAction *action);
void onUAVTrailDistanceActGroup_triggered(QAction *action); void onUAVTrailDistanceActGroup_triggered(QAction *action);
void onMaxUpdateRateActGroup_triggered(QAction *action);
private: private:
int min_zoom;
int max_zoom; // *****
int m_min_zoom;
int m_max_zoom;
double m_heading; // uav heading double m_heading; // uav heading
internals::PointLatLng mouse_lat_lon; internals::PointLatLng m_mouse_lat_lon;
internals::PointLatLng context_menu_lat_lon; internals::PointLatLng m_context_menu_lat_lon;
int prev_tile_number; int m_prev_tile_number;
opMapModeType m_map_mode; opMapModeType m_map_mode;
t_home home_position; int m_maxUpdateRate;
t_waypoint magic_waypoint; t_home m_home_position;
QStringList findPlaceWordList; t_waypoint m_magic_waypoint;
QStringList findPlaceWordList;
QCompleter *findPlaceCompleter; QCompleter *findPlaceCompleter;
QTimer *m_updateTimer; QTimer *m_updateTimer;
@ -266,14 +273,16 @@ private:
QMutex m_map_mutex; QMutex m_map_mutex;
bool telemetry_connected; bool m_telemetry_connected;
// *****
void createActions(); void createActions();
QAction *closeAct1; QAction *closeAct1;
QAction *closeAct2; QAction *closeAct2;
QAction *reloadAct; QAction *reloadAct;
QAction *copyMouseLatLonToClipAct; QAction *copyMouseLatLonToClipAct;
QAction *copyMouseLatToClipAct; QAction *copyMouseLatToClipAct;
QAction *copyMouseLonToClipAct; QAction *copyMouseLonToClipAct;
QAction *findPlaceAct; QAction *findPlaceAct;
@ -319,7 +328,12 @@ private:
QActionGroup *zoomActGroup; QActionGroup *zoomActGroup;
QList<QAction *> zoomAct; QList<QAction *> zoomAct;
void homeMagicWaypoint(); QActionGroup *maxUpdateRateActGroup;
QList<QAction *> maxUpdateRateAct;
// *****
void homeMagicWaypoint();
void moveToMagicWaypointPosition(); void moveToMagicWaypointPosition();