mirror of
https://bitbucket.org/librepilot/librepilot.git
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2134 lines
67 KiB
C++
2134 lines
67 KiB
C++
/**
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******************************************************************************
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*
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* @file opmapgadgetwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup OPMapPlugin OpenPilot Map Plugin
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* @{
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* @brief The OpenPilot Map plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "opmapgadgetwidget.h"
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#include "ui_opmap_widget.h"
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#include <QtGui/QApplication>
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#include <QtGui/QHBoxLayout>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QClipboard>
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#include <QtGui/QMenu>
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#include <QStringList>
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#include <QDir>
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#include <QFile>
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#include <QDateTime>
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#include <math.h>
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#include "utils/stylehelper.h"
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#include "utils/homelocationutil.h"
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#include "utils/worldmagmodel.h"
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#include "uavtalk/telemetrymanager.h"
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#include "positionactual.h"
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#include "homelocation.h"
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#define allow_manual_home_location_move
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// *************************************************************************************
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#define deg_to_rad ((double)M_PI / 180.0)
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#define rad_to_deg (180.0 / (double)M_PI)
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#define earth_mean_radius 6371 // kilometers
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#define max_digital_zoom 3 // maximum allowed digital zoom level
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const int safe_area_radius_list[] = {5, 10, 20, 50, 100, 200, 500, 1000, 2000, 5000}; // meters
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const int uav_trail_time_list[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; // seconds
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const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500}; // meters
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const int max_update_rate_list[] = {100, 200, 500, 1000, 2000, 5000}; // milliseconds
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// *************************************************************************************
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// *************************************************************************************
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// NOTE: go back to SVN REV 2137 and earlier to get back to experimental waypoint support.
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// *************************************************************************************
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// constructor
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OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
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{
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// **************
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m_widget = NULL;
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m_map = NULL;
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findPlaceCompleter = NULL;
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m_mouse_waypoint = NULL;
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pm = NULL;
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obm = NULL;
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obum = NULL;
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m_prev_tile_number = 0;
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m_min_zoom = m_max_zoom = 0;
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m_map_mode = Normal_MapMode;
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m_maxUpdateRate = max_update_rate_list[4]; // 2 seconds
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m_telemetry_connected = false;
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m_context_menu_lat_lon = m_mouse_lat_lon = internals::PointLatLng(0, 0);
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setMouseTracking(true);
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pm = ExtensionSystem::PluginManager::instance();
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if (pm)
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{
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obm = pm->getObject<UAVObjectManager>();
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obum = pm->getObject<UAVObjectUtilManager>();
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}
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// **************
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// get current location
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double latitude = 0;
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double longitude = 0;
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double altitude = 0;
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// current position
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getUAVPosition(latitude, longitude, altitude);
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internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
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// **************
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// default home position
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m_home_position.coord = pos_lat_lon;
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m_home_position.altitude = altitude;
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m_home_position.locked = false;
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// **************
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// create the widget that holds the user controls and the map
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m_widget = new Ui::OPMap_Widget();
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m_widget->setupUi(this);
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// **************
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// create the central map widget
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m_map = new mapcontrol::OPMapWidget(); // create the map object
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m_map->setFrameStyle(QFrame::NoFrame); // no border frame
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m_map->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); // tile background
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m_map->configuration->DragButton = Qt::LeftButton; // use the left mouse button for map dragging
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m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom()); //
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m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom); //
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m_min_zoom = m_widget->horizontalSliderZoom->minimum(); // minimum zoom we can accept
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m_max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept
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m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions
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m_map->SetFollowMouse(true); // we want a contiuous mouse position reading
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m_map->SetShowHome(true); // display the HOME position on the map
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m_map->SetShowUAV(true); // display the UAV position on the map
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m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters)
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m_map->Home->SetShowSafeArea(true); // show the safe area
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if(m_map->Home)
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connect(m_map->Home,SIGNAL(homedoubleclick(HomeItem*)),this,SLOT(onHomeDoubleClick(HomeItem*)));
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m_map->UAV->SetTrailTime(uav_trail_time_list[0]); // seconds
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m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]); // meters
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m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
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if(m_map->GPS)
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{
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m_map->GPS->SetTrailTime(uav_trail_time_list[0]); // seconds
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m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]); // meters
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m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
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}
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// **************
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setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
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QVBoxLayout *layout = new QVBoxLayout;
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layout->setSpacing(0);
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layout->setContentsMargins(0, 0, 0, 0);
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layout->addWidget(m_map);
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m_widget->mapWidget->setLayout(layout);
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m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
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m_widget->toolButtonNormalMapMode->setChecked(true);
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hideMagicWaypointControls();
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m_widget->labelUAVPos->setText("---");
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m_widget->labelMapPos->setText("---");
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m_widget->labelMousePos->setText("---");
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m_widget->labelMapZoom->setText("---");
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m_widget->progressBarMap->setMaximum(1);
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connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double))); // map zoom change signals
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connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals
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connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
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connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals
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connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals
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connect(m_map,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)),this,SLOT(wpDoubleClickEvent(WayPointItem*)));
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m_map->SetCurrentPosition(m_home_position.coord); // set the map position
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m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
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m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
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if(m_map->GPS)
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m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
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model=new flightDataModel(this);
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table=new pathPlanner();
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selectionModel=new QItemSelectionModel(model);
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mapProxy=new modelMapProxy(this,m_map,model,selectionModel);
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table->setModel(model,selectionModel);
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waypoint_edit_dialog=new opmap_edit_waypoint_dialog(this,model,selectionModel);
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UAVProxy=new modelUavoProxy(this,model);
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connect(table,SIGNAL(sendPathPlanToUAV()),UAVProxy,SLOT(modelToObjects()));
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connect(table,SIGNAL(receivePathPlanFromUAV()),UAVProxy,SLOT(objectsToModel()));
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magicWayPoint=m_map->magicWPCreate();
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magicWayPoint->setVisible(false);
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m_map->setOverlayOpacity(0.5);
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// **************
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// create various context menu (mouse right click menu) actions
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createActions();
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// **************
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// connect to the UAVObject updates we require to become a bit aware of our environment:
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if (pm)
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{
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// Register for Home Location state changes
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if (obm)
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{
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
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if (obj)
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{
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connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
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}
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}
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// Listen to telemetry connection events
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TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
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if (telMngr)
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{
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connect(telMngr, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
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connect(telMngr, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
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}
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}
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// **************
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// create the desired timers
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m_updateTimer = new QTimer();
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m_updateTimer->setInterval(m_maxUpdateRate);
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connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
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m_updateTimer->start();
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m_statusUpdateTimer = new QTimer();
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m_statusUpdateTimer->setInterval(200);
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connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
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m_statusUpdateTimer->start();
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// **************
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m_map->setFocus();
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}
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// destructor
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OPMapGadgetWidget::~OPMapGadgetWidget()
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{
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if (m_map)
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{
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disconnect(m_map, 0, 0, 0);
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m_map->SetShowHome(false); // doing this appears to stop the map lib crashing on exit
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m_map->SetShowUAV(false); // " "
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}
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if (m_map)
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{
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delete m_map;
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m_map = NULL;
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}
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if(!model.isNull())
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delete model;
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if(!table.isNull())
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delete table;
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if(!selectionModel.isNull())
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delete selectionModel;
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if(!mapProxy.isNull())
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delete mapProxy;
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if(!waypoint_edit_dialog.isNull())
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delete waypoint_edit_dialog;
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if(!UAVProxy.isNull())
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delete UAVProxy;
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}
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// *************************************************************************************
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// widget signals .. the mouseMoveEvent does not get called - don't yet know why
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void OPMapGadgetWidget::resizeEvent(QResizeEvent *event)
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{
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QWidget::resizeEvent(event);
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}
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void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
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{
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if (m_widget && m_map)
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{
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}
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if (event->buttons() & Qt::LeftButton)
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{
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}
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QWidget::mouseMoveEvent(event);
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}
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void OPMapGadgetWidget::wpDoubleClickEvent(WayPointItem *wp)
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{
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m_mouse_waypoint = wp;
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onEditWayPointAct_triggered();
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}
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void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
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{ // the user has right clicked on the map - create the pop-up context menu and display it
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QString s;
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if (!m_widget || !m_map)
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return;
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if (event->reason() != QContextMenuEvent::Mouse)
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return; // not a mouse click event
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// current mouse position
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QPoint p = m_map->mapFromGlobal(event->globalPos());
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m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
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if (!m_map->contentsRect().contains(p))
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return; // the mouse click was not on the map
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// show the mouse position
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s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
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m_widget->labelMousePos->setText(s);
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// find out if we have a waypoint under the mouse cursor
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QGraphicsItem *item = m_map->itemAt(p);
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m_mouse_waypoint = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
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// find out if the waypoint is locked (or not)
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bool waypoint_locked = false;
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if (m_mouse_waypoint)
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waypoint_locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
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// ****************
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// Dynamically create the popup menu
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contextMenu.addAction(closeAct1);
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contextMenu.addSeparator();
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contextMenu.addAction(reloadAct);
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contextMenu.addSeparator();
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contextMenu.addAction(ripAct);
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contextMenu.addSeparator();
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QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
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for (int i = 0; i < maxUpdateRateAct.count(); i++)
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maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
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contextMenu.addMenu(&maxUpdateRateSubMenu);
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contextMenu.addSeparator();
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switch (m_map_mode)
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{
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case Normal_MapMode: s = tr(" (Normal)"); break;
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case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
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default: s = tr(" (Unknown)"); break;
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}
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for (int i = 0; i < mapModeAct.count(); i++)
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{ // set the menu to checked (or not)
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QAction *act = mapModeAct.at(i);
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if (!act) continue;
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if (act->data().toInt() == (int)m_map_mode)
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act->setChecked(true);
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}
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QMenu mapModeSubMenu(tr("Map mode") + s, this);
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for (int i = 0; i < mapModeAct.count(); i++)
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mapModeSubMenu.addAction(mapModeAct.at(i));
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contextMenu.addMenu(&mapModeSubMenu);
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contextMenu.addSeparator();
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QMenu copySubMenu(tr("Copy"), this);
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copySubMenu.addAction(copyMouseLatLonToClipAct);
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copySubMenu.addAction(copyMouseLatToClipAct);
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copySubMenu.addAction(copyMouseLonToClipAct);
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contextMenu.addMenu(©SubMenu);
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contextMenu.addSeparator();
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contextMenu.addAction(changeDefaultLocalAndZoom);
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contextMenu.addSeparator();
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QMenu safeArea("Safety Area definitions");
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// menu.addAction(showSafeAreaAct);
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QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this);
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for (int i = 0; i < safeAreaAct.count(); i++)
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safeAreaSubMenu.addAction(safeAreaAct.at(i));
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safeArea.addMenu(&safeAreaSubMenu);
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safeArea.addAction(showSafeAreaAct);
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contextMenu.addMenu(&safeArea);
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contextMenu.addSeparator();
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contextMenu.addAction(showCompassAct);
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contextMenu.addAction(showDiagnostics);
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contextMenu.addSeparator()->setText(tr("Zoom"));
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contextMenu.addAction(zoomInAct);
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contextMenu.addAction(zoomOutAct);
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QMenu zoomSubMenu(tr("&Zoom ") + "(" + QString::number(m_map->ZoomTotal()) + ")", this);
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for (int i = 0; i < zoomAct.count(); i++)
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zoomSubMenu.addAction(zoomAct.at(i));
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contextMenu.addMenu(&zoomSubMenu);
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contextMenu.addSeparator();
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contextMenu.addAction(goMouseClickAct);
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contextMenu.addSeparator()->setText(tr("HOME"));
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contextMenu.addAction(setHomeAct);
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contextMenu.addAction(showHomeAct);
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contextMenu.addAction(goHomeAct);
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// ****
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// uav trails
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QMenu uav_menu(tr("UAV"));
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uav_menu.addSeparator()->setText(tr("UAV Trail"));
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contextMenu.addMenu(&uav_menu);
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QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
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for (int i = 0; i < uavTrailTypeAct.count(); i++)
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uavTrailTypeSubMenu.addAction(uavTrailTypeAct.at(i));
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uav_menu.addMenu(&uavTrailTypeSubMenu);
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QMenu uavTrailTimeSubMenu(tr("UAV trail time") + " (" + QString::number(m_map->UAV->TrailTime()) + " sec)", this);
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for (int i = 0; i < uavTrailTimeAct.count(); i++)
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uavTrailTimeSubMenu.addAction(uavTrailTimeAct.at(i));
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uav_menu.addMenu(&uavTrailTimeSubMenu);
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QMenu uavTrailDistanceSubMenu(tr("UAV trail distance") + " (" + QString::number(m_map->UAV->TrailDistance()) + " meters)", this);
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for (int i = 0; i < uavTrailDistanceAct.count(); i++)
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uavTrailDistanceSubMenu.addAction(uavTrailDistanceAct.at(i));
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uav_menu.addMenu(&uavTrailDistanceSubMenu);
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uav_menu.addAction(showTrailAct);
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uav_menu.addAction(showTrailLineAct);
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uav_menu.addAction(clearUAVtrailAct);
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// ****
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uav_menu.addSeparator()->setText(tr("UAV"));
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uav_menu.addAction(showUAVAct);
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uav_menu.addAction(followUAVpositionAct);
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uav_menu.addAction(followUAVheadingAct);
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uav_menu.addAction(goUAVAct);
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// *********
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switch (m_map_mode)
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{
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case Normal_MapMode:
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// only show the waypoint stuff if not in 'magic waypoint' mode
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contextMenu.addSeparator()->setText(tr("Waypoints"));
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contextMenu.addAction(wayPointEditorAct);
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|
contextMenu.addAction(addWayPointActFromContextMenu);
|
|
|
|
if (m_mouse_waypoint)
|
|
{ // we have a waypoint under the mouse
|
|
contextMenu.addAction(editWayPointAct);
|
|
|
|
lockWayPointAct->setChecked(waypoint_locked);
|
|
contextMenu.addAction(lockWayPointAct);
|
|
|
|
if (!waypoint_locked)
|
|
contextMenu.addAction(deleteWayPointAct);
|
|
}
|
|
|
|
if (m_map->WPPresent())
|
|
contextMenu.addAction(clearWayPointsAct); // we have waypoints
|
|
|
|
break;
|
|
|
|
case MagicWaypoint_MapMode:
|
|
contextMenu.addSeparator()->setText(tr("Waypoints"));
|
|
contextMenu.addAction(homeMagicWaypointAct);
|
|
break;
|
|
}
|
|
|
|
// *********
|
|
|
|
QMenu overlaySubMenu(tr("&Overlay Opacity "),this);
|
|
for (int i = 0; i < overlayOpacityAct.count(); i++)
|
|
overlaySubMenu.addAction(overlayOpacityAct.at(i));
|
|
contextMenu.addMenu(&overlaySubMenu);
|
|
contextMenu.addSeparator();
|
|
|
|
contextMenu.addAction(closeAct2);
|
|
|
|
contextMenu.exec(event->globalPos()); // popup the menu
|
|
|
|
// ****************
|
|
}
|
|
|
|
void OPMapGadgetWidget::closeEvent(QCloseEvent *event)
|
|
{
|
|
table->close();
|
|
QWidget::closeEvent(event);
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// timer signals
|
|
|
|
/**
|
|
Updates the UAV position on the map. It is called every 200ms
|
|
by a timer.
|
|
*/
|
|
void OPMapGadgetWidget::updatePosition()
|
|
{
|
|
double uav_latitude, uav_longitude, uav_altitude, uav_yaw;
|
|
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);
|
|
|
|
// *************
|
|
// get the current UAV details
|
|
|
|
// get current UAV position
|
|
if (!getUAVPosition(uav_latitude, uav_longitude, uav_altitude))
|
|
return;
|
|
|
|
// get current UAV heading
|
|
uav_yaw = getUAV_Yaw();
|
|
|
|
uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
|
|
|
|
// *************
|
|
// 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
|
|
|
|
QString str =
|
|
"lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
|
|
" lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
|
|
" " + QString::number(uav_yaw, 'f', 1) + "deg" +
|
|
" " + QString::number(uav_altitude, 'f', 1) + "m";
|
|
// " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
|
|
m_widget->labelUAVPos->setText(str);
|
|
|
|
// *************
|
|
// set the UAV icon position on the map
|
|
|
|
m_map->UAV->SetUAVPos(uav_pos, uav_altitude); // set the maps UAV position
|
|
// qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
|
|
m_map->UAV->SetUAVHeading(uav_yaw); // set the maps UAV heading
|
|
|
|
// *************
|
|
// set the GPS icon position on the map
|
|
if(m_map->GPS)
|
|
{
|
|
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
|
|
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
|
|
}
|
|
|
|
// *************
|
|
}
|
|
|
|
/**
|
|
Update plugin behaviour based on mouse position; Called every few ms by a
|
|
timer.
|
|
*/
|
|
void OPMapGadgetWidget::updateMousePos()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
QMutexLocker locker(&m_map_mutex);
|
|
|
|
QPoint p = m_map->mapFromGlobal(QCursor::pos());
|
|
internals::PointLatLng lat_lon = m_map->GetFromLocalToLatLng(p); // fetch the current lat/lon mouse position
|
|
lastLatLngMouse=lat_lon;
|
|
if (!m_map->contentsRect().contains(p))
|
|
return; // the mouse is not on the map
|
|
|
|
// internals::PointLatLng lat_lon = m_map->currentMousePosition(); // fetch the current lat/lon mouse position
|
|
|
|
QGraphicsItem *item = m_map->itemAt(p);
|
|
|
|
// find out if we are over the home position
|
|
mapcontrol::HomeItem *home = qgraphicsitem_cast<mapcontrol::HomeItem *>(item);
|
|
|
|
// find out if we have a waypoint under the mouse cursor
|
|
mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
|
|
|
|
if (m_mouse_lat_lon == lat_lon)
|
|
return; // the mouse has not moved
|
|
|
|
m_mouse_lat_lon = lat_lon; // yes it has!
|
|
|
|
internals::PointLatLng home_lat_lon = m_map->Home->Coord();
|
|
|
|
QString s = QString::number(m_mouse_lat_lon.Lat(), 'f', 7) + " " + QString::number(m_mouse_lat_lon.Lng(), 'f', 7);
|
|
if (wp)
|
|
{
|
|
s += " wp[" + QString::number(wp->numberAdjusted()) + "]";
|
|
|
|
double dist = distance(home_lat_lon, wp->Coord());
|
|
double bear = bearing(home_lat_lon, wp->Coord());
|
|
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
|
|
s += " " + QString::number(bear, 'f', 1) + "deg";
|
|
}
|
|
else
|
|
if (home)
|
|
{
|
|
s += " home";
|
|
|
|
double dist = distance(home_lat_lon, m_mouse_lat_lon);
|
|
double bear = bearing(home_lat_lon, m_mouse_lat_lon);
|
|
s += " " + QString::number(dist * 1000, 'f', 1) + "m";
|
|
s += " " + QString::number(bear, 'f', 1) + "deg";
|
|
}
|
|
m_widget->labelMousePos->setText(s);
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// map signals
|
|
|
|
|
|
/**
|
|
Update the Plugin UI to reflect a change in zoom level
|
|
*/
|
|
void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
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);
|
|
|
|
int i_zoom = (int)(zoomt + 0.5);
|
|
|
|
if (i_zoom < m_min_zoom) i_zoom = m_min_zoom;
|
|
else
|
|
if (i_zoom > m_max_zoom) i_zoom = m_max_zoom;
|
|
|
|
if (m_widget->horizontalSliderZoom->value() != i_zoom)
|
|
m_widget->horizontalSliderZoom->setValue(i_zoom); // set the GUI zoom slider position
|
|
|
|
int index0_zoom = i_zoom - m_min_zoom; // zoom level starting at index level '0'
|
|
if (index0_zoom < zoomAct.count())
|
|
zoomAct.at(index0_zoom)->setChecked(true); // set the right-click context menu zoom level
|
|
}
|
|
|
|
void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
QString coord_str = QString::number(point.Lat(), 'f', 7) + " " + QString::number(point.Lng(), 'f', 7) + " ";
|
|
m_widget->labelMapPos->setText(coord_str);
|
|
}
|
|
|
|
/**
|
|
Update the progress bar while there are still tiles to load
|
|
*/
|
|
void OPMapGadgetWidget::OnTilesStillToLoad(int number)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_widget->progressBarMap->maximum() < number)
|
|
m_widget->progressBarMap->setMaximum(number);
|
|
|
|
m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number); // update the progress bar
|
|
|
|
m_prev_tile_number = number;
|
|
}
|
|
|
|
/**
|
|
Show the progress bar as soon as the map lib starts downloading
|
|
*/
|
|
void OPMapGadgetWidget::OnTileLoadStart()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
m_widget->progressBarMap->setVisible(true);
|
|
}
|
|
|
|
/**
|
|
Hide the progress bar once the map lib has finished downloading
|
|
|
|
TODO: somehow this gets called before tile load is actually complete?
|
|
*/
|
|
|
|
void OPMapGadgetWidget::OnTileLoadComplete()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_widget->progressBarMap->setVisible(false);
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonZoomP_clicked()
|
|
{
|
|
QMutexLocker locker(&m_map_mutex);
|
|
zoomIn();
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonZoomM_clicked()
|
|
{
|
|
QMutexLocker locker(&m_map_mutex);
|
|
zoomOut();
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
|
|
{
|
|
QMutexLocker locker(&m_map_mutex);
|
|
goHome();
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
QMutexLocker locker(&m_map_mutex);
|
|
|
|
followUAVpositionAct->toggle();
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
followUAVheadingAct->toggle();
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
QMutexLocker locker(&m_map_mutex);
|
|
|
|
setZoom(position);
|
|
}
|
|
|
|
|
|
void OPMapGadgetWidget::on_toolButtonNormalMapMode_clicked()
|
|
{
|
|
setMapMode(Normal_MapMode);
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonMagicWaypointMapMode_clicked()
|
|
{
|
|
setMapMode(MagicWaypoint_MapMode);
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonHomeWaypoint_clicked()
|
|
{
|
|
homeMagicWaypoint();
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
|
|
{
|
|
moveToMagicWaypointPosition();
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// public slots
|
|
|
|
void OPMapGadgetWidget::onTelemetryConnect()
|
|
{
|
|
m_telemetry_connected = true;
|
|
|
|
if (!obum) return;
|
|
|
|
bool set;
|
|
double LLA[3];
|
|
|
|
// ***********************
|
|
// fetch the home location
|
|
|
|
if (obum->getHomeLocation(set, LLA) < 0)
|
|
return; // error
|
|
|
|
setHome(internals::PointLatLng(LLA[0], LLA[1]),LLA[2]);
|
|
|
|
if (m_map)
|
|
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
|
|
|
|
// ***********************
|
|
}
|
|
|
|
void OPMapGadgetWidget::onTelemetryDisconnect()
|
|
{
|
|
m_telemetry_connected = false;
|
|
}
|
|
|
|
// Updates the Home position icon whenever the HomePosition object is updated
|
|
void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
|
|
{
|
|
Q_UNUSED(hp);
|
|
if (!obum) return;
|
|
bool set;
|
|
double LLA[3];
|
|
if (obum->getHomeLocation(set, LLA) < 0)
|
|
return; // error
|
|
setHome(internals::PointLatLng(LLA[0], LLA[1]),LLA[2]);
|
|
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// public functions
|
|
|
|
/**
|
|
Sets the home position on the map widget
|
|
*/
|
|
void OPMapGadgetWidget::setHome(QPointF pos)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
double latitude = pos.x();
|
|
double longitude = pos.y();
|
|
|
|
if (latitude > 90) latitude = 90;
|
|
else
|
|
if (latitude < -90) latitude = -90;
|
|
|
|
if (longitude != longitude) longitude = 0; // nan detection
|
|
else
|
|
if (longitude > 180) longitude = 180;
|
|
else
|
|
if (longitude < -180) longitude = -180;
|
|
|
|
setHome(internals::PointLatLng(latitude, longitude),0);
|
|
}
|
|
|
|
/**
|
|
Sets the home position on the map widget
|
|
*/
|
|
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitude)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
|
|
return;; // nan prevention
|
|
|
|
double latitude = pos_lat_lon.Lat();
|
|
double longitude = pos_lat_lon.Lng();
|
|
|
|
if (latitude != latitude) latitude = 0; // nan detection
|
|
else
|
|
if (latitude > 90) latitude = 90;
|
|
else
|
|
if (latitude < -90) latitude = -90;
|
|
|
|
if (longitude != longitude) longitude = 0; // nan detection
|
|
else
|
|
if (longitude > 180) longitude = 180;
|
|
else
|
|
if (longitude < -180) longitude = -180;
|
|
else if(altitude != altitude) altitude=0;
|
|
|
|
// *********
|
|
|
|
m_home_position.coord = internals::PointLatLng(latitude, longitude);
|
|
|
|
m_map->Home->SetCoord(m_home_position.coord);
|
|
m_map->Home->SetAltitude(altitude);
|
|
m_map->Home->RefreshPos();
|
|
|
|
// move the magic waypoint to keep it within the safe area boundry
|
|
keepMagicWaypointWithInSafeArea();
|
|
}
|
|
|
|
|
|
/**
|
|
Centers the map over the home position
|
|
*/
|
|
void OPMapGadgetWidget::goHome()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
followUAVpositionAct->setChecked(false);
|
|
|
|
internals::PointLatLng home_pos = m_home_position.coord; // get the home location
|
|
m_map->SetCurrentPosition(home_pos); // center the map onto the home location
|
|
}
|
|
|
|
|
|
void OPMapGadgetWidget::zoomIn()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
int zoom = m_map->ZoomTotal() + 1;
|
|
|
|
if (zoom < m_min_zoom) zoom = m_min_zoom;
|
|
else
|
|
if (zoom > m_max_zoom) zoom = m_max_zoom;
|
|
|
|
m_map->SetZoom(zoom);
|
|
}
|
|
|
|
void OPMapGadgetWidget::zoomOut()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
int zoom = m_map->ZoomTotal() - 1;
|
|
|
|
if (zoom < m_min_zoom) zoom = m_min_zoom;
|
|
else
|
|
if (zoom > m_max_zoom) zoom = m_max_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)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (zoom < m_min_zoom) zoom = m_min_zoom;
|
|
else
|
|
if (zoom > m_max_zoom) zoom = m_max_zoom;
|
|
|
|
internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
|
|
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
|
|
|
|
m_map->SetZoom(zoom);
|
|
|
|
m_map->SetMouseWheelZoomType(zoom_type);
|
|
}
|
|
void OPMapGadgetWidget::setOverlayOpacity(qreal value)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
m_map->setOverlayOpacity(value);
|
|
overlayOpacityAct.at(value*10)->setChecked(true);
|
|
}
|
|
|
|
void OPMapGadgetWidget::setHomePosition(QPointF pos)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
double latitude = pos.y();
|
|
double longitude = pos.x();
|
|
|
|
if (latitude != latitude || longitude != longitude)
|
|
return; // nan prevention
|
|
|
|
if (latitude > 90) latitude = 90;
|
|
else
|
|
if (latitude < -90) latitude = -90;
|
|
|
|
if (longitude > 180) longitude = 180;
|
|
else
|
|
if (longitude < -180) longitude = -180;
|
|
|
|
m_map->Home->SetCoord(internals::PointLatLng(latitude, longitude));
|
|
}
|
|
|
|
void OPMapGadgetWidget::setPosition(QPointF pos)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
double latitude = pos.y();
|
|
double longitude = pos.x();
|
|
|
|
if (latitude != latitude || longitude != longitude)
|
|
return; // nan prevention
|
|
|
|
if (latitude > 90) latitude = 90;
|
|
else
|
|
if (latitude < -90) latitude = -90;
|
|
|
|
if (longitude > 180) longitude = 180;
|
|
else
|
|
if (longitude < -180) longitude = -180;
|
|
|
|
m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude));
|
|
}
|
|
|
|
void OPMapGadgetWidget::setMapProvider(QString provider)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
|
|
}
|
|
|
|
void OPMapGadgetWidget::setAccessMode(QString accessMode)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
|
|
}
|
|
|
|
void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->SetUseOpenGL(useOpenGL);
|
|
}
|
|
|
|
void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->SetShowTileGridLines(showTileGridLines);
|
|
}
|
|
|
|
void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->configuration->SetUseMemoryCache(useMemoryCache);
|
|
}
|
|
|
|
void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
cacheLocation = cacheLocation.simplified(); // remove any surrounding spaces
|
|
|
|
if (cacheLocation.isEmpty()) return;
|
|
|
|
if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
|
|
|
|
QDir dir;
|
|
if (!dir.exists(cacheLocation))
|
|
if (!dir.mkpath(cacheLocation))
|
|
return;
|
|
m_map->configuration->SetCacheLocation(cacheLocation);
|
|
}
|
|
|
|
void OPMapGadgetWidget::setMapMode(opMapModeType mode)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
|
|
mode = Normal_MapMode; // fix error
|
|
|
|
if (m_map_mode == mode)
|
|
{ // no change in map mode
|
|
switch (mode)
|
|
{ // make sure the UI buttons are set correctly
|
|
case Normal_MapMode:
|
|
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
|
|
m_widget->toolButtonNormalMapMode->setChecked(true);
|
|
break;
|
|
case MagicWaypoint_MapMode:
|
|
m_widget->toolButtonNormalMapMode->setChecked(false);
|
|
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
|
|
break;
|
|
}
|
|
return;
|
|
}
|
|
|
|
switch (mode)
|
|
{
|
|
case Normal_MapMode:
|
|
m_map_mode = Normal_MapMode;
|
|
|
|
m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
|
|
m_widget->toolButtonNormalMapMode->setChecked(true);
|
|
|
|
hideMagicWaypointControls();
|
|
|
|
magicWayPoint->setVisible(false);
|
|
m_map->WPSetVisibleAll(true);
|
|
|
|
break;
|
|
|
|
case MagicWaypoint_MapMode:
|
|
m_map_mode = MagicWaypoint_MapMode;
|
|
|
|
m_widget->toolButtonNormalMapMode->setChecked(false);
|
|
m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
|
|
|
|
showMagicWaypointControls();
|
|
|
|
// delete the normal waypoints from the map
|
|
|
|
m_map->WPSetVisibleAll(false);
|
|
magicWayPoint->setVisible(true);
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// Context menu stuff
|
|
|
|
void OPMapGadgetWidget::createActions()
|
|
{
|
|
int list_size;
|
|
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
// ***********************
|
|
// create menu actions
|
|
|
|
closeAct1 = new QAction(tr("Close menu"), this);
|
|
closeAct1->setStatusTip(tr("Close the context menu"));
|
|
|
|
closeAct2 = new QAction(tr("Close menu"), this);
|
|
closeAct2->setStatusTip(tr("Close the context menu"));
|
|
|
|
reloadAct = new QAction(tr("&Reload map"), this);
|
|
reloadAct->setShortcut(tr("F5"));
|
|
reloadAct->setStatusTip(tr("Reload the map tiles"));
|
|
connect(reloadAct, SIGNAL(triggered()), this, SLOT(onReloadAct_triggered()));
|
|
this->addAction(reloadAct);
|
|
ripAct = new QAction(tr("&Rip map"), this);
|
|
ripAct->setStatusTip(tr("Rip the map tiles"));
|
|
connect(ripAct, SIGNAL(triggered()), this, SLOT(onRipAct_triggered()));
|
|
|
|
copyMouseLatLonToClipAct = new QAction(tr("Mouse latitude and longitude"), this);
|
|
copyMouseLatLonToClipAct->setStatusTip(tr("Copy the mouse latitude and longitude to the clipboard"));
|
|
connect(copyMouseLatLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatLonToClipAct_triggered()));
|
|
|
|
copyMouseLatToClipAct = new QAction(tr("Mouse latitude"), this);
|
|
copyMouseLatToClipAct->setStatusTip(tr("Copy the mouse latitude to the clipboard"));
|
|
connect(copyMouseLatToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatToClipAct_triggered()));
|
|
|
|
copyMouseLonToClipAct = new QAction(tr("Mouse longitude"), this);
|
|
copyMouseLonToClipAct->setStatusTip(tr("Copy the mouse longitude to the clipboard"));
|
|
connect(copyMouseLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLonToClipAct_triggered()));
|
|
|
|
showCompassAct = new QAction(tr("Show compass"), this);
|
|
showCompassAct->setStatusTip(tr("Show/Hide the compass"));
|
|
showCompassAct->setCheckable(true);
|
|
showCompassAct->setChecked(true);
|
|
connect(showCompassAct, SIGNAL(toggled(bool)), this, SLOT(onShowCompassAct_toggled(bool)));
|
|
|
|
showDiagnostics = new QAction(tr("Show Diagnostics"), this);
|
|
showDiagnostics->setStatusTip(tr("Show/Hide the diagnostics"));
|
|
showDiagnostics->setCheckable(true);
|
|
showDiagnostics->setChecked(false);
|
|
connect(showDiagnostics, SIGNAL(toggled(bool)), this, SLOT(onShowDiagnostics_toggled(bool)));
|
|
|
|
showHomeAct = new QAction(tr("Show Home"), this);
|
|
showHomeAct->setStatusTip(tr("Show/Hide the Home location"));
|
|
showHomeAct->setCheckable(true);
|
|
showHomeAct->setChecked(true);
|
|
connect(showHomeAct, SIGNAL(toggled(bool)), this, SLOT(onShowHomeAct_toggled(bool)));
|
|
|
|
showUAVAct = new QAction(tr("Show UAV"), this);
|
|
showUAVAct->setStatusTip(tr("Show/Hide the UAV"));
|
|
showUAVAct->setCheckable(true);
|
|
showUAVAct->setChecked(true);
|
|
connect(showUAVAct, SIGNAL(toggled(bool)), this, SLOT(onShowUAVAct_toggled(bool)));
|
|
|
|
changeDefaultLocalAndZoom = new QAction(tr("Set default zoom and location"), this);
|
|
changeDefaultLocalAndZoom->setStatusTip(tr("Changes the map default zoom and location to the current values"));
|
|
connect(changeDefaultLocalAndZoom, SIGNAL(triggered()), this, SLOT(onChangeDefaultLocalAndZoom()));
|
|
|
|
zoomInAct = new QAction(tr("Zoom &In"), this);
|
|
zoomInAct->setShortcut(Qt::Key_PageUp);
|
|
zoomInAct->setStatusTip(tr("Zoom the map in"));
|
|
connect(zoomInAct, SIGNAL(triggered()), this, SLOT(onGoZoomInAct_triggered()));
|
|
this->addAction(zoomInAct);
|
|
|
|
zoomOutAct = new QAction(tr("Zoom &Out"), this);
|
|
zoomOutAct->setShortcut(Qt::Key_PageDown);
|
|
zoomOutAct->setStatusTip(tr("Zoom the map out"));
|
|
connect(zoomOutAct, SIGNAL(triggered()), this, SLOT(onGoZoomOutAct_triggered()));
|
|
this->addAction(zoomOutAct);
|
|
|
|
goMouseClickAct = new QAction(tr("Go to where you right clicked the mouse"), this);
|
|
goMouseClickAct->setStatusTip(tr("Center the map onto where you right clicked the mouse"));
|
|
connect(goMouseClickAct, SIGNAL(triggered()), this, SLOT(onGoMouseClickAct_triggered()));
|
|
|
|
setHomeAct = new QAction(tr("Set the home location"), this);
|
|
setHomeAct->setStatusTip(tr("Set the home location to where you clicked"));
|
|
#if !defined(allow_manual_home_location_move)
|
|
setHomeAct->setEnabled(false);
|
|
#endif
|
|
connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered()));
|
|
|
|
goHomeAct = new QAction(tr("Go to &Home location"), this);
|
|
goHomeAct->setShortcut(tr("Ctrl+H"));
|
|
goHomeAct->setStatusTip(tr("Center the map onto the home location"));
|
|
connect(goHomeAct, SIGNAL(triggered()), this, SLOT(onGoHomeAct_triggered()));
|
|
|
|
goUAVAct = new QAction(tr("Go to &UAV location"), this);
|
|
goUAVAct->setShortcut(tr("Ctrl+U"));
|
|
goUAVAct->setStatusTip(tr("Center the map onto the UAV location"));
|
|
connect(goUAVAct, SIGNAL(triggered()), this, SLOT(onGoUAVAct_triggered()));
|
|
|
|
followUAVpositionAct = new QAction(tr("Follow UAV position"), this);
|
|
followUAVpositionAct->setShortcut(tr("Ctrl+F"));
|
|
followUAVpositionAct->setStatusTip(tr("Keep the map centered onto the UAV"));
|
|
followUAVpositionAct->setCheckable(true);
|
|
followUAVpositionAct->setChecked(false);
|
|
connect(followUAVpositionAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVpositionAct_toggled(bool)));
|
|
|
|
followUAVheadingAct = new QAction(tr("Follow UAV heading"), this);
|
|
followUAVheadingAct->setShortcut(tr("Ctrl+F"));
|
|
followUAVheadingAct->setStatusTip(tr("Keep the map rotation to the UAV heading"));
|
|
followUAVheadingAct->setCheckable(true);
|
|
followUAVheadingAct->setChecked(false);
|
|
connect(followUAVheadingAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVheadingAct_toggled(bool)));
|
|
|
|
/*
|
|
TODO: Waypoint support is disabled for v1.0
|
|
*/
|
|
|
|
|
|
wayPointEditorAct = new QAction(tr("&Waypoint editor"), this);
|
|
wayPointEditorAct->setShortcut(tr("Ctrl+W"));
|
|
wayPointEditorAct->setStatusTip(tr("Open the waypoint editor"));
|
|
connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered()));
|
|
|
|
addWayPointActFromContextMenu = new QAction(tr("&Add waypoint"), this);
|
|
addWayPointActFromContextMenu->setShortcut(tr("Ctrl+A"));
|
|
addWayPointActFromContextMenu->setStatusTip(tr("Add waypoint"));
|
|
connect(addWayPointActFromContextMenu, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggeredFromContextMenu()));
|
|
|
|
addWayPointActFromThis = new QAction(tr("&Add waypoint"), this);
|
|
addWayPointActFromThis->setShortcut(tr("Ctrl+A"));
|
|
addWayPointActFromThis->setStatusTip(tr("Add waypoint"));
|
|
connect(addWayPointActFromThis, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggeredFromThis()));
|
|
this->addAction(addWayPointActFromThis);
|
|
|
|
editWayPointAct = new QAction(tr("&Edit waypoint"), this);
|
|
editWayPointAct->setShortcut(tr("Ctrl+E"));
|
|
editWayPointAct->setStatusTip(tr("Edit waypoint"));
|
|
connect(editWayPointAct, SIGNAL(triggered()), this, SLOT(onEditWayPointAct_triggered()));
|
|
|
|
lockWayPointAct = new QAction(tr("&Lock waypoint"), this);
|
|
lockWayPointAct->setStatusTip(tr("Lock/Unlock a waypoint"));
|
|
lockWayPointAct->setCheckable(true);
|
|
lockWayPointAct->setChecked(false);
|
|
connect(lockWayPointAct, SIGNAL(triggered()), this, SLOT(onLockWayPointAct_triggered()));
|
|
|
|
deleteWayPointAct = new QAction(tr("&Delete waypoint"), this);
|
|
deleteWayPointAct->setShortcut(tr("Ctrl+D"));
|
|
deleteWayPointAct->setStatusTip(tr("Delete waypoint"));
|
|
connect(deleteWayPointAct, SIGNAL(triggered()), this, SLOT(onDeleteWayPointAct_triggered()));
|
|
|
|
clearWayPointsAct = new QAction(tr("&Clear waypoints"), this);
|
|
clearWayPointsAct->setShortcut(tr("Ctrl+C"));
|
|
clearWayPointsAct->setStatusTip(tr("Clear waypoints"));
|
|
connect(clearWayPointsAct, SIGNAL(triggered()), this, SLOT(onClearWayPointsAct_triggered()));
|
|
|
|
overlayOpacityActGroup = new QActionGroup(this);
|
|
connect(overlayOpacityActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onOverlayOpacityActGroup_triggered(QAction *)));
|
|
overlayOpacityAct.clear();
|
|
for (int i = 0; i <= 10; i++)
|
|
{
|
|
QAction *overlayAct = new QAction(QString::number(i*10), overlayOpacityActGroup);
|
|
overlayAct->setCheckable(true);
|
|
overlayAct->setData(i*10);
|
|
overlayOpacityAct.append(overlayAct);
|
|
}
|
|
|
|
homeMagicWaypointAct = new QAction(tr("Home magic waypoint"), this);
|
|
homeMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the home position"));
|
|
connect(homeMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onHomeMagicWaypointAct_triggered()));
|
|
|
|
mapModeActGroup = new QActionGroup(this);
|
|
connect(mapModeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMapModeActGroup_triggered(QAction *)));
|
|
mapModeAct.clear();
|
|
{
|
|
QAction *map_mode_act;
|
|
|
|
map_mode_act = new QAction(tr("Normal"), mapModeActGroup);
|
|
map_mode_act->setCheckable(true);
|
|
map_mode_act->setChecked(m_map_mode == Normal_MapMode);
|
|
map_mode_act->setData((int)Normal_MapMode);
|
|
mapModeAct.append(map_mode_act);
|
|
|
|
map_mode_act = new QAction(tr("Magic Waypoint"), mapModeActGroup);
|
|
map_mode_act->setCheckable(true);
|
|
map_mode_act->setChecked(m_map_mode == MagicWaypoint_MapMode);
|
|
map_mode_act->setData((int)MagicWaypoint_MapMode);
|
|
mapModeAct.append(map_mode_act);
|
|
}
|
|
|
|
zoomActGroup = new QActionGroup(this);
|
|
connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
|
|
zoomAct.clear();
|
|
for (int i = m_min_zoom; i <= m_max_zoom; i++)
|
|
{
|
|
QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
|
|
zoom_act->setCheckable(true);
|
|
zoom_act->setData(i);
|
|
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
|
|
|
|
showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
|
|
showSafeAreaAct->setStatusTip(tr("Show/Hide the Safe Area around the home location"));
|
|
showSafeAreaAct->setCheckable(true);
|
|
showSafeAreaAct->setChecked(m_map->Home->ShowSafeArea());
|
|
connect(showSafeAreaAct, SIGNAL(toggled(bool)), this, SLOT(onShowSafeAreaAct_toggled(bool)));
|
|
|
|
safeAreaActGroup = new QActionGroup(this);
|
|
connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
|
|
safeAreaAct.clear();
|
|
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];
|
|
QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
|
|
safeArea_act->setCheckable(true);
|
|
safeArea_act->setChecked(safeArea == m_map->Home->SafeArea());
|
|
safeArea_act->setData(safeArea);
|
|
safeAreaAct.append(safeArea_act);
|
|
}
|
|
|
|
// *****
|
|
// UAV trail
|
|
|
|
uavTrailTypeActGroup = new QActionGroup(this);
|
|
connect(uavTrailTypeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTypeActGroup_triggered(QAction *)));
|
|
uavTrailTypeAct.clear();
|
|
QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
|
|
for (int i = 0; i < uav_trail_type_list.count(); i++)
|
|
{
|
|
mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[i]);
|
|
QAction *uavTrailType_act = new QAction(mapcontrol::Helper::StrFromUAVTrailType(uav_trail_type), uavTrailTypeActGroup);
|
|
uavTrailType_act->setCheckable(true);
|
|
uavTrailType_act->setChecked(uav_trail_type == m_map->UAV->GetTrailType());
|
|
uavTrailType_act->setData(i);
|
|
uavTrailTypeAct.append(uavTrailType_act);
|
|
}
|
|
|
|
showTrailAct = new QAction(tr("Show Trail dots"), this);
|
|
showTrailAct->setStatusTip(tr("Show/Hide the Trail dots"));
|
|
showTrailAct->setCheckable(true);
|
|
showTrailAct->setChecked(true);
|
|
connect(showTrailAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailAct_toggled(bool)));
|
|
|
|
showTrailLineAct = new QAction(tr("Show Trail lines"), this);
|
|
showTrailLineAct->setStatusTip(tr("Show/Hide the Trail lines"));
|
|
showTrailLineAct->setCheckable(true);
|
|
showTrailLineAct->setChecked(true);
|
|
connect(showTrailLineAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailLineAct_toggled(bool)));
|
|
|
|
clearUAVtrailAct = new QAction(tr("Clear UAV trail"), this);
|
|
clearUAVtrailAct->setStatusTip(tr("Clear the UAV trail"));
|
|
connect(clearUAVtrailAct, SIGNAL(triggered()), this, SLOT(onClearUAVtrailAct_triggered()));
|
|
|
|
uavTrailTimeActGroup = new QActionGroup(this);
|
|
connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
|
|
uavTrailTimeAct.clear();
|
|
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];
|
|
QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
|
|
uavTrailTime_act->setCheckable(true);
|
|
uavTrailTime_act->setChecked(uav_trail_time == m_map->UAV->TrailTime());
|
|
uavTrailTime_act->setData(uav_trail_time);
|
|
uavTrailTimeAct.append(uavTrailTime_act);
|
|
}
|
|
|
|
uavTrailDistanceActGroup = new QActionGroup(this);
|
|
connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
|
|
uavTrailDistanceAct.clear();
|
|
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];
|
|
QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
|
|
uavTrailDistance_act->setCheckable(true);
|
|
uavTrailDistance_act->setChecked(uav_trail_distance == m_map->UAV->TrailDistance());
|
|
uavTrailDistance_act->setData(uav_trail_distance);
|
|
uavTrailDistanceAct.append(uavTrailDistance_act);
|
|
}
|
|
}
|
|
|
|
void OPMapGadgetWidget::onReloadAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->ReloadMap();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onRipAct_triggered()
|
|
{
|
|
m_map->RipMap();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
|
|
{
|
|
QClipboard *clipboard = QApplication::clipboard();
|
|
clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
|
|
{
|
|
QClipboard *clipboard = QApplication::clipboard();
|
|
clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
|
|
{
|
|
QClipboard *clipboard = QApplication::clipboard();
|
|
clipboard->setText(QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
|
|
}
|
|
|
|
|
|
void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->SetShowCompass(show);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->SetShowDiagnostics(show);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->Home->setVisible(show);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->UAV->setVisible(show);
|
|
m_map->GPS->setVisible(show);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->UAV->SetShowTrail(show);
|
|
m_map->GPS->SetShowTrail(show);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->UAV->SetShowTrailLine(show);
|
|
m_map->GPS->SetShowTrailLine(show);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onMapModeActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
opMapModeType mode = (opMapModeType)action->data().toInt();
|
|
|
|
setMapMode(mode);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onGoZoomInAct_triggered()
|
|
{
|
|
zoomIn();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onGoZoomOutAct_triggered()
|
|
{
|
|
zoomOut();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
setZoom(action->data().toInt());
|
|
}
|
|
|
|
void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
setMaxUpdateRate(action->data().toInt());
|
|
}
|
|
|
|
void OPMapGadgetWidget::onChangeDefaultLocalAndZoom()
|
|
{
|
|
emit defaultLocationAndZoomChanged(m_map->CurrentPosition().Lng(),m_map->CurrentPosition().Lat(),m_map->ZoomTotal());
|
|
}
|
|
|
|
void OPMapGadgetWidget::onGoMouseClickAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->SetCurrentPosition(m_map->currentMousePosition()); // center the map onto the mouse position
|
|
}
|
|
|
|
void OPMapGadgetWidget::onSetHomeAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
setHome(m_context_menu_lat_lon,0);
|
|
|
|
setHomeLocationObject(); // update the HomeLocation UAVObject
|
|
}
|
|
|
|
void OPMapGadgetWidget::onGoHomeAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
goHome();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onGoUAVAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
double latitude;
|
|
double longitude;
|
|
double altitude;
|
|
if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
|
|
{
|
|
internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
|
|
internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position
|
|
if (map_pos != uav_pos) m_map->SetCurrentPosition(uav_pos); // center the map onto the UAV
|
|
}
|
|
}
|
|
|
|
void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_widget->toolButtonMapUAV->isChecked() != checked)
|
|
m_widget->toolButtonMapUAV->setChecked(checked);
|
|
|
|
setMapFollowingMode();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
|
|
m_widget->toolButtonMapUAVheading->setChecked(checked);
|
|
|
|
setMapFollowingMode();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
int trail_type_idx = action->data().toInt();
|
|
|
|
QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
|
|
mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[trail_type_idx]);
|
|
|
|
m_map->UAV->SetTrailType(uav_trail_type);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->UAV->DeleteTrail();
|
|
if(m_map->GPS)
|
|
m_map->GPS->DeleteTrail();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
int trail_time = (double)action->data().toInt();
|
|
|
|
m_map->UAV->SetTrailTime(trail_time);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
int trail_distance = action->data().toInt();
|
|
|
|
m_map->UAV->SetTrailDistance(trail_distance);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onOpenWayPointEditorAct_triggered()
|
|
{
|
|
table->show();
|
|
}
|
|
void OPMapGadgetWidget::onAddWayPointAct_triggeredFromContextMenu()
|
|
{
|
|
onAddWayPointAct_triggered(m_context_menu_lat_lon);
|
|
}
|
|
void OPMapGadgetWidget::onAddWayPointAct_triggeredFromThis()
|
|
{
|
|
onAddWayPointAct_triggered(lastLatLngMouse);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onAddWayPointAct_triggered(internals::PointLatLng coord)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_map_mode != Normal_MapMode)
|
|
return;
|
|
float alt=15;
|
|
mapProxy->createWayPoint(coord);
|
|
}
|
|
|
|
|
|
/**
|
|
* Called when the user asks to edit a waypoint from the map
|
|
*
|
|
* TODO: should open an interface to edit waypoint properties, or
|
|
* propagate the signal to a specific WP plugin (tbd).
|
|
**/
|
|
|
|
void OPMapGadgetWidget::onEditWayPointAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_map_mode != Normal_MapMode)
|
|
return;
|
|
|
|
if (!m_mouse_waypoint)
|
|
return;
|
|
|
|
waypoint_edit_dialog->editWaypoint(m_mouse_waypoint);
|
|
m_mouse_waypoint = NULL;
|
|
}
|
|
|
|
|
|
/**
|
|
* TODO: unused for v1.0
|
|
*/
|
|
|
|
void OPMapGadgetWidget::onLockWayPointAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map || !m_mouse_waypoint)
|
|
return;
|
|
|
|
if (m_map_mode != Normal_MapMode)
|
|
return;
|
|
|
|
bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
|
|
m_mouse_waypoint->setFlag(QGraphicsItem::ItemIsMovable, locked);
|
|
|
|
if (!locked)
|
|
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
|
|
else
|
|
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
|
|
m_mouse_waypoint->update();
|
|
|
|
m_mouse_waypoint = NULL;
|
|
}
|
|
|
|
void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_map_mode != Normal_MapMode)
|
|
return;
|
|
|
|
if (!m_mouse_waypoint)
|
|
return;
|
|
|
|
mapProxy->deleteWayPoint(m_mouse_waypoint->Number());
|
|
}
|
|
|
|
void OPMapGadgetWidget::onClearWayPointsAct_triggered()
|
|
{
|
|
|
|
//First, ask to ensure this is what the user wants to do
|
|
QMessageBox msgBox;
|
|
msgBox.setText(tr("Are you sure you want to clear waypoints?"));
|
|
msgBox.setInformativeText(tr("All associated data will be lost."));
|
|
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
|
|
int ret = msgBox.exec();
|
|
|
|
if (ret == QMessageBox::No)
|
|
{
|
|
return;
|
|
}
|
|
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_map_mode != Normal_MapMode)
|
|
return;
|
|
|
|
mapProxy->deleteAll();
|
|
|
|
}
|
|
|
|
|
|
void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
|
|
{
|
|
// center the magic waypoint on the home position
|
|
homeMagicWaypoint();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
m_map->Home->SetShowSafeArea(show); // show the safe area
|
|
m_map->Home->RefreshPos();
|
|
}
|
|
|
|
void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
int radius = action->data().toInt();
|
|
|
|
m_map->Home->SetSafeArea(radius); // set the radius (meters)
|
|
m_map->Home->RefreshPos();
|
|
|
|
// move the magic waypoint if need be to keep it within the safe area around the home position
|
|
keepMagicWaypointWithInSafeArea();
|
|
}
|
|
|
|
/**
|
|
* move the magic waypoint to the home position
|
|
**/
|
|
void OPMapGadgetWidget::homeMagicWaypoint()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_map_mode != MagicWaypoint_MapMode)
|
|
return;
|
|
|
|
magicWayPoint->SetCoord(m_home_position.coord);
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// move the UAV to the magic waypoint position
|
|
|
|
void OPMapGadgetWidget::moveToMagicWaypointPosition()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (m_map_mode != MagicWaypoint_MapMode)
|
|
return;
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// show/hide the magic waypoint controls
|
|
|
|
void OPMapGadgetWidget::hideMagicWaypointControls()
|
|
{
|
|
m_widget->lineWaypoint->setVisible(false);
|
|
m_widget->toolButtonHomeWaypoint->setVisible(false);
|
|
m_widget->toolButtonMoveToWP->setVisible(false);
|
|
}
|
|
|
|
void OPMapGadgetWidget::showMagicWaypointControls()
|
|
{
|
|
m_widget->lineWaypoint->setVisible(true);
|
|
m_widget->toolButtonHomeWaypoint->setVisible(true);
|
|
|
|
#if defined(allow_manual_home_location_move)
|
|
m_widget->toolButtonMoveToWP->setVisible(true);
|
|
#else
|
|
m_widget->toolButtonMoveToWP->setVisible(false);
|
|
#endif
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// move the magic waypoint to keep it within the safe area boundry
|
|
|
|
void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
|
|
{
|
|
|
|
// calcute the bearing and distance from the home position to the magic waypoint
|
|
double dist = distance(m_home_position.coord, magicWayPoint->Coord());
|
|
double bear = bearing(m_home_position.coord, magicWayPoint->Coord());
|
|
|
|
// get the maximum safe distance - in kilometers
|
|
double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
|
|
|
|
if (dist > boundry_dist) dist = boundry_dist;
|
|
|
|
// move the magic waypoint;
|
|
|
|
if (m_map_mode == MagicWaypoint_MapMode)
|
|
{ // move the on-screen waypoint
|
|
if (magicWayPoint)
|
|
magicWayPoint->SetCoord(destPoint(m_home_position.coord, bear, dist));
|
|
}
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// return the distance between two points .. in kilometers
|
|
|
|
double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::PointLatLng to)
|
|
{
|
|
double lat1 = from.Lat() * deg_to_rad;
|
|
double lon1 = from.Lng() * deg_to_rad;
|
|
|
|
double lat2 = to.Lat() * deg_to_rad;
|
|
double lon2 = to.Lng() * deg_to_rad;
|
|
|
|
return (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)) * earth_mean_radius);
|
|
|
|
// ***********************
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// return the bearing from one point to another .. in degrees
|
|
|
|
double OPMapGadgetWidget::bearing(internals::PointLatLng from, internals::PointLatLng to)
|
|
{
|
|
double lat1 = from.Lat() * deg_to_rad;
|
|
double lon1 = from.Lng() * deg_to_rad;
|
|
|
|
double lat2 = to.Lat() * deg_to_rad;
|
|
double lon2 = to.Lng() * deg_to_rad;
|
|
|
|
// double delta_lat = lat2 - lat1;
|
|
double delta_lon = lon2 - lon1;
|
|
|
|
double y = sin(delta_lon) * cos(lat2);
|
|
double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(delta_lon);
|
|
double bear = atan2(y, x) * rad_to_deg;
|
|
|
|
bear += 360;
|
|
while (bear < 0) bear += 360;
|
|
while (bear >= 360) bear -= 360;
|
|
|
|
return bear;
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// return a destination lat/lon point given a source lat/lon point and the bearing and distance from the source point
|
|
|
|
internals::PointLatLng OPMapGadgetWidget::destPoint(internals::PointLatLng source, double bear, double dist)
|
|
{
|
|
double lat1 = source.Lat() * deg_to_rad;
|
|
double lon1 = source.Lng() * deg_to_rad;
|
|
|
|
bear *= deg_to_rad;
|
|
|
|
double ad = dist / earth_mean_radius;
|
|
|
|
double lat2 = asin(sin(lat1) * cos(ad) + cos(lat1) * sin(ad) * cos(bear));
|
|
double lon2 = lon1 + atan2(sin(bear) * sin(ad) * cos(lat1), cos(ad) - sin(lat1) * sin(lat2));
|
|
|
|
return internals::PointLatLng(lat2 * rad_to_deg, lon2 * rad_to_deg);
|
|
}
|
|
|
|
// *************************************************************************************
|
|
|
|
bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, double &altitude)
|
|
{
|
|
double BaseECEF[3];
|
|
double NED[3];
|
|
double LLA[3];
|
|
UAVObject *obj;
|
|
|
|
if (!obm)
|
|
return false;
|
|
|
|
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
|
|
if (!obj) return false;
|
|
BaseECEF[0] = obj->getField(QString("ECEF"))->getDouble(0) / 100;
|
|
BaseECEF[1] = obj->getField(QString("ECEF"))->getDouble(1) / 100;
|
|
BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2) / 100;
|
|
|
|
obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("PositionActual")));
|
|
if (!obj) return false;
|
|
NED[0] = obj->getField(QString("North"))->getDouble() / 100;
|
|
NED[1] = obj->getField(QString("East"))->getDouble() / 100;
|
|
NED[2] = obj->getField(QString("Down"))->getDouble() / 100;
|
|
|
|
// obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("PositionDesired")));
|
|
|
|
// obj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual")); // air speed
|
|
|
|
Utils::CoordinateConversions().GetLLA(BaseECEF, NED, LLA);
|
|
|
|
latitude = LLA[0];
|
|
longitude = LLA[1];
|
|
altitude = LLA[2];
|
|
|
|
if (latitude != latitude) latitude = 0; // nan detection
|
|
// if (isNan(latitude)) latitude = 0; // nan detection
|
|
else
|
|
// if (!isFinite(latitude)) latitude = 0;
|
|
// else
|
|
if (latitude > 90) latitude = 90;
|
|
else
|
|
if (latitude < -90) latitude = -90;
|
|
|
|
if (longitude != longitude) longitude = 0; // nan detection
|
|
else
|
|
// if (longitude > std::numeric_limits<double>::max()) longitude = 0; // +infinite
|
|
// else
|
|
// if (longitude < -std::numeric_limits<double>::max()) longitude = 0; // -infinite
|
|
// else
|
|
if (longitude > 180) longitude = 180;
|
|
else
|
|
if (longitude < -180) longitude = -180;
|
|
|
|
if (altitude != altitude) altitude = 0; // nan detection
|
|
|
|
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)
|
|
{
|
|
double LLA[3];
|
|
|
|
if (!obum)
|
|
return false;
|
|
|
|
if (obum->getGPSPosition(LLA) < 0)
|
|
return false; // error
|
|
|
|
latitude = LLA[0];
|
|
longitude = LLA[1];
|
|
altitude = LLA[2];
|
|
|
|
return true;
|
|
}
|
|
|
|
// *************************************************************************************
|
|
|
|
void OPMapGadgetWidget::setMapFollowingMode()
|
|
{
|
|
if (!m_widget || !m_map)
|
|
return;
|
|
|
|
if (!followUAVpositionAct->isChecked())
|
|
{
|
|
m_map->UAV->SetMapFollowType(UAVMapFollowType::None);
|
|
m_map->SetRotate(0); // reset map rotation to 0deg
|
|
}
|
|
else
|
|
if (!followUAVheadingAct->isChecked())
|
|
{
|
|
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);
|
|
m_map->SetRotate(0); // reset map rotation to 0deg
|
|
}
|
|
else
|
|
{
|
|
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap); // the map library won't let you reset the uav rotation if it's already in rotate mode
|
|
|
|
m_map->UAV->SetUAVHeading(0); // reset the UAV heading to 0deg
|
|
m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap);
|
|
}
|
|
}
|
|
|
|
// *************************************************************************************
|
|
// update the HomeLocation UAV Object
|
|
|
|
bool OPMapGadgetWidget::setHomeLocationObject()
|
|
{
|
|
if (!obum)
|
|
return false;
|
|
|
|
double LLA[3] = {m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude};
|
|
return (obum->setHomeLocation(LLA, true) >= 0);
|
|
}
|
|
|
|
// *************************************************************************************
|
|
|
|
void OPMapGadgetWidget::SetUavPic(QString UAVPic)
|
|
{
|
|
m_map->SetUavPic(UAVPic);
|
|
}
|
|
|
|
void OPMapGadgetWidget::on_tbFind_clicked()
|
|
{
|
|
QPalette pal = m_widget->leFind->palette();
|
|
|
|
int result=m_map->SetCurrentPositionByKeywords(m_widget->leFind->text());
|
|
if(result==core::GeoCoderStatusCode::G_GEO_SUCCESS)
|
|
{
|
|
pal.setColor( m_widget->leFind->backgroundRole(), Qt::green);
|
|
m_widget->leFind->setPalette(pal);
|
|
}
|
|
else
|
|
{
|
|
pal.setColor( m_widget->leFind->backgroundRole(), Qt::red);
|
|
m_widget->leFind->setPalette(pal);
|
|
}
|
|
}
|
|
|
|
void OPMapGadgetWidget::onHomeDoubleClick(HomeItem *)
|
|
{
|
|
new homeEditor(m_map->Home,this);
|
|
}
|
|
|
|
void OPMapGadgetWidget::onOverlayOpacityActGroup_triggered(QAction *action)
|
|
{
|
|
if (!m_widget || !m_map || !action)
|
|
return;
|
|
|
|
m_map->setOverlayOpacity(action->data().toReal()/100);
|
|
emit overlayOpacityChanged(action->data().toReal()/100);
|
|
}
|