mirror of
https://bitbucket.org/librepilot/librepilot.git
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324 lines
10 KiB
C++
324 lines
10 KiB
C++
/**
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******************************************************************************
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*
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* @file opmapgadgetwidget.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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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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#ifndef OPMAP_GADGETWIDGET_H_
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#define OPMAP_GADGETWIDGET_H_
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// ******************************************************
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#include "flightdatamodel.h"
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#include "pathplanner.h"
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#include "modelmapproxy.h"
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#include "modeluavoproxy.h"
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#include <QtGui/QWidget>
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#include <QtGui/QMenu>
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#include <QStringList>
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#include <QStandardItemModel>
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#include <QList>
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#include <QMutex>
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#include <QMutexLocker>
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#include <QPointF>
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#include "opmapcontrol/opmapcontrol.h"
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#include "opmap_zoom_slider_widget.h"
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#include "opmap_statusbar_widget.h"
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#include "utils/coordinateconversions.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectutilmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include "objectpersistence.h"
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#include <QItemSelectionModel>
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#include "opmap_edit_waypoint_dialog.h"
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#include "homeeditor.h"
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// ******************************************************
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namespace Ui {
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class OPMap_Widget;
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}
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using namespace mapcontrol;
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// ******************************************************
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typedef struct t_home {
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internals::PointLatLng coord;
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double altitude;
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bool locked;
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} t_home;
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// ******************************************************
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enum opMapModeType { Normal_MapMode = 0,
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MagicWaypoint_MapMode = 1 };
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// ******************************************************
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class OPMapGadgetWidget : public QWidget {
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Q_OBJECT
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public:
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OPMapGadgetWidget(QWidget *parent = 0);
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~OPMapGadgetWidget();
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/**
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* @brief public functions
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*
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* @param
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*/
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void setHome(QPointF pos);
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void setHome(internals::PointLatLng pos_lat_lon, double altitude);
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void goHome();
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void setZoom(int zoom);
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void setPosition(QPointF pos);
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void setMapProvider(QString provider);
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void setUseOpenGL(bool useOpenGL);
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void setShowTileGridLines(bool showTileGridLines);
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void setAccessMode(QString accessMode);
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void setUseMemoryCache(bool useMemoryCache);
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void setCacheLocation(QString cacheLocation);
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void setMapMode(opMapModeType mode);
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void SetUavPic(QString UAVPic);
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void setMaxUpdateRate(int update_rate);
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void setHomePosition(QPointF pos);
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void setOverlayOpacity(qreal value);
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bool getGPSPositionSensor(double &latitude, double &longitude, double &altitude);
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signals:
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void defaultLocationAndZoomChanged(double lng, double lat, double zoom);
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void overlayOpacityChanged(qreal);
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public slots:
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void homePositionUpdated(UAVObject *);
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void onTelemetryConnect();
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void onTelemetryDisconnect();
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protected:
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void resizeEvent(QResizeEvent *event);
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void mouseMoveEvent(QMouseEvent *event);
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void contextMenuEvent(QContextMenuEvent *event);
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void closeEvent(QCloseEvent *);
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private slots:
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void wpDoubleClickEvent(WayPointItem *wp);
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void updatePosition();
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void updateMousePos();
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void zoomIn();
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void zoomOut();
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/**
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* @brief signals received from the various map plug-in widget user controls
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*
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* Some are currently disabled for the v1.0 plugin version.
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*/
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void on_toolButtonZoomM_clicked();
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void on_toolButtonZoomP_clicked();
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void on_toolButtonMapHome_clicked();
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void on_toolButtonMapUAV_clicked();
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void on_toolButtonMapUAVheading_clicked();
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void on_horizontalSliderZoom_sliderMoved(int position);
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void on_toolButtonMagicWaypointMapMode_clicked();
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void on_toolButtonNormalMapMode_clicked();
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void on_toolButtonHomeWaypoint_clicked();
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void on_toolButtonMoveToWP_clicked();
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/**
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* @brief signals received from the map object
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*/
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void zoomChanged(double zoomt, double zoom, double zoomd);
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void OnCurrentPositionChanged(internals::PointLatLng point);
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void OnTileLoadComplete();
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void OnTileLoadStart();
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void OnTilesStillToLoad(int number);
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/**
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* @brief mouse right click context menu signals
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*/
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void onReloadAct_triggered();
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void onRipAct_triggered();
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void onCopyMouseLatLonToClipAct_triggered();
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void onCopyMouseLatToClipAct_triggered();
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void onCopyMouseLonToClipAct_triggered();
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void onShowCompassAct_toggled(bool show);
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void onShowDiagnostics_toggled(bool show);
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void onShowUAVInfo_toggled(bool show);
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void onShowUAVAct_toggled(bool show);
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void onShowHomeAct_toggled(bool show);
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void onShowTrailLineAct_toggled(bool show);
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void onShowTrailAct_toggled(bool show);
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void onGoZoomInAct_triggered();
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void onGoZoomOutAct_triggered();
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void onGoMouseClickAct_triggered();
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void onSetHomeAct_triggered();
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void onGoHomeAct_triggered();
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void onGoUAVAct_triggered();
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void onFollowUAVpositionAct_toggled(bool checked);
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void onFollowUAVheadingAct_toggled(bool checked);
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void onOpenWayPointEditorAct_triggered();
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void onAddWayPointAct_triggeredFromContextMenu();
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void onAddWayPointAct_triggeredFromThis();
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void onAddWayPointAct_triggered(internals::PointLatLng coord);
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void onEditWayPointAct_triggered();
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void onLockWayPointAct_triggered();
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void onDeleteWayPointAct_triggered();
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void onClearWayPointsAct_triggered();
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void onMapModeActGroup_triggered(QAction *action);
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void onZoomActGroup_triggered(QAction *action);
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void onHomeMagicWaypointAct_triggered();
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void onShowSafeAreaAct_toggled(bool show);
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void onSafeAreaActGroup_triggered(QAction *action);
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void onUAVTrailTypeActGroup_triggered(QAction *action);
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void onClearUAVtrailAct_triggered();
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void onUAVTrailTimeActGroup_triggered(QAction *action);
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void onUAVTrailDistanceActGroup_triggered(QAction *action);
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void onMaxUpdateRateActGroup_triggered(QAction *action);
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void onChangeDefaultLocalAndZoom();
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void on_tbFind_clicked();
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void onHomeDoubleClick(HomeItem *);
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void onOverlayOpacityActGroup_triggered(QAction *action);
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void on_leFind_returnPressed();
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private:
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int m_min_zoom;
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int m_max_zoom;
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double m_heading; // uav heading
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internals::PointLatLng m_mouse_lat_lon;
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internals::PointLatLng m_context_menu_lat_lon;
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int m_prev_tile_number;
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opMapModeType m_map_mode;
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int m_maxUpdateRate;
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t_home m_home_position;
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QStringList findPlaceWordList;
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QCompleter *findPlaceCompleter;
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QTimer *m_updateTimer;
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QTimer *m_statusUpdateTimer;
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Ui::OPMap_Widget *m_widget;
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mapcontrol::OPMapWidget *m_map;
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ExtensionSystem::PluginManager *pm;
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UAVObjectManager *obm;
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UAVObjectUtilManager *obum;
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QPointer<opmap_edit_waypoint_dialog> waypoint_edit_dialog;
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QStandardItemModel wayPoint_treeView_model;
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mapcontrol::WayPointItem *m_mouse_waypoint;
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QPointer<modelUavoProxy> UAVProxy;
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QMutex m_map_mutex;
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bool m_telemetry_connected;
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QAction *closeAct1;
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QAction *closeAct2;
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QAction *reloadAct;
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QAction *ripAct;
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QAction *copyMouseLatLonToClipAct;
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QAction *copyMouseLatToClipAct;
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QAction *copyMouseLonToClipAct;
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QAction *showCompassAct;
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QAction *showDiagnostics;
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QAction *showUAVInfo;
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QAction *showHomeAct;
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QAction *showUAVAct;
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QAction *zoomInAct;
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QAction *zoomOutAct;
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QAction *goMouseClickAct;
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QAction *setHomeAct;
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QAction *goHomeAct;
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QAction *goUAVAct;
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QAction *followUAVpositionAct;
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QAction *followUAVheadingAct;
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QAction *wayPointEditorAct;
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QAction *addWayPointActFromThis;
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QAction *addWayPointActFromContextMenu;
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QAction *editWayPointAct;
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QAction *lockWayPointAct;
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QAction *deleteWayPointAct;
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QAction *clearWayPointsAct;
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QAction *homeMagicWaypointAct;
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QAction *showSafeAreaAct;
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QAction *changeDefaultLocalAndZoom;
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QActionGroup *safeAreaActGroup;
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QList<QAction *> safeAreaAct;
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QActionGroup *uavTrailTypeActGroup;
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QList<QAction *> uavTrailTypeAct;
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QAction *clearUAVtrailAct;
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QActionGroup *uavTrailTimeActGroup;
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QAction *showTrailLineAct;
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QAction *showTrailAct;
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QList<QAction *> uavTrailTimeAct;
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QActionGroup *uavTrailDistanceActGroup;
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QList<QAction *> uavTrailDistanceAct;
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QActionGroup *mapModeActGroup;
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QList<QAction *> mapModeAct;
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QActionGroup *zoomActGroup;
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QActionGroup *overlayOpacityActGroup;
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QList<QAction *> zoomAct;
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QList<QAction *> overlayOpacityAct;
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QActionGroup *maxUpdateRateActGroup;
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QList<QAction *> maxUpdateRateAct;
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void createActions();
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void homeMagicWaypoint();
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void moveToMagicWaypointPosition();
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void hideMagicWaypointControls();
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void showMagicWaypointControls();
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void keepMagicWaypointWithInSafeArea();
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double distance(internals::PointLatLng from, internals::PointLatLng to);
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double bearing(internals::PointLatLng from, internals::PointLatLng to);
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internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
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bool getUAVPosition(double &latitude, double &longitude, double &altitude);
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double getUAV_Yaw();
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void setMapFollowingMode();
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bool setHomeLocationObject();
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QMenu contextMenu;
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internals::PointLatLng lastLatLngMouse;
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WayPointItem *magicWayPoint;
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QPointer<flightDataModel> model;
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QPointer<pathPlanner> table;
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QPointer<modelMapProxy> mapProxy;
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QPointer<QItemSelectionModel> selectionModel;
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};
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#endif /* OPMAP_GADGETWIDGET_H_ */
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