MapWidget.cc

/*==================================================================
======================================================================*/

/**
 * @file
 *   @brief Implementation of MapWidget
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *   @author Mariano Lizarraga
 *
 */

#include <QComboBox>
#include <QGridLayout>
#include <QDir>

#include "QGC.h"
#include "MapWidget.h"
#include "ui_MapWidget.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "MAV2DIcon.h"
#include "Waypoint2DIcon.h"
#include "UASWaypointManager.h"

#include "MG.h"


MapWidget::MapWidget(QWidget *parent) :
        QWidget(parent),
        mc(NULL),
        zoomLevel(0),
        uasIcons(),
        uasTrails(),
        mav(NULL),
        lastUpdate(0),
        initialized(false),
        m_ui(new Ui::MapWidget)
{
    m_ui->setupUi(this);
    init();
}

void MapWidget::init()
{
    if (!initialized)
    {
        mc = new qmapcontrol::MapControl(this->size());
        // display the MapControl in the application
        QGridLayout* layout = new QGridLayout(this);
        layout->setMargin(0);
        layout->setSpacing(0);
        layout->addWidget(mc, 0, 0);
        setLayout(layout);

        //   VISUAL MAP STYLE
        QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)} QAbstractButton:checked { border: 2px solid #379AC3; }");
        mc->setPen(QGC::colorCyan.darker(400));

        waypointIsDrag = false;

        // Accept focus by clicking or keyboard
        this->setFocusPolicy(Qt::StrongFocus);

        // create MapControl

        mc->showScale(true);
        mc->showCoord(true);
        mc->enablePersistentCache();
        mc->setMouseTracking(true); // required to update the mouse position for diplay and capture

        // create MapAdapter to get maps from
        //TileMapAdapter* osmAdapter = new TileMapAdapter("tile.openstreetmap.org", "/%1/%2/%3.png", 256, 0, 17);

        qmapcontrol::MapAdapter* mapadapter_overlay = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");

        // MAP BACKGROUND
        mapadapter = new qmapcontrol::GoogleSatMapAdapter();
        l = new qmapcontrol::MapLayer("Google Satellite", mapadapter);
        mc->addLayer(l);

        // STREET OVERLAY
        overlay = new qmapcontrol::MapLayer("Overlay", mapadapter_overlay);
        overlay->setVisible(false);
        mc->addLayer(overlay);

        // MAV FLIGHT TRACKS
        tracks = new qmapcontrol::MapLayer("Tracking", mapadapter);
        mc->addLayer(tracks);

        // WAYPOINT LAYER
        // create a layer with the mapadapter and type GeometryLayer (for waypoints)
        geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
        mc->addLayer(geomLayer);



        //
        //    Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer);
        //    mc->addLayer(gsatLayer);


        // Zurich, ETH

        int lastZoom = 16;
        double lastLat = 47.376889;
        double lastLon = 8.548056;

        QSettings settings;
        settings.beginGroup("QGC_MAPWIDGET");
        lastLat = settings.value("LAST_LATITUDE", lastLat).toDouble();
        lastLon = settings.value("LAST_LONGITUDE", lastLon).toDouble();
        lastZoom = settings.value("LAST_ZOOM", lastZoom).toInt();
        settings.endGroup();

        // SET INITIAL POSITION AND ZOOM
        // Set default zoom level
        mc->setZoom(lastZoom);
        mc->setView(QPointF(lastLon, lastLat));

        // Veracruz Mexico
        //mc->setView(QPointF(-96.105208,19.138955));

        // Add controls to select map provider
        /////////////////////////////////////////////////
        QActionGroup* mapproviderGroup = new QActionGroup(this);
        osmAction = new QAction(QIcon(":/images/mapproviders/openstreetmap.png"), tr("OpenStreetMap"), mapproviderGroup);
        yahooActionMap = new QAction(QIcon(":/images/mapproviders/yahoo.png"), tr("Yahoo: Map"), mapproviderGroup);
        yahooActionSatellite = new QAction(QIcon(":/images/mapproviders/yahoo.png"), tr("Yahoo: Satellite"), mapproviderGroup);
        googleActionMap = new QAction(QIcon(":/images/mapproviders/google.png"), tr("Google: Map"), mapproviderGroup);
        googleSatAction = new QAction(QIcon(":/images/mapproviders/google.png"), tr("Google: Sat"), mapproviderGroup);
        osmAction->setCheckable(true);
        yahooActionMap->setCheckable(true);
        yahooActionSatellite->setCheckable(true);
        googleActionMap->setCheckable(true);
        googleSatAction->setCheckable(true);
        googleSatAction->setChecked(true);
        connect(mapproviderGroup, SIGNAL(triggered(QAction*)),
                this, SLOT(mapproviderSelected(QAction*)));

        // Overlay seems currently broken
        //    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
        //    yahooActionOverlay->setCheckable(true);
        //    yahooActionOverlay->setChecked(overlay->isVisible());
        //    connect(yahooActionOverlay, SIGNAL(toggled(bool)),
        //            overlay, SLOT(setVisible(bool)));

        //    mapproviderGroup->addAction(googleSatAction);
        //    mapproviderGroup->addAction(osmAction);
        //    mapproviderGroup->addAction(yahooActionOverlay);
        //    mapproviderGroup->addAction(googleActionMap);
        //    mapproviderGroup->addAction(yahooActionMap);
        //    mapproviderGroup->addAction(yahooActionSatellite);

        // Create map provider selection menu
        mapMenu = new QMenu(this);
        mapMenu->addActions(mapproviderGroup->actions());
        mapMenu->addSeparator();
        //    mapMenu->addAction(yahooActionOverlay);

        mapButton = new QPushButton(this);
        mapButton->setText("Map Source");
        mapButton->setMenu(mapMenu);
        mapButton->setStyleSheet(buttonStyle);

        // create buttons to control the map (zoom, GPS tracking and WP capture)
        QPushButton* zoomin = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this);
        zoomin->setStyleSheet(buttonStyle);
        QPushButton* zoomout = new QPushButton(QIcon(":/images/actions/list-remove.svg"), "", this);
        zoomout->setStyleSheet(buttonStyle);
        createPath = new QPushButton(QIcon(":/images/actions/go-bottom.svg"), "", this);
        createPath->setStyleSheet(buttonStyle);
        createPath->setToolTip(tr("Start / end waypoint add mode"));
        createPath->setStatusTip(tr("Start / end waypoint add mode"));
        //    clearTracking = new QPushButton(QIcon(""), "", this);
        //    clearTracking->setStyleSheet(buttonStyle);
        followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
        followgps->setStyleSheet(buttonStyle);
        followgps->setToolTip(tr("Follow the position of the current MAV with the map center"));
        followgps->setStatusTip(tr("Follow the position of the current MAV with the map center"));
        QPushButton* goToButton = new QPushButton(QIcon(""), "T", this);
        goToButton->setStyleSheet(buttonStyle);
        goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
        goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));

        zoomin->setMaximumWidth(30);
        zoomout->setMaximumWidth(30);
        createPath->setMaximumWidth(30);
        //    clearTracking->setMaximumWidth(30);
        followgps->setMaximumWidth(30);
        goToButton->setMaximumWidth(30);

        // Set checkable buttons
        // TODO: Currently checked buttons are are very difficult to distinguish when checked.
        //       create a style and the slots to change the background so it is easier to distinguish
        followgps->setCheckable(true);
        createPath->setCheckable(true);

        // add buttons to control the map (zoom, GPS tracking and WP capture)
        QGridLayout* innerlayout = new QGridLayout(mc);