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),
        zoomLevel(0),
        uasIcons(),
        uasTrails(),
        mav(NULL),
        lastUpdate(0),
        m_ui(new Ui::MapWidget)
{
    m_ui->setupUi(this);
    mc = new qmapcontrol::MapControl(QSize(320, 240));

    //   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);

    // SET INITIAL POSITION AND ZOOM
    // Set default zoom level
    mc->setZoom(16);
    // Zurich, ETH
    mc->setView(QPointF(8.548056,47.376889));

    // 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);

    // display the MapControl in the application
    QGridLayout* layout = new QGridLayout(this);
    layout->setMargin(0);
    layout->setSpacing(0);
    layout->addWidget(mc, 0, 0);
    setLayout(layout);

    // 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);
    clearTracking = new QPushButton(QIcon(""), "", this);
    clearTracking->setStyleSheet(buttonStyle);
    followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
    followgps->setStyleSheet(buttonStyle);
    QPushButton* goToButton = new QPushButton(QIcon(""), "T", this);
    goToButton->setStyleSheet(buttonStyle);

    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);
    innerlayout->setMargin(3);
    innerlayout->setSpacing(3);
    innerlayout->addWidget(zoomin, 0, 0);
    innerlayout->addWidget(zoomout, 1, 0);
    innerlayout->addWidget(followgps, 2, 0);
    innerlayout->addWidget(createPath, 3, 0);
    innerlayout->addWidget(clearTracking, 4, 0);
    // Add spacers to compress buttons on the top left
    innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
    innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 0, 1, 0, 7);
    innerlayout->addWidget(mapButton, 0, 6);
    innerlayout->addWidget(goToButton, 0, 7);
    innerlayout->setRowStretch(0, 1);
    innerlayout->setRowStretch(1, 100);
    mc->setLayout(innerlayout);


    // Connect the required signals-slots
    connect(zoomin, SIGNAL(clicked(bool)),