Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
#include "SlugsPadCameraControl.h"
#include "ui_SlugsPadCameraControl.h"
SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsPadCameraControl),
dragging(0)
{
ui->setupUi(this);
x1= 0;
y1 = 0;
motion = NONE;
}
SlugsPadCameraControl::~SlugsPadCameraControl()
{
delete ui;
}
void SlugsPadCameraControl::activeUasSet(UASInterface *uas)
{
if(uas)
{
this->activeUAS= uas;
}
}
void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
{
Q_UNUSED(event);
if(dragging)
{
getDeltaPositionPad(event->x(), event->y());
}
}
void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
{
if(!dragging)
{
dragging = true;
x1 = event->x();
y1 = event->y();
}
}
void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
{
if(dragging)
{
dragging = false;
getDeltaPositionPad(event->x(), event->y());
xFin = event->x();
yFin = event->y();
}
}
void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
{
QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
if(localMeasures.y()>10)
{
QString dir = "nd";
double bearing = localMeasures.x();
bearing = bearing +90;
if(bearing>= 360)
{
bearing = bearing - 360;
}
if(bearing >337.5 || bearing <=22.5)
{
motion= UP;
movePad = QPoint(0, 1);
dir = "UP";
}
else if(bearing >22.5 && bearing <=67.5)
{
motion= RIGHT_UP;
movePad = QPoint(1, 1);
dir = "RIGHT UP";
}
else if(bearing >67.5 && bearing <=112.5)
{
motion= RIGHT;
movePad = QPoint(1, 0);
dir = "RIGHT";
}
else if(bearing >112.5 && bearing <= 157.5)
{
motion= RIGHT_DOWN;
movePad = QPoint(1, -1);
dir = "RIGHT DOWN";
}
else if(bearing >157.5 && bearing <=202.5)
{
motion= DOWN;
movePad = QPoint(0, -1);
dir = "DOWN";
}
else if(bearing >202.5 && bearing <=247.5)
{
motion= LEFT_DOWN;
movePad = QPoint(-1, -1);
dir = "LEFT DOWN";
}
else if(bearing >247.5 && bearing <=292.5)
{
motion= LEFT;
movePad = QPoint(-1, 0);
dir = "LEFT";
}
else if(bearing >292.5 && bearing <=337.5)
{
motion= LEFT_UP;
movePad = QPoint(-1, 1);
dir = "LEFT UP";
}
emit changeMotionCamera(motion);
ui->lbPixel->setText(QString::number(localMeasures.y()));
ui->lbDirection->setText(dir);
qDebug()<<dir;
update();
}
}
QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
double lon2, double lat2)
{
double cateto_opuesto,cateto_adyacente, hipotenusa;//, distancia;
double marcacion = 0.0;
//latitude and longitude first point
if(lat1<0) lat1= lat1*(-1);
if(lat2<0) lat2= lat2*(-1);
if(lon1<0) lon1= lon1*(-1);
if(lon2<0) lon1= lon1*(-1);
cateto_opuesto = abs((lat1-lat2));
cateto_adyacente = abs((lon1-lon2));
hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
//distancia = hipotenusa*60.0;
if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante
marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292;
else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante
marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante
marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
else if((lat1 < lat2) && (lon1 == lon2)) //360
marcacion = 360;
else if((lat1 == lat2) && (lon1 > lon2)) //270
marcacion = 270;
else if((lat1 > lat2) && (lon1 == lon2)) //180
marcacion = 180;
else if((lat1 == lat2) && (lon1 < lon2)) //90
marcacion =90;
else if((lat1 == lat2) && (lon1 == lon2)) //0
marcacion = 0.0;
return QPointF(marcacion,hipotenusa);// distancia);
}
void SlugsPadCameraControl::keyPressEvent(QKeyEvent *event)
{
switch (event->key())
{
case Qt::Key_Left:
emit changeMotionCamera(LEFT);
break;
case Qt::Key_Right:
emit changeMotionCamera(RIGHT);
break;
case Qt::Key_Down:
emit changeMotionCamera(DOWN);
break;
case Qt::Key_Up:
emit changeMotionCamera(UP);
break;
default:
QWidget::keyPressEvent(event);
}
}