-
Don Gagne authored
- All resources are either under src or under resources dirs - Removed files top level directory - Move flightgear files to top level dir
Don Gagne authored- All resources are either under src or under resources dirs - Removed files top level directory - Move flightgear files to top level dir
MapWidget.cc 39.50 KiB
/*==================================================================
======================================================================*/
/**
* @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(":/res/openstreetmap.png"), tr("OpenStreetMap"), mapproviderGroup);
yahooActionMap = new QAction(QIcon(":/res/yahoo.png"), tr("Yahoo: Map"), mapproviderGroup);
yahooActionSatellite = new QAction(QIcon(":/res/yahoo.png"), tr("Yahoo: Satellite"), mapproviderGroup);
googleActionMap = new QAction(QIcon(":/res/google.png"), tr("Google: Map"), mapproviderGroup);
googleSatAction = new QAction(QIcon(":/res/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(":/res/PlusSign"), "", this);
zoomin->setStyleSheet(buttonStyle);
QPushButton* zoomout = new QPushButton(QIcon(":/res/MinusSign"), "", this);
zoomout->setStyleSheet(buttonStyle);
createPath = new QPushButton(QIcon(":/res/BottomArrow"), "", 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(":/res/SystemLockScreen"), "", 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);
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);
// Configure the WP Path's pen
pointPen = new QPen(QColor(0, 255,0));
pointPen->setWidth(3);
waypointPath = new qmapcontrol::LineString (wps, "Waypoint path", pointPen);
mc->layer("Waypoints")->addGeometry(waypointPath);
//Camera Control
// CAMERA INDICATOR LAYER
// create a layer with the mapadapter and type GeometryLayer (for camera indicator)
camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
mc->addLayer(camLayer);
//camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
drawCamBorder = false;
radioCamera = 10;
// Done set state
initialized = true;
// Connect the required signals-slots
connect(zoomin, SIGNAL(clicked(bool)),
mc, SLOT(zoomIn()));
connect(zoomout, SIGNAL(clicked(bool)),
mc, SLOT(zoomOut()));
connect(goToButton, SIGNAL(clicked()), this, SLOT(goTo()));
QList<UASInterface*> systems = UASManager::instance()->getUASList();
foreach(UASInterface* system, systems) {
addUAS(system);
}
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addUAS(UASInterface*)));
activeUASSet(UASManager::instance()->getActiveUAS());
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));
connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)),
this, SLOT(captureMapClick(const QMouseEvent*, const QPointF)));
connect(createPath, SIGNAL(clicked(bool)),
this, SLOT(createPathButtonClicked(bool)));
connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
this, SLOT(captureGeometryClick(Geometry*, QPoint)));
connect(geomLayer, SIGNAL(geometryDragged(Geometry*, QPointF)),
this, SLOT(captureGeometryDrag(Geometry*, QPointF)));
connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
qDebug() << "CHECK END";
}
}
void MapWidget::goTo()
{
bool ok;
QString text = QInputDialog::getText(this, tr("Please enter coordinates"), tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
QString("%1,%2").arg(mc->currentCoordinate().y()).arg(mc->currentCoordinate().x()), &ok);
if (ok && !text.isEmpty()) {
QStringList split = text.split(",");
if (split.length() == 2) {
bool convert;
double latitude = split.first().toDouble(&convert);
ok &= convert;
double longitude = split.last().toDouble(&convert);
ok &= convert;
if (ok) {
mc->setView(QPointF(longitude, latitude));
}
}
}
}
void MapWidget::mapproviderSelected(QAction* action)
{
if (mc) {
//delete mapadapter;
mapButton->setText(action->text());
if (action == osmAction) {
int zoom = mapadapter->adaptedZoom();
mc->setZoom(0);
mapadapter = new qmapcontrol::OSMMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
// yahooActionOverlay->setEnabled(false);
overlay->setVisible(false);
// yahooActionOverlay->setChecked(false);
} else if (action == yahooActionMap) {
int zoom = mapadapter->adaptedZoom();
mc->setZoom(0);
mapadapter = new qmapcontrol::YahooMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
// yahooActionOverlay->setEnabled(false);
overlay->setVisible(false);
// yahooActionOverlay->setChecked(false);
} else if (action == yahooActionSatellite) {
int zoom = mapadapter->adaptedZoom();
QPointF a = mc->currentCoordinate();
mc->setZoom(0);
mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
overlay->setVisible(false);
// yahooActionOverlay->setEnabled(true);
} else if (action == googleActionMap) {
int zoom = mapadapter->adaptedZoom();
mc->setZoom(0);
mapadapter = new qmapcontrol::GoogleMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
// yahooActionOverlay->setEnabled(false);
overlay->setVisible(false);
// yahooActionOverlay->setChecked(false);
} else if (action == googleSatAction) {
int zoom = mapadapter->adaptedZoom();
mc->setZoom(0);
mapadapter = new qmapcontrol::GoogleSatMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
// yahooActionOverlay->setEnabled(false);
overlay->setVisible(false);
// yahooActionOverlay->setChecked(false);
} else {
mapButton->setText("Select..");
}
}
}
void MapWidget::createPathButtonClicked(bool checked)
{
if (mc) {
Q_UNUSED(checked);
if (createPath->isChecked()) {
// change the cursor shape
this->setCursor(Qt::PointingHandCursor);
mc->setMouseMode(qmapcontrol::MapControl::None);
// emit signal start to create a Waypoint global
//emit createGlobalWP(true, mc->currentCoordinate());
// // Clear the previous WP track
// // TODO: Move this to an actual clear track button and add a warning dialog
// mc->layer("Waypoints")->clearGeometries();
// wps.clear();
// path->setPoints(wps);
// mc->layer("Waypoints")->addGeometry(path);
// wpIndex.clear();
} else {
this->setCursor(Qt::ArrowCursor);
mc->setMouseMode(qmapcontrol::MapControl::Panning);
}
}
}
/**
* Captures a click on the map and if in create WP path mode, it adds the WP on MouseButtonRelease
*
* @param event The mouse event
* @param coordinate The coordinate in which it occured the mouse event
* @note This slot is connected to the mouseEventCoordinate of the QMapControl object
*/
void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
{
if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked()) {
// Create waypoint name
QString str;
// create the WP and set everything in the LineString to display the path
Waypoint2DIcon* tempCirclePoint;
if (mav) {
double altitude = 0.0;
double yaw = 0.0;
int wpListCount = mav->getWaypointManager()->getWaypointList().count();
if (wpListCount > 0) {
altitude = mav->getWaypointManager()->getWaypointList().at(wpListCount-1)->getAltitude();
yaw = mav->getWaypointManager()->getWaypointList().at(wpListCount-1)->getYaw();
}
mav->getWaypointManager()->addWaypoint(new Waypoint(wpListCount, coordinate.y(), coordinate.x(), altitude, yaw, true));
} else {
str = QString("%1").arg(waypointPath->numberOfPoints());
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
wpIcons.append(tempCirclePoint);
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
// Refresh the screen
if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
}
// emit signal mouse was clicked
//emit captureMapCoordinateClick(coordinate);
}
}
void MapWidget::updateWaypoint(int uas, Waypoint* wp)
{
// Update waypoint list and redraw map (last parameter)
updateWaypoint(uas, wp, true);
}
/**
* This function is called if a a single waypoint is updated and
* also if the whole list changes.
*/
void MapWidget::updateWaypoint(int uas, Waypoint* wp, bool updateView)
{
if (mc) {
// Make sure this is the right UAS
if (uas == this->mav->getUASID()) {
// Only accept waypoints in global coordinate frame
if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType()) {
// We're good, this is a global waypoint
// Get the index of this waypoint
// note the call to getGlobalFrameAndNavTypeIndexOf()
// as we're only handling global waypoints
int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
// If not found, return (this should never happen, but helps safety)
if (wpindex == -1) return;
// Check if wp exists yet in map
if (!(wpIcons.count() > wpindex)) {
// Waypoint is new, a new icon is created
QPointF coordinate;
coordinate.setX(wp->getLongitude());
coordinate.setY(wp->getLatitude());
createWaypointGraphAtMap(wpindex, coordinate);
} else {
// Waypoint exists, update it if we're not
// currently dragging it with the mouse
if(!waypointIsDrag) {
QPointF coordinate;
coordinate.setX(wp->getLongitude());
coordinate.setY(wp->getLatitude());
Point* waypoint;
waypoint = wps.at(wpindex);
if (waypoint) {
// First set waypoint coordinate
waypoint->setCoordinate(coordinate);
// Now update icon position
wpIcons.at(wpindex)->setCoordinate(coordinate);
// Update pen
wpIcons.at(wpindex)->setPen(mavPens.value(uas));
// Then waypoint line coordinate
Point* linesegment = NULL;
// If the line segment already exists, just update it
// else create a new one
if (waypointPath->points().size() > wpindex) {
linesegment = waypointPath->points().at(wpindex);
if (linesegment) linesegment->setCoordinate(coordinate);
} else {
waypointPath->addPoint(waypoint);
}
// Update view
if (updateView) if (isVisible()) mc->updateRequest(waypoint->boundingBox().toRect());
}
}
}
} else {
// Check if the index of this waypoint is larger than the global
// waypoint list. This implies that the coordinate frame of this
// waypoint was changed and the list containing only global
// waypoints was shortened. Thus update the whole list
if (waypointPath->points().count() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeCount()) {
updateWaypointList(uas);
}
}
}
}
}
void MapWidget::createWaypointGraphAtMap(int id, const QPointF coordinate)
{
//if (!wpExists(coordinate))
{
// Create waypoint name
QString str;
// create the WP and set everything in the LineString to display the path
//CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
Waypoint2DIcon* tempCirclePoint;
if (mav) {
int uas = mav->getUASID();
str = QString("%1").arg(id);
qDebug() << "Waypoint list count:" << str;
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, mavPens.value(uas));
} else {
str = QString("%1").arg(id);
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
}
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
wpIcons.append(tempCirclePoint);
Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint);
waypointPath->addPoint(tempPoint);
//wpIndex.insert(str,tempPoint);
qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
// Refresh the screen
if (isVisible()) if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
}
//// // emit signal mouse was clicked
// emit captureMapCoordinateClick(coordinate);
}
int MapWidget::wpExists(const QPointF coordinate)
{
if (mc) {
for (int i = 0; i < wps.size(); i++) {
if (wps.at(i)->latitude() == coordinate.y() &&
wps.at(i)->longitude()== coordinate.x()) {
return 1;
}
}
}
return 0;
}
void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
{
Q_UNUSED(geom);
Q_UNUSED(point);
if (mc) mc->setMouseMode(qmapcontrol::MapControl::None);
}
void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
{
waypointIsDrag = true;
// Refresh the screen
if (isVisible()) mc->updateRequest(geom->boundingBox().toRect());
int temp = 0;
// Get waypoint index in list
bool wpIndexOk;
int index = geom->name().toInt(&wpIndexOk);
Waypoint2DIcon* point2Find = dynamic_cast <Waypoint2DIcon*> (geom);
if (wpIndexOk && point2Find && wps.count() > index) {
// Update visual
point2Find->setCoordinate(coordinate);
waypointPath->points().at(index)->setCoordinate(coordinate);
if (isVisible()) mc->updateRequest(waypointPath->boundingBox().toRect());
// Update waypoint data storage
if (mav) {
QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
if (wps.size() > index) {
Waypoint* wp = wps.at(index);
wp->setLatitude(coordinate.y());
wp->setLongitude(coordinate.x());
mav->getWaypointManager()->notifyOfChange(wp);
}
}
// qDebug() << geom->name();
temp = geom->get_myIndex();
//qDebug() << temp;
emit sendGeometryEndDrag(coordinate,temp);
}
waypointIsDrag = false;
}
void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
{
Q_UNUSED(geom);
Q_UNUSED(coordinate);
// TODO: Investigate why when creating the waypoint path this slot is being called
// Only change the mouse mode back to panning when not creating a WP path
if (!createPath->isChecked()) {
waypointIsDrag = false;
mc->setMouseMode(qmapcontrol::MapControl::Panning);
}
}
MapWidget::~MapWidget()
{
delete mc;
delete m_ui;
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
*/
void MapWidget::addUAS(UASInterface* uas)
{
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int)));
}
/**
* Update the whole list of waypoints. This is e.g. necessary if the list order changed.
* The UAS manager will emit the appropriate signal whenever updating the list
* is necessary.
*/
void MapWidget::updateWaypointList(int uas)
{
if (mc) {
// Get already existing waypoints
UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
if (uasInstance) {
// Get update rect of old content, this is what will be redrawn
// in the last step
QRect updateRect = waypointPath->boundingBox().toRect();
// Get all waypoints, including non-global waypoints
QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getWaypointList();
// Clear if necessary
if (wpList.count() == 0) {
clearWaypoints(uas);
return;
}
// Trim internal list to number of global waypoints in the waypoint manager list
int overSize = waypointPath->points().count() - uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeCount();
if (overSize > 0) {
// Remove n waypoints at the end of the list
// the remaining waypoints will be updated
// in the next step
for (int i = 0; i < overSize; ++i) {
wps.removeLast();
mc->layer("Waypoints")->removeGeometry(wpIcons.last());
wpIcons.removeLast();
waypointPath->points().removeLast();
}
}
// Load all existing waypoints into map view
foreach (Waypoint* wp, wpList) {
// Block map draw updates, since we update everything in the next step
// but update internal data structures.
// Please note that updateWaypoint() ignores non-global waypoints
updateWaypoint(mav->getUASID(), wp, false);
}
// Update view
if (isVisible()) mc->updateRequest(updateRect);
}
}
}
void MapWidget::redoWaypoints(int uas)
{
// QObject* sender = QObject::sender();
// UASWaypointManager* manager = dynamic_cast<UASWaypointManager*>(sender);
// if (sender)
// {
// Get waypoint list for this MAV
// Clear all waypoints
//clearWaypoints();
// Re-add the updated waypoints
// }
updateWaypointList(uas);
}
void MapWidget::activeUASSet(UASInterface* uas)
{
// Disconnect old MAV
if (mav) {
// Disconnect the waypoint manager / data storage from the UI
disconnect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
disconnect(mav->getWaypointManager(), SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
disconnect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
}
if (uas && mc) {
mav = uas;
QColor color = mav->getColor();
color.setAlphaF(0.9);
QPen* pen = new QPen(color);
pen->setWidth(3.0);
mavPens.insert(mav->getUASID(), pen);
// FIXME Remove after refactoring
waypointPath->setPen(pen);
// Delete all waypoints and add waypoint from new system
//redoWaypoints();
updateWaypointList(uas->getUASID());
// Connect the waypoint manager / data storage to the UI
connect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(mav->getWaypointManager(), SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
connect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
updateSystemSpecs(mav->getUASID());
updateSelectedSystem(mav->getUASID());
mc->updateRequest(waypointPath->boundingBox().toRect());
}
}
void MapWidget::updateSystemSpecs(int uas)
{
if (mc) { foreach (qmapcontrol::Point* p, uasIcons.values()) {
MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(p);
if (icon && icon->getUASId() == uas) {
// Set new airframe
icon->setAirframe(UASManager::instance()->getUASForId(uas)->getAirframe());
icon->drawIcon();
}
}
}
}
void MapWidget::updateSelectedSystem(int uas)
{
if (mc) {
foreach (qmapcontrol::Point* p, uasIcons.values()) {
MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(p);
if (icon) {
// Set as selected if ids match
icon->setSelectedUAS((icon->getUASId() == uas));
}
}
}
}
void MapWidget::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec)
{
Q_UNUSED(roll);
Q_UNUSED(pitch);
Q_UNUSED(usec);
if (mc) {
if (uas) {
MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID(), NULL));
if (icon) {
icon->setYaw(yaw);
}
}
}
}
/**
* Updates the global position of one MAV and append the last movement to the trail
*
* @param uas The unmanned air system
* @param lat Latitude in WGS84 ellipsoid
* @param lon Longitutde in WGS84 ellipsoid
* @param alt Altitude over mean sea level
* @param usec Timestamp of the position message in milliseconds FIXME will move to microseconds
*/
void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
{
Q_UNUSED(usec);
Q_UNUSED(alt); // FIXME Use altitude
if (mc) {
// create a LineString
//QList<Point*> points;
// Points with a circle
// A QPen can be used to customize the
//pointpen->setWidth(3);
//points.append(new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen));
qmapcontrol::Point* p;
QPointF coordinate;
coordinate.setX(lon);
coordinate.setY(lat);
if (!uasIcons.contains(uas->getUASID())) {
// Get the UAS color
QColor uasColor = uas->getColor();
// Icon
//QPen* pointpen = new QPen(uasColor);
qDebug() << "2D MAP: ADDING" << uas->getUASName() << __FILE__ << __LINE__;
p = new MAV2DIcon(uas, 68, uas->getSystemType(), uas->getColor(), QString("%1").arg(uas->getUASID()), qmapcontrol::Point::Middle);
uasIcons.insert(uas->getUASID(), p);
mc->layer("Waypoints")->addGeometry(p);
// Line
// A QPen also can use transparency
// QList<qmapcontrol::Point*> points;
// points.append(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
// QPen* linepen = new QPen(uasColor.darker());
// linepen->setWidth(2);
// // Create tracking line string
// qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, QString("%1").arg(uas->getUASID()), linepen);
// uasTrails.insert(uas->getUASID(), ls);
// // Add the LineString to the layer
// mc->layer("Waypoints")->addGeometry(ls);
} else {
// p = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID()));
// if (p)
// {
p = uasIcons.value(uas->getUASID());
p->setCoordinate(QPointF(lon, lat));
//p->setYaw(uas->getYaw());
// }
// Extend trail
// uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
}
if (isVisible()) mc->updateRequest(p->boundingBox().toRect());
//if (isVisible()) mc->updateRequestNew();//(uasTrails.value(uas->getUASID())->boundingBox().toRect());
if (this->mav && uas->getUASID() == this->mav->getUASID()) {
// Limit the position update rate
quint64 currTime = MG::TIME::getGroundTimeNow();
if (currTime - lastUpdate > 120) {
lastUpdate = currTime;
// Sets the view to the interesting area
if (followgps->isChecked()) {
updatePosition(0, lon, lat);
} else {
// Refresh the screen
//if (isVisible()) mc->updateRequestNew();
}
}
}
}
}
/**
* Center the view on this position
*/
void MapWidget::updatePosition(float time, double lat, double lon)
{
Q_UNUSED(time);
//gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon));
if (followgps->isChecked() && isVisible() && mc) {
if (mc) mc->setView(QPointF(lat, lon));
}
}
void MapWidget::wheelEvent(QWheelEvent *event)
{
if (mc) {
int numDegrees = event->delta() / 8; int numSteps = numDegrees / 15;
// Calculate new zoom level
int newZoom = mc->currentZoom()+numSteps;
// Set new zoom level, level is bounded by map control
mc->setZoom(newZoom);
// Detail zoom level is the number of steps zoomed in further
// after the bounding has taken effect
detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
// visual field of camera
updateCameraPosition(20*newZoom,0,"no");
}
}
void MapWidget::keyPressEvent(QKeyEvent *event)
{
if (mc) {
switch (event->key()) {
case Qt::Key_Plus:
mc->zoomIn();
break;
case Qt::Key_Minus:
mc->zoomOut();
break;
case Qt::Key_Left:
mc->scrollLeft(this->width()/scrollStep);
break;
case Qt::Key_Right:
mc->scrollRight(this->width()/scrollStep);
break;
case Qt::Key_Down:
mc->scrollDown(this->width()/scrollStep);
break;
case Qt::Key_Up:
mc->scrollUp(this->width()/scrollStep);
break;
default:
QWidget::keyPressEvent(event);
}
}
}
void MapWidget::resizeEvent(QResizeEvent* event )
{
Q_UNUSED(event);
if (!initialized) {
init();
}
if (mc) mc->resize(this->size());
}
void MapWidget::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
// if (isVisible())
// {
// if (!initialized)
// {
// init();
// }
// }
}
void MapWidget::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
if (mc) {
QSettings settings;
settings.beginGroup("QGC_MAPWIDGET");
QPointF currentPos = mc->currentCoordinate(); settings.setValue("LAST_LATITUDE", currentPos.y());
settings.setValue("LAST_LONGITUDE", currentPos.x());
settings.setValue("LAST_ZOOM", mc->currentZoom());
settings.endGroup();
settings.sync();
}
}
void MapWidget::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type()) {
case QEvent::LanguageChange:
m_ui->retranslateUi(this);
break;
default:
break;
}
}
void MapWidget::clearWaypoints(int uas)
{
if (mc) {
Q_UNUSED(uas);
// Clear the previous WP track
//mc->layer("Waypoints")->clearGeometries();
wps.clear();
foreach (Point* p, wpIcons) {
mc->layer("Waypoints")->removeGeometry(p);
}
wpIcons.clear();
// Get bounding box of this object BEFORE deleting the content
QRect box = waypointPath->boundingBox().toRect();
// Delete the content
waypointPath->points().clear();
//delete waypointPath;
//waypointPath = new
//mc->layer("Waypoints")->addGeometry(waypointPath);
//wpIndex.clear();
if (isVisible()) mc->updateRequest(box);//(waypointPath->boundingBox().toRect());
if(createPath->isChecked()) {
createPath->click();
}
}
}
void MapWidget::clearPath(int uas)
{
Q_UNUSED(uas);
if (mc) {
mc->layer("Tracking")->clearGeometries();
foreach (qmapcontrol::LineString* ls, uasTrails) {
QPen* linepen = ls->pen();
delete ls;
qmapcontrol::LineString* lsNew = new qmapcontrol::LineString(QList<qmapcontrol::Point*>(), "", linepen);
mc->layer("Tracking")->addGeometry(lsNew);
}
// FIXME update this with update request only for bounding box of trails
if (isVisible()) mc->updateRequestNew();//(QRect(0, 0, width(), height()));
}
}
void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
{ Q_UNUSED(dir);
Q_UNUSED(bearing);
if (mc) {
// FIXME Mariano
//camPoints.clear();
QPointF currentPos = mc->currentCoordinate();
// QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
// qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
// qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
// camPoints.append(tempPoint1);
// camPoints.append(tempPoint2);
// camLine->setPoints(camPoints);
QPen* camBorderPen = new QPen(QColor(255,0,0));
camBorderPen->setWidth(2);
//radio = mc->currentZoom()
if(drawCamBorder) {
//clear camera borders
mc->layer("Camera")->clearGeometries();
//create a camera borders
qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
//camBorder->setCoordinate(currentPos);
mc->layer("Camera")->addGeometry(camBorder);
// mc->layer("Camera")->addGeometry(camLine);
if (isVisible()) mc->updateRequestNew();
} else {
//clear camera borders
mc->layer("Camera")->clearGeometries();
if (isVisible()) mc->updateRequestNew();
}
}
}
void MapWidget::drawBorderCamAtMap(bool status)
{
drawCamBorder = status;
updateCameraPosition(20,0,"no");
}
QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance)
{
QPointF temp;
double rad = M_PI/180;
bearing = bearing*rad;
temp.setX((lon1 + ((distance/60) * (sin(bearing)))));
temp.setY((lat1 + ((distance/60) * (cos(bearing)))));
return temp;
}