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Commit e0635aea authored by Bryant Mairs's avatar Bryant Mairs
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Merge branch 'master' of https://github.com/mavlink/qgroundcontrol 

Conflicts:
	qgroundcontrol.pri
	src/uas/UAS.cc
parents b03070d0 864e6ae8
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.gitignore
View file @ e0635aea
......@@ -22,7 +22,6 @@ debug
release
qgroundcontrol
mavlinkgen-build-desktop
*.wav
qgroundcontrol.xcodeproj/**
doc/html
doc/doxy.log
......
qgroundcontrol.pri
View file @ e0635aea
......@@ -81,8 +81,6 @@ macx|macx-g++42|macx-g++: {
ICON = $$BASEDIR/images/icons/macx.icns
# Copy audio files if needed
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy contributed files
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy google earth starter file
......@@ -274,7 +272,6 @@ message("Compiling for linux 32")
}
# Validated copy commands
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR
......@@ -367,7 +364,6 @@ linux-g++-64 {
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug
}
DESTDIR = $$TARGETDIR/debug
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/debug
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug/images
......@@ -378,7 +374,6 @@ linux-g++-64 {
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release
}
DESTDIR = $$TARGETDIR/release
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/release
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release/images
......@@ -541,13 +536,13 @@ win32-g++ {
message("Using cp to copy image and audio files to executable")
debug {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
QMAKE_POST_LINK += && cp -r $$BASEDIR/files $$TARGETDIR/debug/files
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/debug/models
}
release {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/release/audio
QMAKE_POST_LINK += && cp -r $$BASEDIR/files $$TARGETDIR/release/files
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
}
......@@ -559,14 +554,14 @@ win32-g++ {
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\debug\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\files\" \"$$TARGETDIR_WIN\\debug\\files\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\debug\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\debug\\earth.html\"
}
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\release\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\release\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\files\" \"$$TARGETDIR_WIN\\release\\files\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\release\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\release\\earth.html\"
}
......
qgroundcontrol.pro
View file @ e0635aea
......@@ -362,7 +362,13 @@ HEADERS += src/MG.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
src/ui/map3D/gpl.h
src/ui/map3D/gpl.h \
src/ui/map3D/CameraParams.h \
src/ui/map3D/ViewParamWidget.h \
src/ui/map3D/SystemContainer.h \
src/ui/map3D/SystemViewParams.h \
src/ui/map3D/GlobalViewParams.h \
src/ui/map3D/SystemGroupNode.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
......@@ -496,7 +502,13 @@ SOURCES += src/main.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
src/ui/map3D/gpl.cc
src/ui/map3D/gpl.cc \
src/ui/map3D/CameraParams.cc \
src/ui/map3D/ViewParamWidget.cc \
src/ui/map3D/SystemContainer.cc \
src/ui/map3D/SystemViewParams.cc \
src/ui/map3D/GlobalViewParams.cc \
src/ui/map3D/SystemGroupNode.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
src/GAudioOutput.cc
View file @ e0635aea
......@@ -77,7 +77,8 @@ extern "C" {
GAudioOutput* GAudioOutput::instance()
{
static GAudioOutput* _instance = 0;
if(_instance == 0) {
if(_instance == 0)
{
_instance = new GAudioOutput();
// Set the application as parent to ensure that this object
// will be destroyed when the main application exits
......@@ -106,12 +107,16 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
#if _MSC_VER2
ISpVoice * pVoice = NULL;
if (FAILED(::CoInitialize(NULL))) {
if (FAILED(::CoInitialize(NULL)))
{
qDebug("Creating COM object for audio output failed!");
} else {
}
else
{
HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
if( SUCCEEDED( hr ) ) {
if( SUCCEEDED( hr ) )
{
hr = pVoice->Speak(L"Hello world", 0, NULL);
pVoice->Release();
pVoice = NULL;
......@@ -146,7 +151,8 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
void GAudioOutput::mute(bool mute)
{
if (mute != muted) {
if (mute != muted)
{
this->muted = mute;
QSettings settings;
settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
......@@ -162,11 +168,13 @@ bool GAudioOutput::isMuted()
bool GAudioOutput::say(QString text, int severity)
{
if (!muted) {
if (!muted)
{
// TODO Add severity filter
Q_UNUSED(severity);
bool res = false;
if (!emergency) {
if (!emergency)
{
// Speech synthesis is only supported with MSVC compiler
#ifdef _MSC_VER2
......@@ -202,7 +210,9 @@ bool GAudioOutput::say(QString text, int severity)
#endif
}
return res;
} else {
}
else
{
return false;
}
}
......@@ -212,22 +222,26 @@ bool GAudioOutput::say(QString text, int severity)
*/
bool GAudioOutput::alert(QString text)
{
if (!emergency || !muted) {
if (!emergency || !muted)
{
// Play alert sound
beep();
// Say alert message
say(text, 2);
return true;
} else {
}
else
{
return false;
}
}
void GAudioOutput::notifyPositive()
{
if (!muted) {
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/double_notify.wav"));
//m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
//m_media->play();
}
......@@ -235,9 +249,10 @@ void GAudioOutput::notifyPositive()
void GAudioOutput::notifyNegative()
{
if (!muted) {
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/flat_notify.wav"));
//m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
//m_media->play();
}
......@@ -252,7 +267,8 @@ void GAudioOutput::notifyNegative()
*/
bool GAudioOutput::startEmergency()
{
if (!emergency) {
if (!emergency)
{
emergency = true;
// Beep immediately and then start timer
if (!muted) beep();
......@@ -279,9 +295,10 @@ bool GAudioOutput::stopEmergency()
void GAudioOutput::beep()
{
if (!muted) {
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/alert.wav"));
qDebug() << "FILE:" << f.fileName();
//m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
//m_media->play();
......
src/QGCCore.cc
View file @ e0635aea
......@@ -167,7 +167,8 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
// Check if link could be connected
if (!udpLink->connect()) {
if (!udpLink->connect())
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
......@@ -177,10 +178,11 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
int ret = msgBox.exec();
// Close the message box shortly after the click to prevent accidental clicks
QTimer::singleShot(5000, &msgBox, SLOT(reject()));
QTimer::singleShot(15000, &msgBox, SLOT(reject()));
// Exit application
if (ret == QMessageBox::Yes) {
if (ret == QMessageBox::Yes)
{
//mainWindow->close();
QTimer::singleShot(200, mainWindow, SLOT(close()));
}
......
src/comm/MAVLinkSimulationLink.cc
View file @ e0635aea
......@@ -678,8 +678,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
int bufferlength = 0;
// Output all bytes as hex digits
int i;
for (i=0; i<size; i++)
for (int i=0; i<size; i++)
{
if (mavlink_parse_char(this->id, data[i], &msg, &comm))
{
......@@ -687,16 +686,19 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
emit messageReceived(msg);
switch (msg.msgid) {
switch (msg.msgid)
{
// SET THE SYSTEM MODE
case MAVLINK_MSG_ID_SET_MODE: {
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&msg, &mode);
// Set mode indepent of mode.target
system.base_mode = mode.base_mode;
}
break;
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: {
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT:
{
mavlink_set_local_position_setpoint_t set;
mavlink_msg_set_local_position_setpoint_decode(&msg, &set);
spX = set.x;
......@@ -714,7 +716,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
break;
// EXECUTE OPERATOR ACTIONS
case MAVLINK_MSG_ID_COMMAND_LONG: {
case MAVLINK_MSG_ID_COMMAND_LONG:
{
mavlink_command_long_t action;
mavlink_msg_command_long_decode(&msg, &action);
......@@ -756,44 +759,48 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
break;
#endif
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
mavlink_param_request_list_t read;
mavlink_msg_param_request_list_decode(&msg, &read);
// if (read.target_system == systemId)
// {
// Output all params
// Iterate through all components, through all parameters and emit them
QMap<QString, float>::iterator i;
// Iterate through all components / subsystems
int j = 0;
for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
if (j != 5) {
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), MAVLINK_TYPE_FLOAT, onboardParams.size(), j);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
if (read.target_system == systemId)
{
// Output all params
// Iterate through all components, through all parameters and emit them
QMap<QString, float>::iterator i;
// Iterate through all components / subsystems
int j = 0;
for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
if (j != 5) {
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), MAVLINK_TYPE_FLOAT, onboardParams.size(), j);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
}
j++;
}
j++;
}
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
// }
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
}
}
break;
case MAVLINK_MSG_ID_PARAM_SET: {
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
// Drop on even milliseconds
if (QGC::groundTimeMilliseconds() % 2 == 0) {
if (QGC::groundTimeMilliseconds() % 2 == 0)
{
qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
mavlink_param_set_t set;
mavlink_msg_param_set_decode(&msg, &set);
// if (set.target_system == systemId)
// {
QString key = QString((char*)set.param_id);
if (onboardParams.contains(key)) {
if (onboardParams.contains(key))
{
onboardParams.remove(key);
onboardParams.insert(key, set.param_value);
......@@ -809,13 +816,15 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
mavlink_param_request_read_t read;
mavlink_msg_param_request_read_decode(&msg, &read);
QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
QString key = QString(bytes);
if (onboardParams.contains(key)) {
if (onboardParams.contains(key))
{
float paramValue = onboardParams.value(key);
// Pack message and get size of encoded byte string
......@@ -826,7 +835,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
//qDebug() << "Sending PARAM" << key;
} else if (read.param_index < onboardParams.size()) {
}
else if (read.param_index < onboardParams.size())
{
key = onboardParams.keys().at(read.param_index);
float paramValue = onboardParams.value(key);
......@@ -842,8 +853,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
break;
}
}
unsigned char v=data[i];
fprintf(stderr,"%02x ", v);
......@@ -851,7 +860,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
fprintf(stderr,"\n");
readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++) {
for (int i = 0; i < streampointer; i++)
{
readyBuffer.enqueue(*(stream + i));
}
readyBufferMutex.unlock();
......
src/comm/UDPLink.cc
View file @ e0635aea
......@@ -293,9 +293,9 @@ bool UDPLink::connect()
this->quit();
this->wait();
}
this->hardwareConnect();
bool connected = this->hardwareConnect();
start(HighPriority);
return true;
return connected;
}
bool UDPLink::hardwareConnect(void)
......
src/uas/UAS.cc
View file @ e0635aea
This diff is collapsed.
src/uas/UAS.h
View file @ e0635aea
......@@ -218,7 +218,8 @@ protected: //COMMENTS FOR TEST UNIT
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
int timeRemaining; ///< Remaining time calculated based on previous and current
uint8_t mode; ///< The current mode of the MAV
uint8_t mode; ///< The current mode of the MAV
uint32_t custom_mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
uint32_t navMode; ///< The current navigation mode of the MAV
quint64 onboardTimeOffset;
......
src/ui/HSIDisplay.cc
View file @ e0635aea
......@@ -104,6 +104,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
leftDragStarted(false),
mouseHasMoved(false),
actionPending(false),
directSending(false),
userSetPointSet(false),
userXYSetPointSet(false)
{
......@@ -177,9 +178,9 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
{
Q_UNUSED(event);
//paintGL();
// static quint64 interval = 0;
// //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
// static quint64 interval = 0;
// //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
renderOverlay();
}
......@@ -218,7 +219,8 @@ void HSIDisplay::renderOverlay()
pen.setWidth(refLineWidthToPen(0.1f));
painter.setPen(pen);
const int ringCount = 2;
for (int i = 0; i < ringCount; i++) {
for (int i = 0; i < ringCount; i++)
{
float radius = (vwidth - (topMargin + bottomMargin)*0.3f) / (1.35f * i+1) / 2.0f - bottomMargin / 2.0f;
drawCircle(xCenterPos, yCenterPos, radius, 0.1f, ringColor, &painter);
paintText(tr("%1 m").arg(refToMetric(radius), 5, 'f', 1, ' '), QGC::colorCyan, 1.6f, vwidth/2-4, vheight/2+radius+2.2, &painter);
......@@ -238,22 +240,23 @@ void HSIDisplay::renderOverlay()
painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor);
// Draw trail
// QPointF m(bodyXSetCoordinate, bodyYSetCoordinate);
// // Transform from body to world coordinates
// m = metricWorldToBody(m);
// // Scale from metric body to screen reference units
// QPointF s = metricBodyToRef(m);
// drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, uas->getColor(), &painter);
// QPointF m(bodyXSetCoordinate, bodyYSetCoordinate);
// // Transform from body to world coordinates
// m = metricWorldToBody(m);
// // Scale from metric body to screen reference units
// QPointF s = metricBodyToRef(m);
// drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, uas->getColor(), &painter);
// Draw center indicator
// QPolygonF p(3);
// p.replace(0, QPointF(xCenterPos, yCenterPos-4.0f));
// p.replace(1, QPointF(xCenterPos-4.0f, yCenterPos+3.5f));
// p.replace(2, QPointF(xCenterPos+4.0f, yCenterPos+3.5f));
// drawPolygon(p, &painter);
// QPolygonF p(3);
// p.replace(0, QPointF(xCenterPos, yCenterPos-4.0f));
// p.replace(1, QPointF(xCenterPos-4.0f, yCenterPos+3.5f));
// p.replace(2, QPointF(xCenterPos+4.0f, yCenterPos+3.5f));
// drawPolygon(p, &painter);
if (uas) {
if (uas)
{
// Translate to center
painter.translate((xCenterPos)*scalingFactor, (yCenterPos)*scalingFactor);
QColor uasColor = uas->getColor();
......@@ -291,31 +294,14 @@ void HSIDisplay::renderOverlay()
float normAngleDiff = fabs(atan2(sin(angleDiff), cos(angleDiff)));
if (userSetPointSet && setPointDist > 0.08f || normAngleDiff > 0.05f || dragStarted)
{
QColor spColor(150, 150, 150);
drawSetpointXYZYaw(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet, spColor, painter);
}
//if (((userSetPointSet) || (normAngleDiff > 0.05f) || dragStarted) && !(setPointDist < 0.08f && mavInitialized))
// Labels on outer part and bottom
// Draw waypoints
drawWaypoints(painter);
// Draw setpoint over waypoints
if (positionSetPointKnown)
{
// Draw setpoint
drawSetpointXYZYaw(bodyXSetCoordinate, bodyYSetCoordinate, bodyZSetCoordinate, bodyYawSet, uas->getColor(), painter);
// Draw travel direction line
QPointF m(bodyXSetCoordinate, bodyYSetCoordinate);
// Transform from body to world coordinates
m = metricWorldToBody(m);
// Scale from metric body to screen reference units
QPointF s = metricBodyToRef(m);
drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, uas->getColor(), &painter);
}
// Draw status flags
drawStatusFlag(2, 1, tr("ATT"), attControlEnabled, attControlKnown, painter);
drawStatusFlag(22, 1, tr("PXY"), xyControlEnabled, xyControlKnown, painter);
......@@ -338,29 +324,52 @@ void HSIDisplay::renderOverlay()
paintText(tr("%1 m").arg(crossTrackError, 5, 'f', 2, '0'), Qt::white, 2.2f, 67, 11, &painter);
// Draw position to bottom left
if (localAvailable > 0 && globalAvailable == 0) {
if (localAvailable > 0)
{
// Position
QString str;
float offset = (globalAvailable > 0) ? -3.0f : 0.0f;
str.sprintf("%05.2f %05.2f %05.2f m", x, y, z);
paintText(tr("POS"), QGC::colorCyan, 2.6f, 2, vheight- 4.0f, &painter);
paintText(str, Qt::white, 2.6f, 10, vheight - 4.0f, &painter);
paintText(tr("POS"), QGC::colorCyan, 2.6f, 2, vheight - offset - 2.0f, &painter);
paintText(str, Qt::white, 2.6f, 10, vheight - offset - 2.0f, &painter);
}
if (globalAvailable > 0) {
if (globalAvailable > 0)
{
// Position
QString str;
str.sprintf("lat: %05.2f lon: %06.2f alt: %06.2f", lat, lon, alt);
paintText(tr("GPS"), QGC::colorCyan, 2.6f, 2, vheight- 4.0f, &painter);
paintText(str, Qt::white, 2.6f, 10, vheight - 4.0f, &painter);
paintText(tr("GPS"), QGC::colorCyan, 2.6f, 2, vheight- 2.0f, &painter);
paintText(str, Qt::white, 2.6f, 10, vheight - 2.0f, &painter);
}
// Draw Safety
double x1, y1, z1, x2, y2, z2;
UASManager::instance()->getLocalNEDSafetyLimits(&x1, &y1, &z1, &x2, &y2, &z2);
// drawSafetyArea(QPointF(x1, y1), QPointF(x2, y2), QGC::colorYellow, painter);
// drawSafetyArea(QPointF(x1, y1), QPointF(x2, y2), QGC::colorYellow, painter);
// Draw status message
paintText(statusMessage, QGC::colorOrange, 2.4f, 8, 15, &painter);
paintText(statusMessage, QGC::colorOrange, 2.8f, 8, 15, &painter);
// Draw setpoint over waypoints
if (positionSetPointKnown || setPointKnown)
{
// Draw setpoint
drawSetpointXYZYaw(bodyXSetCoordinate, bodyYSetCoordinate, bodyZSetCoordinate, bodyYawSet, QGC::colorYellow, painter);
// Draw travel direction line
QPointF m(bodyXSetCoordinate, bodyYSetCoordinate);
// Transform from body to world coordinates
m = metricWorldToBody(m);
// Scale from metric body to screen reference units
QPointF s = metricBodyToRef(m);
drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, QGC::colorYellow, &painter);
}
if ((userSetPointSet || dragStarted) && ((normAngleDiff > 0.05f) || !(setPointDist < 0.08f && mavInitialized)))
{
QColor spColor(150, 250, 150);
drawSetpointXYZYaw(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet, spColor, painter);
}
}
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter)
......@@ -486,11 +495,11 @@ void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
void HSIDisplay::updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance)
{
Q_UNUSED(quality);
Q_UNUSED(name);
Q_UNUSED(type);
Q_UNUSED(id);
Q_UNUSED(time);
Q_UNUSED(quality);
Q_UNUSED(name);
Q_UNUSED(type);
Q_UNUSED(id);
Q_UNUSED(time);
// FIXME add multi-object support
QPainter painter(this);
QColor color(Qt::yellow);
......@@ -565,7 +574,7 @@ void HSIDisplay::mouseDoubleClickEvent(QMouseEvent * event)
{
QPointF p = screenToMetricBody(event->posF());
setBodySetpointCoordinateXY(p.x(), p.y());
// qDebug() << "Double click at x: " << screenToRefX(event->x()) - xCenterPos << "y:" << screenToRefY(event->y()) - yCenterPos;
// qDebug() << "Double click at x: " << screenToRefX(event->x()) - xCenterPos << "y:" << screenToRefY(event->y()) - yCenterPos;
}
}
......@@ -620,8 +629,8 @@ void HSIDisplay::mouseMoveEvent(QMouseEvent * event)
if (leftDragStarted)
{
// uiZSetCoordinate -= 0.06f*(startY - event->y()) / this->frameSize().height();
// setBodySetpointCoordinateZ(uiZSetCoordinate);
// uiZSetCoordinate -= 0.06f*(startY - event->y()) / this->frameSize().height();
// setBodySetpointCoordinateZ(uiZSetCoordinate);
}
if (leftDragStarted || dragStarted) mouseHasMoved = true;
......@@ -630,6 +639,8 @@ void HSIDisplay::mouseMoveEvent(QMouseEvent * event)
void HSIDisplay::keyPressEvent(QKeyEvent* event)
{
QPointF bodySP = metricWorldToBody(QPointF(uiXSetCoordinate, uiYSetCoordinate));
if ((event->key() == Qt::Key_Enter || event->key() == Qt::Key_Return) && actionPending)
{
actionPending = false;
......@@ -637,39 +648,129 @@ void HSIDisplay::keyPressEvent(QKeyEvent* event)
statusClearTimer.start();
sendBodySetPointCoordinates();
}
else if ((event->key() == Qt::Key_Up))
if ((event->key() == Qt::Key_W))
{
setBodySetpointCoordinateXY(0.5, 0);
if (!directSending)
{
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
setBodySetpointCoordinateXY(1.0, 0);
}
else
{
setBodySetpointCoordinateXY(qBound(-1.5, bodySP.x()+0.2, +1.5), bodySP.y());
}
}
else if ((event->key() == Qt::Key_Down))
if ((event->key() == Qt::Key_S))
{
setBodySetpointCoordinateXY(-0.5, 0);
if (!directSending)
{
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
setBodySetpointCoordinateXY(-1.0, 0);
}
else
{
setBodySetpointCoordinateXY(qBound(-1.5, bodySP.x()-0.2, +1.5), bodySP.y());
}
}
else if ((event->key() == Qt::Key_Left))
if ((event->key() == Qt::Key_A))
{
setBodySetpointCoordinateXY(0, -0.5);
if (!directSending)
{
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
setBodySetpointCoordinateXY(0, -1.0);
}
else
{
setBodySetpointCoordinateXY(bodySP.x(), qBound(-1.5, bodySP.y()-0.2, +1.5));
}
}
else if ((event->key() == Qt::Key_Right))
if ((event->key() == Qt::Key_D))
{
setBodySetpointCoordinateXY(0, 0.5);
if (!directSending)
{
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
setBodySetpointCoordinateXY(0, 1.0);
}
else
{
setBodySetpointCoordinateXY(bodySP.x(), qBound(-1.5, bodySP.y()+0.2, +1.5));
}
}
else if ((event->key() == Qt::Key_Plus))
if ((event->key() == Qt::Key_Up))
{
setBodySetpointCoordinateZ(-0.2);
if (!directSending)
{
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateYaw(uas->getYaw());
}
setBodySetpointCoordinateZ(-0.5);
}
else if ((event->key() == Qt::Key_Minus))
if ((event->key() == Qt::Key_Down))
{
setBodySetpointCoordinateZ(+0.2);
if (!directSending)
{
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateYaw(uas->getYaw());
}
setBodySetpointCoordinateZ(+0.5);
}
else if ((event->key() == Qt::Key_L))
if ((event->key() == Qt::Key_Left))
{
setBodySetpointCoordinateYaw(-0.1);
if (!directSending)
{
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateZ(uas->getLocalZ());
}
setBodySetpointCoordinateYaw(-0.2);
}
else if ((event->key() == Qt::Key_R))
if ((event->key() == Qt::Key_Right))
{
setBodySetpointCoordinateYaw(0.1);
if (!directSending)
{
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateZ(uas->getLocalZ());
}
setBodySetpointCoordinateYaw(0.2);
}
if ((event->key() == Qt::Key_Escape))
{
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateZ(0);
setBodySetpointCoordinateYaw(0);
statusMessage = "CANCELLED, PRESS <ENTER> TO SEND";
}
if ((event->key() == Qt::Key_T))
{
directSending = !directSending;
statusMessage = (directSending) ? "DIRECT SEND ON" : "DIRECT SEND OFF";
statusClearTimer.start();
}
if (actionPending && (directSending || (event->key() == Qt::Key_Escape)))
{
actionPending = false;
statusMessage = "SETPOINT SENT";
statusClearTimer.start();
sendBodySetPointCoordinates();
}
HDDisplay::keyPressEvent(event);
HDDisplay::keyPressEvent(event);
}
void HSIDisplay::contextMenuEvent (QContextMenuEvent* event)
......@@ -750,19 +851,20 @@ void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz,
void HSIDisplay::setBodySetpointCoordinateXY(double x, double y)
{
userSetPointSet = true;
userXYSetPointSet = true;
// Set coordinates and send them out to MAV
if (uas)
{
userSetPointSet = true;
userXYSetPointSet = true;
// Set coordinates and send them out to MAV
QPointF sp(x, y);
sp = metricBodyToWorld(sp);
uiXSetCoordinate = sp.x();
uiYSetCoordinate = sp.y();
QPointF sp(x, y);
sp = metricBodyToWorld(sp);
uiXSetCoordinate = sp.x();
uiYSetCoordinate = sp.y();
qDebug() << "Attempting to set new setpoint at x: " << x << "metric y:" << y;
qDebug() << "Attempting to set new setpoint at x: " << x << "metric y:" << y;
if (uas && mavInitialized)
{
//sendBodySetPointCoordinates();
statusMessage = "POSITION SET, PRESS <ENTER> TO SEND";
actionPending = true;
......@@ -772,46 +874,52 @@ void HSIDisplay::setBodySetpointCoordinateXY(double x, double y)
void HSIDisplay::setBodySetpointCoordinateZ(double z)
{
userSetPointSet = true;
// Set coordinates and send them out to MAV
uiZSetCoordinate = z;
statusMessage = "Z SET, PRESS <ENTER> TO SEND";
actionPending = true;
statusClearTimer.start();
if (uas)
{
userSetPointSet = true;
// Set coordinates and send them out to MAV
uiZSetCoordinate = z+uas->getLocalZ();
statusMessage = "Z SET, PRESS <ENTER> TO SEND";
actionPending = true;
statusClearTimer.start();
}
//sendBodySetPointCoordinates();
}
void HSIDisplay::setBodySetpointCoordinateYaw(double yaw)
{
if (!userXYSetPointSet && setPointKnown)
{
uiXSetCoordinate = bodyXSetCoordinate;
uiYSetCoordinate = bodyYSetCoordinate;
}
else if (!userXYSetPointSet && mavInitialized)
if (uas)
{
QPointF coord = metricBodyToWorld(QPointF(0.0, 0.0));
uiXSetCoordinate = coord.x();
uiYSetCoordinate = coord.y();
if (!userXYSetPointSet && setPointKnown)
{
uiXSetCoordinate = bodyXSetCoordinate;
uiYSetCoordinate = bodyYSetCoordinate;
}
else if (!userXYSetPointSet && mavInitialized)
{
QPointF coord = metricBodyToWorld(QPointF(0.0, 0.0));
uiXSetCoordinate = coord.x();
uiYSetCoordinate = coord.y();
}
userSetPointSet = true;
// Set coordinates and send them out to MAV
uiYawSet = atan2(sin(yaw+uas->getYaw()), cos(yaw+uas->getYaw()));
statusMessage = "YAW SET, PRESS <ENTER> TO SEND";
statusClearTimer.start();
actionPending = true;
}
userSetPointSet = true;
// Set coordinates and send them out to MAV
uiYawSet = atan2(sin(yaw), cos(yaw));
statusMessage = "YAW SET, PRESS <ENTER> TO SEND";
statusClearTimer.start();
actionPending = true;
//sendBodySetPointCoordinates();
}
void HSIDisplay::sendBodySetPointCoordinates()
{
// Send the coordinates to the MAV
if (uas && mavInitialized)
if (uas)
{
double dx = uiXSetCoordinate - uas->getLocalX();
double dy = uiYSetCoordinate - uas->getLocalY();
double dz = uiZSetCoordinate - uas->getLocalZ();
bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 1.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 2.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
if (valid)
{
uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);
......@@ -868,7 +976,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
{
uiXSetCoordinate = bodyXSetCoordinate;
uiYSetCoordinate = bodyYSetCoordinate;
// uiZSetCoordinate = bodyZSetCoordinate;
// uiZSetCoordinate = bodyZSetCoordinate;
uiYawSet= bodyYawSet;
}
}
......@@ -966,10 +1074,11 @@ QColor HSIDisplay::getColorForSNR(float snr)
void HSIDisplay::drawSetpointXYZYaw(float x, float y, float z, float yaw, const QColor &color, QPainter &painter)
{
if (setPointKnown && uas) {
if (uas)
{
float radius = vwidth / 18.0f;
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
pen.setWidthF(refLineWidthToPen(1.6f));
pen.setColor(color);
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
......@@ -989,12 +1098,12 @@ void HSIDisplay::drawSetpointXYZYaw(float x, float y, float z, float yaw, const
poly.replace(3, QPointF(p.x()-radius, p.y()+radius));
// Label
paintText(QString("z: %1 m").arg(z), color, 1.2f, p.x()-radius, p.y()-radius-2.0f, &painter);
paintText(QString("z: %1").arg(z), color, 2.1f, p.x()-radius, p.y()-radius-3.5f, &painter);
drawPolygon(poly, &painter);
radius *= 0.8f;
drawLine(p.x(), p.y(), p.x()+sin(-yaw + uas->getYaw() + M_PI) * radius, p.y()+cos(-yaw + uas->getYaw() + M_PI) * radius, refLineWidthToPen(0.4f), color, &painter);
drawLine(p.x(), p.y(), p.x()+sin(-yaw + uas->getYaw() + M_PI) * radius, p.y()+cos(-yaw + uas->getYaw() + M_PI) * radius, refLineWidthToPen(0.6f), color, &painter);
// Draw center dot
painter.setBrush(color);
......
src/ui/HSIDisplay.h
View file @ e0635aea
......@@ -175,6 +175,7 @@ protected:
QTimer statusClearTimer;
QString statusMessage;
bool actionPending;
bool directSending;
/**
* @brief Private data container class to be used within the HSI widget
......
src/ui/MainWindow.cc
View file @ e0635aea
......@@ -553,7 +553,7 @@ void MainWindow::buildCommonWidgets()
#ifdef QGC_OSG_ENABLED
if (!_3DWidget) {
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
_3DWidget = Q3DWidgetFactory::get("PIXHAWK", this);
addCentralWidget(_3DWidget, tr("Local 3D"));
}
#endif
......
src/ui/map3D/CameraParams.cc 0 → 100644
View file @ e0635aea
#include "CameraParams.h"
CameraParams::CameraParams()
: mMinZoomRange(2.0f)
, mFov(30.0f)
, mMinClipRange(1.0f)
, mMaxClipRange(10000.0f)
{
}
float&
CameraParams::minZoomRange(void)
{
return mMinZoomRange;
}
float
CameraParams::minZoomRange(void) const
{
return mMinZoomRange;
}
float&
CameraParams::fov(void)
{
return mFov;
}
float
CameraParams::fov(void) const
{
return mFov;
}
float&
CameraParams::minClipRange(void)
{
return mMinClipRange;
}
float
CameraParams::minClipRange(void) const
{
return mMinClipRange;
}
float&
CameraParams::maxClipRange(void)
{
return mMaxClipRange;
}
float
CameraParams::maxClipRange(void) const
{
return mMaxClipRange;
}
src/ui/map3D/CameraParams.h 0 → 100644
View file @ e0635aea
#ifndef CAMERAPARAMS_H
#define CAMERAPARAMS_H
class CameraParams
{
public:
CameraParams();
float& minZoomRange(void);
float minZoomRange(void) const;
float& fov(void);
float fov(void) const;
float& minClipRange(void);
float minClipRange(void) const;
float& maxClipRange(void);
float maxClipRange(void) const;
private:
float mMinZoomRange;
float mFov;
float mMinClipRange;
float mMaxClipRange;
};
#endif // CAMERAPARAMS_H
src/ui/map3D/GlobalViewParams.cc 0 → 100644
View file @ e0635aea
#include "GlobalViewParams.h"
#include <QStringList>
GlobalViewParams::GlobalViewParams()
: mDisplayWorldGrid(true)
, mImageryType(Imagery::BLANK_MAP)
, mFollowCameraId(-1)
, mFrame(MAV_FRAME_LOCAL_NED)
{
}
bool&
GlobalViewParams::displayWorldGrid(void)
{
return mDisplayWorldGrid;
}
bool
GlobalViewParams::displayWorldGrid(void) const
{
return mDisplayWorldGrid;
}
Imagery::Type&
GlobalViewParams::imageryType(void)
{
return mImageryType;
}
Imagery::Type
GlobalViewParams::imageryType(void) const
{
return mImageryType;
}
int&
GlobalViewParams::followCameraId(void)
{
return mFollowCameraId;
}
int
GlobalViewParams::followCameraId(void) const
{
return mFollowCameraId;
}
MAV_FRAME&
GlobalViewParams::frame(void)
{
return mFrame;
}
MAV_FRAME
GlobalViewParams::frame(void) const
{
return mFrame;
}
void
GlobalViewParams::followCameraChanged(const QString& text)
{
int followCameraId = -1;
if (text.compare("None") == 0)
{
followCameraId = -1;
}
else
{
QStringList list = text.split(" ", QString::SkipEmptyParts);
followCameraId = list.back().toInt();
}
if (followCameraId != mFollowCameraId)
{
mFollowCameraId = followCameraId;
emit followCameraChanged(mFollowCameraId);
}
}
void
GlobalViewParams::frameChanged(const QString& text)
{
if (text.compare("Global") == 0)
{
mFrame = MAV_FRAME_GLOBAL;
}
else if (text.compare("Local") == 0)
{
mFrame = MAV_FRAME_LOCAL_NED;
}
}
void
GlobalViewParams::imageryTypeChanged(int index)
{
mImageryType = static_cast<Imagery::Type>(index);
}
void
GlobalViewParams::toggleWorldGrid(int state)
{
if (state == Qt::Checked)
{
mDisplayWorldGrid = true;
}
else
{
mDisplayWorldGrid = false;
}
}
src/ui/map3D/GlobalViewParams.h 0 → 100644
View file @ e0635aea
#ifndef GLOBALVIEWPARAMS_H
#define GLOBALVIEWPARAMS_H
#include <QObject>
#include <QString>
#include <QVector>
#include "QGCMAVLink.h"
#include "Imagery.h"
class GlobalViewParams : public QObject
{
Q_OBJECT
public:
GlobalViewParams();
bool& displayWorldGrid(void);
bool displayWorldGrid(void) const;
Imagery::Type& imageryType(void);
Imagery::Type imageryType(void) const;
int& followCameraId(void);
int followCameraId(void) const;
MAV_FRAME& frame(void);
MAV_FRAME frame(void) const;
public slots:
void followCameraChanged(const QString& text);
void frameChanged(const QString &text);
void imageryTypeChanged(int index);
void toggleWorldGrid(int state);
signals:
void followCameraChanged(int systemId);
private:
bool mDisplayWorldGrid;
Imagery::Type mImageryType;
int mFollowCameraId;
MAV_FRAME mFrame;
};
typedef QSharedPointer<GlobalViewParams> GlobalViewParamsPtr;
#endif // GLOBALVIEWPARAMS_H
src/ui/map3D/ImageWindowGeode.cc
View file @ e0635aea
......@@ -32,19 +32,19 @@
#include "ImageWindowGeode.h"
ImageWindowGeode::ImageWindowGeode()
: border(5)
: mBorder(5)
, mImage(new osg::Image)
{
}
void
ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor,
osg::ref_ptr<osg::Image>& image,
osg::ref_ptr<osgText::Font>& font)
{
// image
osg::ref_ptr<osg::Geometry> imageGeometry = new osg::Geometry;
imageVertices = new osg::Vec3Array(4);
mImageVertices = new osg::Vec3Array(4);
osg::ref_ptr<osg::Vec2Array> textureCoords = new osg::Vec2Array;
textureCoords->push_back(osg::Vec2(0.0f, 1.0f));
......@@ -57,15 +57,15 @@ ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor,
imageGeometry->setColorArray(imageColors);
imageGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
imageGeometry->setVertexArray(imageVertices);
imageGeometry->setVertexArray(mImageVertices);
imageGeometry->setTexCoordArray(0, textureCoords);
imageGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
0, imageVertices->size()));
0, mImageVertices->size()));
osg::ref_ptr<osg::Texture2D> texture = new osg::Texture2D;
texture->setDataVariance(osg::Object::DYNAMIC);
texture->setImage(image);
texture->setImage(mImage);
texture->setResizeNonPowerOfTwoHint(false);
imageGeometry->getOrCreateStateSet()->
......@@ -74,10 +74,10 @@ ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor,
// background
osg::ref_ptr<osg::Geometry> backgroundGeometry = new osg::Geometry;
backgroundVertices = new osg::Vec3Array(4);
backgroundGeometry->setVertexArray(backgroundVertices);
mBackgroundVertices = new osg::Vec3Array(4);
backgroundGeometry->setVertexArray(mBackgroundVertices);
backgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
0, backgroundVertices->size()));
0, mBackgroundVertices->size()));
osg::ref_ptr<osg::Vec4Array> backgroundColors(new osg::Vec4Array);
backgroundColors->push_back(backgroundColor);
backgroundGeometry->setColorArray(backgroundColors);
......@@ -85,16 +85,16 @@ ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor,
backgroundGeometry->setUseDisplayList(false);
// caption
text = new osgText::Text;
text->setText(caption.toStdString().c_str());
text->setCharacterSize(11);
text->setFont(font);
text->setAxisAlignment(osgText::Text::SCREEN);
text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
mText = new osgText::Text;
mText->setText(caption.toStdString().c_str());
mText->setCharacterSize(11);
mText->setFont(font);
mText->setAxisAlignment(osgText::Text::SCREEN);
mText->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
addDrawable(imageGeometry);
addDrawable(backgroundGeometry);
addDrawable(text);
addDrawable(mText);
setAttributes(0, 0, 0, 0);
}
......@@ -102,20 +102,26 @@ ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor,
void
ImageWindowGeode::setAttributes(int x, int y, int width, int height)
{
int imageWidth = width - border * 2;
int imageHeight = height - border * 2 - 15;
int imageXPosition = x + border;
int imageYPosition = y + border;
imageVertices->at(0) = osg::Vec3(imageXPosition, imageYPosition, 0);
imageVertices->at(1) = osg::Vec3(imageXPosition + imageWidth, imageYPosition, 0);
imageVertices->at(2) = osg::Vec3(imageXPosition + imageWidth, imageYPosition + imageHeight, 0);
imageVertices->at(3) = osg::Vec3(imageXPosition, imageYPosition + imageHeight, 0);
text->setPosition(osg::Vec3(imageXPosition, imageYPosition + imageHeight + 5, 0));
backgroundVertices->at(0) = osg::Vec3(x, y, -1);
backgroundVertices->at(1) = osg::Vec3(x + width, y, -1);
backgroundVertices->at(2) = osg::Vec3(x + width, y + height, -1);
backgroundVertices->at(3) = osg::Vec3(x, y + height, -1);
int imageWidth = width - mBorder * 2;
int imageHeight = height - mBorder * 2 - 15;
int imageXPosition = x + mBorder;
int imageYPosition = y + mBorder;
mImageVertices->at(0) = osg::Vec3(imageXPosition, imageYPosition, 0);
mImageVertices->at(1) = osg::Vec3(imageXPosition + imageWidth, imageYPosition, 0);
mImageVertices->at(2) = osg::Vec3(imageXPosition + imageWidth, imageYPosition + imageHeight, 0);
mImageVertices->at(3) = osg::Vec3(imageXPosition, imageYPosition + imageHeight, 0);
mText->setPosition(osg::Vec3(imageXPosition, imageYPosition + imageHeight + 5, 0));
mBackgroundVertices->at(0) = osg::Vec3(x, y, -1);
mBackgroundVertices->at(1) = osg::Vec3(x + width, y, -1);
mBackgroundVertices->at(2) = osg::Vec3(x + width, y + height, -1);
mBackgroundVertices->at(3) = osg::Vec3(x, y + height, -1);
}
osg::ref_ptr<osg::Image>&
ImageWindowGeode::image(void)
{
return mImage;
}
src/ui/map3D/ImageWindowGeode.h
View file @ e0635aea
......@@ -42,17 +42,18 @@ class ImageWindowGeode : public osg::Geode
public:
ImageWindowGeode();
void init(const QString& caption, const osg::Vec4& backgroundColor,
osg::ref_ptr<osg::Image>& image,
osg::ref_ptr<osgText::Font>& font);
void setAttributes(int x, int y, int width, int height);
osg::ref_ptr<osg::Image>& image(void);
private:
int border;
int mBorder;
osg::ref_ptr<osg::Vec3Array> imageVertices;
osg::ref_ptr<osg::Vec3Array> backgroundVertices;
osg::ref_ptr<osgText::Text> text;
osg::ref_ptr<osg::Image> mImage;
osg::ref_ptr<osg::Vec3Array> mImageVertices;
osg::ref_ptr<osg::Vec3Array> mBackgroundVertices;
osg::ref_ptr<osgText::Text> mText;
};
#endif // IMAGEWINDOWGEODE_H
src/ui/map3D/Imagery.cc
View file @ e0635aea
......@@ -46,14 +46,14 @@ Imagery::Imagery()
}
Imagery::ImageryType
Imagery::Type
Imagery::getImageryType(void) const
{
return currentImageryType;
}
void
Imagery::setImageryType(ImageryType type)
Imagery::setImageryType(Imagery::Type type)
{
currentImageryType = type;
}
......
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