diff --git a/images/earth.html b/images/earth.html new file mode 100644 index 0000000000000000000000000000000000000000..afdcec85903127711b85d0d757b3a2a6ee2ce15c --- /dev/null +++ b/images/earth.html @@ -0,0 +1,61 @@ + + + + + QGroundControl Google Earth View + + + + + + +
+
+
+ + diff --git a/mavground.qrc b/mavground.qrc index 6bb41cfdb8a2b2deddc1c0820342ed9244724a98..a5d1940b1f0ba3325461f8fdc8d435b3006907d5 100644 --- a/mavground.qrc +++ b/mavground.qrc @@ -82,6 +82,7 @@ images/mapproviders/openstreetmap.png images/mapproviders/google.png images/mapproviders/yahoo.png + images/earth.html images/Vera.ttf diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri index fe9e4d821000995281ab6bfb2784a10d7ef63f6c..970583dad22ac85902f1c8a78e31df6f2232aa56 100644 --- a/qgroundcontrol.pri +++ b/qgroundcontrol.pri @@ -1,381 +1,388 @@ -#------------------------------------------------- -# -# QGroundControl - Micro Air Vehicle Groundstation -# -# Please see our website at -# -# Author: -# Lorenz Meier -# -# (c) 2009-2010 PIXHAWK Team -# -# This file is part of the mav groundstation project -# QGroundControl is free software: you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation, either version 3 of the License, or -# (at your option) any later version. -# QGroundControl is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# You should have received a copy of the GNU General Public License -# along with QGroundControl. If not, see . -# -#------------------------------------------------- - -#$$BASEDIR/lib/qextserialport/include -# $$BASEDIR/lib/openjaus/libjaus/include \ -# $$BASEDIR/lib/openjaus/libopenJaus/include - -message(Qt version $$[QT_VERSION]) - -release { -# DEFINES += QT_NO_DEBUG_OUTPUT -# DEFINES += QT_NO_WARNING_OUTPUT -} - -QMAKE_PRE_LINK += echo "Copying files" - -#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/. -#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/. - -# MAC OS X -macx { - - COMPILER_VERSION = $$system(gcc -v) - message(Using compiler $$COMPILER_VERSION) - - HARDWARE_PLATFORM = $$system(uname -a) - contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) { - # x86 Mac OS X Leopard 10.5 and earlier - CONFIG += x86 cocoa phonon - message(Building for Mac OS X 32bit/Leopard 10.5 and earlier) - - # Enable function-profiling with the OS X saturn tool - debug { - #QMAKE_CXXFLAGS += -finstrument-functions - #LIBS += -lSaturn - } - } else { - # x64 Mac OS X Snow Leopard 10.6 and later - CONFIG += x86_64 cocoa - CONFIG -= x86 phonon - message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later) - } - - QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5 - - DESTDIR = $$BASEDIR/bin/mac - INCLUDEPATH += -framework SDL - - LIBS += -framework IOKit \ - -framework SDL \ - -framework CoreFoundation \ - -framework ApplicationServices \ - -lm - - ICON = $$BASEDIR/images/icons/macx.icns - - # Copy audio files if needed - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/. - - exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) { - # No check for GLUT.framework since it's a MAC default - message("Building support for OpenSceneGraph") - DEPENDENCIES_PRESENT += osg - DEFINES += QGC_OSG_ENABLED - # Include OpenSceneGraph libraries - INCLUDEPATH += -framework GLUT \ - -framework Carbon \ - -framework OpenThreads \ - -framework osg \ - -framework osgViewer \ - -framework osgGA \ - -framework osgDB \ - -framework osgText \ - -framework osgWidget - - LIBS += -framework GLUT \ - -framework Carbon \ - -framework OpenThreads \ - -framework osg \ - -framework osgViewer \ - -framework osgGA \ - -framework osgDB \ - -framework osgText \ - -framework osgWidget - } - - exists(/usr/include/osgEarth) { - message("Building support for osgEarth") - DEPENDENCIES_PRESENT += osgearth - # Include osgEarth libraries - INCLUDEPATH += -framework GDAL \ - $$IN_PWD/lib/mac32-gcc/include \ - -framework GEOS \ - -framework SQLite3 \ - -framework osgFX \ - -framework osgTerrain - - LIBS += -framework GDAL \ - -framework GEOS \ - -framework SQLite3 \ - -framework osgFX \ - -framework osgTerrain \ - DEFINES += QGC_OSGEARTH_ENABLED - } - - exists(/opt/local/include/libfreenect) { - message("Building support for libfreenect") - DEPENDENCIES_PRESENT += libfreenect - # Include libfreenect libraries - LIBS += -lfreenect - DEFINES += QGC_LIBFREENECT_ENABLED - } - - # osg/osgEarth dynamic casts might fail without this compiler option. - # see http://osgearth.org/wiki/FAQ for details. - #QMAKE_CXXFLAGS += -Wl,-E -} - -# GNU/Linux -linux-g++ { - - debug { - DESTDIR = $$BUILDDIR/debug - CONFIG += debug - } - - release { - DESTDIR = $$BUILDDIR/release - } - - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/. - - INCLUDEPATH += /usr/include \ - /usr/include/qt4/phonon - # $$BASEDIR/lib/flite/include \ - # $$BASEDIR/lib/flite/lang - - - message(Building for GNU/Linux 32bit/i386) - - LIBS += \ - -L/usr/lib \ - -lm \ - -lflite_cmu_us_kal \ - -lflite_usenglish \ - -lflite_cmulex \ - -lflite \ - -lSDL \ - -lSDLmain - - exists(/usr/include/osg) { - message("Building support for OpenSceneGraph") - DEPENDENCIES_PRESENT += osg - # Include OpenSceneGraph libraries - LIBS += -losg - DEFINES += QGC_OSG_ENABLED - } - - exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) { - message("Building support for osgEarth") - DEPENDENCIES_PRESENT += osgearth - # Include osgEarth libraries - LIBS += -losgViewer \ - -losgEarth \ - -losgEarthUtil - DEFINES += QGC_OSGEARTH_ENABLED - } - - exists(/usr/local/include/libfreenect/libfreenect.h) { - message("Building support for libfreenect") - DEPENDENCIES_PRESENT += libfreenect - INCLUDEPATH += /usr/include/libusb-1.0 - # Include libfreenect libraries - LIBS += -lfreenect - DEFINES += QGC_LIBFREENECT_ENABLED - } - - QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/. - QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/. - QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/. - QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/. - - # osg/osgEarth dynamic casts might fail without this compiler option. - # see http://osgearth.org/wiki/FAQ for details. - QMAKE_CXXFLAGS += -Wl,-E -} - -linux-g++-64 { - - debug { - DESTDIR = $$BUILDDIR/debug - CONFIG += debug - } - - release { - DESTDIR = $$BUILDDIR/release - } - - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/. - - INCLUDEPATH += /usr/include \ - /usr/include/qt4/phonon - # $$BASEDIR/lib/flite/include \ - # $$BASEDIR/lib/flite/lang - - - # 64-bit Linux - message(Building for GNU/Linux 64bit/x64 (g++-64)) - - LIBS += \ - -L/usr/lib \ - -lm \ - -lflite_cmu_us_kal \ - -lflite_usenglish \ - -lflite_cmulex \ - -lflite \ - -lSDL \ - -lSDLmain - - exists(/usr/include/osg) { - message("Building support for OpenSceneGraph") - DEPENDENCIES_PRESENT += osg - # Include OpenSceneGraph libraries - LIBS += -losg - DEFINES += QGC_OSG_ENABLED - } - - exists(/usr/include/osgEarth) { - message("Building support for osgEarth") - DEPENDENCIES_PRESENT += osgearth - # Include osgEarth libraries - LIBS += -losgViewer \ - -losgEarth \ - -losgEarthUtil - DEFINES += QGC_OSGEARTH_ENABLED - } - - exists(/usr/local/include/libfreenect) { - message("Building support for libfreenect") - DEPENDENCIES_PRESENT += libfreenect - INCLUDEPATH += /usr/include/libusb-1.0 - # Include libfreenect libraries - LIBS += -lfreenect - DEFINES += QGC_LIBFREENECT_ENABLED - } - - # osg/osgEarth dynamic casts might fail without this compiler option. - # see http://osgearth.org/wiki/FAQ for details. - QMAKE_CXXFLAGS += -Wl,-E -} - -# Windows (32bit) -win32-msvc2008 { - - message(Building for Windows Visual Studio 2008 (32bit)) - - # Special settings for debug - #CONFIG += CONSOLE - - INCLUDEPATH += $$BASEDIR/lib/sdl/msvc/include \ - $$BASEDIR/lib/opal/include \ - $$BASEDIR/lib/msinttypes - #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include" - - LIBS += -L$$BASEDIR/lib/sdl/msvc/lib \ - -lSDLmain -lSDL - - RC_FILE = $$BASEDIR/qgroundcontrol.rc - - # Copy dependencies - QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/. && - QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/. - - # osg/osgEarth dynamic casts might fail without this compiler option. - # see http://osgearth.org/wiki/FAQ for details. - QMAKE_CXXFLAGS += /Wl /E -} - -# Windows (32bit) -win32-g++ { - - message(Building for Windows Platform (32bit)) - - # Special settings for debug - #CONFIG += CONSOLE - - INCLUDEPATH += $$BASEDIR/lib/sdl/include \ - $$BASEDIR/lib/opal/include #\ #\ - #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include" - - LIBS += -L$$BASEDIR/lib/sdl/win32 \ - -lmingw32 -lSDLmain -lSDL -mwindows - - - - debug { - DESTDIR = $$BUILDDIR/debug - } - - release { - DESTDIR = $$BUILDDIR/release - } - - RC_FILE = $$BASEDIR/qgroundcontrol.rc - - # Copy dependencies - QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. && - QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/. - QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/. - - # osg/osgEarth dynamic casts might fail without this compiler option. - # see http://osgearth.org/wiki/FAQ for details. - QMAKE_CXXFLAGS += -Wl,-E -} - -# Windows (64bit) -win64-g++ { - - message(Building for Windows Platform (64bit)) - - # Special settings for debug - #CONFIG += CONSOLE - - INCLUDEPATH += $$BASEDIR\lib\sdl\include \ - $$BASEDIR\lib\opal\include #\ #\ - #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include" - - LIBS += -L$$BASEDIR\lib\sdl\win32 \ - -lmingw32 -lSDLmain -lSDL -mwindows - - - - debug { - DESTDIR = $$BASEDIR/bin - } - - release { - DESTDIR = $$BASEDIR/bin - } - - RC_FILE = $$BASEDIR/qgroundcontrol.rc - - # Copy dependencies - QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. && - QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. && - QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/. - - # osg/osgEarth dynamic casts might fail without this compiler option. - # see http://osgearth.org/wiki/FAQ for details. - QMAKE_CXXFLAGS += -Wl,-E -} +#------------------------------------------------- +# +# QGroundControl - Micro Air Vehicle Groundstation +# +# Please see our website at +# +# Author: +# Lorenz Meier +# +# (c) 2009-2010 PIXHAWK Team +# +# This file is part of the mav groundstation project +# QGroundControl is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# QGroundControl is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# You should have received a copy of the GNU General Public License +# along with QGroundControl. If not, see . +# +#------------------------------------------------- + +#$$BASEDIR/lib/qextserialport/include +# $$BASEDIR/lib/openjaus/libjaus/include \ +# $$BASEDIR/lib/openjaus/libopenJaus/include + +message(Qt version $$[QT_VERSION]) + +release { +# DEFINES += QT_NO_DEBUG_OUTPUT +# DEFINES += QT_NO_WARNING_OUTPUT +} + +QMAKE_PRE_LINK += echo "Copying files" + +#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/. +#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/. + +# MAC OS X +macx { + + COMPILER_VERSION = system(gcc -v) + message(Using compiler $$COMPILER_VERSION) + + HARDWARE_PLATFORM = $$system(uname -a) + contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) { + # x86 Mac OS X Leopard 10.5 and earlier + CONFIG += x86 cocoa phonon + message(Building for Mac OS X 32bit/Leopard 10.5 and earlier) + + # Enable function-profiling with the OS X saturn tool + debug { + #QMAKE_CXXFLAGS += -finstrument-functions + #LIBS += -lSaturn + } + } else { + # x64 Mac OS X Snow Leopard 10.6 and later + CONFIG += x86_64 cocoa + CONFIG -= x86 phonon + message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later) + } + + QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5 + + DESTDIR = $$BASEDIR/bin/mac + INCLUDEPATH += -framework SDL + + LIBS += -framework IOKit \ + -framework SDL \ + -framework CoreFoundation \ + -framework ApplicationServices \ + -lm + + ICON = $$BASEDIR/images/icons/macx.icns + + # Copy audio files if needed + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/. + # Copy google earth starter file + QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$DESTDIR/qgroundcontrol.app/Contents/MacOs/. + + exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) { + # No check for GLUT.framework since it's a MAC default + message("Building support for OpenSceneGraph") + DEPENDENCIES_PRESENT += osg + DEFINES += QGC_OSG_ENABLED + # Include OpenSceneGraph libraries + INCLUDEPATH += -framework GLUT \ + -framework Carbon \ + -framework OpenThreads \ + -framework osg \ + -framework osgViewer \ + -framework osgGA \ + -framework osgDB \ + -framework osgText \ + -framework osgWidget + + LIBS += -framework GLUT \ + -framework Carbon \ + -framework OpenThreads \ + -framework osg \ + -framework osgViewer \ + -framework osgGA \ + -framework osgDB \ + -framework osgText \ + -framework osgWidget + } + + exists(/usr/include/osgEarth) { + message("Building support for osgEarth") + DEPENDENCIES_PRESENT += osgearth + # Include osgEarth libraries + INCLUDEPATH += -framework GDAL \ + $$IN_PWD/lib/mac32-gcc/include \ + -framework GEOS \ + -framework SQLite3 \ + -framework osgFX \ + -framework osgTerrain + + LIBS += -framework GDAL \ + -framework GEOS \ + -framework SQLite3 \ + -framework osgFX \ + -framework osgTerrain \ + DEFINES += QGC_OSGEARTH_ENABLED + } + + exists(/opt/local/include/libfreenect) { + message("Building support for libfreenect") + DEPENDENCIES_PRESENT += libfreenect + # Include libfreenect libraries + LIBS += -lfreenect + DEFINES += QGC_LIBFREENECT_ENABLED + } + + # osg/osgEarth dynamic casts might fail without this compiler option. + # see http://osgearth.org/wiki/FAQ for details. + #QMAKE_CXXFLAGS += -Wl,-E +} + +# GNU/Linux +linux-g++ { + + debug { + DESTDIR = $$BUILDDIR/debug + CONFIG += debug + } + + release { + DESTDIR = $$BUILDDIR/release + } + + QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/. + + INCLUDEPATH += /usr/include \ + /usr/include/qt4/phonon + # $$BASEDIR/lib/flite/include \ + # $$BASEDIR/lib/flite/lang + + + message(Building for GNU/Linux 32bit/i386) + + LIBS += \ + -L/usr/lib \ + -lm \ + -lflite_cmu_us_kal \ + -lflite_usenglish \ + -lflite_cmulex \ + -lflite \ + -lSDL \ + -lSDLmain + + exists(/usr/include/osg) { + message("Building support for OpenSceneGraph") + DEPENDENCIES_PRESENT += osg + # Include OpenSceneGraph libraries + LIBS += -losg + DEFINES += QGC_OSG_ENABLED + } + + exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) { + message("Building support for osgEarth") + DEPENDENCIES_PRESENT += osgearth + # Include osgEarth libraries + LIBS += -losgViewer \ + -losgEarth \ + -losgEarthUtil + DEFINES += QGC_OSGEARTH_ENABLED + } + + exists(/usr/local/include/libfreenect/libfreenect.h) { + message("Building support for libfreenect") + DEPENDENCIES_PRESENT += libfreenect + INCLUDEPATH += /usr/include/libusb-1.0 + # Include libfreenect libraries + LIBS += -lfreenect + DEFINES += QGC_LIBFREENECT_ENABLED + } + + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/. + + # osg/osgEarth dynamic casts might fail without this compiler option. + # see http://osgearth.org/wiki/FAQ for details. + QMAKE_CXXFLAGS += -Wl,-E +} + +linux-g++-64 { + + debug { + DESTDIR = $$BUILDDIR/debug + CONFIG += debug + } + + release { + DESTDIR = $$BUILDDIR/release + } + + QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/. + + INCLUDEPATH += /usr/include \ + /usr/include/qt4/phonon + # $$BASEDIR/lib/flite/include \ + # $$BASEDIR/lib/flite/lang + + + # 64-bit Linux + message(Building for GNU/Linux 64bit/x64 (g++-64)) + + LIBS += \ + -L/usr/lib \ + -lm \ + -lflite_cmu_us_kal \ + -lflite_usenglish \ + -lflite_cmulex \ + -lflite \ + -lSDL \ + -lSDLmain + + exists(/usr/include/osg) { + message("Building support for OpenSceneGraph") + DEPENDENCIES_PRESENT += osg + # Include OpenSceneGraph libraries + LIBS += -losg + DEFINES += QGC_OSG_ENABLED + } + + exists(/usr/include/osgEarth) { + message("Building support for osgEarth") + DEPENDENCIES_PRESENT += osgearth + # Include osgEarth libraries + LIBS += -losgViewer \ + -losgEarth \ + -losgEarthUtil + DEFINES += QGC_OSGEARTH_ENABLED + } + + exists(/usr/local/include/libfreenect) { + message("Building support for libfreenect") + DEPENDENCIES_PRESENT += libfreenect + INCLUDEPATH += /usr/include/libusb-1.0 + # Include libfreenect libraries + LIBS += -lfreenect + DEFINES += QGC_LIBFREENECT_ENABLED + } + + # osg/osgEarth dynamic casts might fail without this compiler option. + # see http://osgearth.org/wiki/FAQ for details. + QMAKE_CXXFLAGS += -Wl,-E +} + +# Windows (32bit) +win32-msvc2008 { + + message(Building for Windows Visual Studio 2008 (32bit)) + + # Special settings for debug + #CONFIG += CONSOLE + + INCLUDEPATH += $$BASEDIR/lib/sdl/msvc/include \ + $$BASEDIR/lib/opal/include \ + $$BASEDIR/lib/msinttypes + #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include" + + LIBS += -L$$BASEDIR/lib/sdl/msvc/lib \ + -lSDLmain -lSDL + +exists($$BASEDIR/lib/osg123) { +message("Building support for OSG") +DEPENDENCIES_PRESENT += osg + +# Include OpenSceneGraph and osgEarth libraries +INCLUDEPATH += $$BASEDIR/lib/osgEarth/win32/include \ + $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/include +LIBS += -L$$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/lib \ + -losg \ + -losgViewer \ + -losgGA \ + -losgDB \ + -losgText \ + -lOpenThreads +DEFINES += QGC_OSG_ENABLED +exists($$BASEDIR/lib/osgEarth123) { + DEPENDENCIES_PRESENT += osgearth + message("Building support for osgEarth") + DEFINES += QGC_OSGEARTH_ENABLED + LIBS += -L$$BASEDIR/lib/osgEarth/win32/lib \ + -losgEarth \ + -losgEarthUtil +} +} + + RC_FILE = $$BASEDIR/qgroundcontrol.rc + + # Copy dependencies + QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. + + + #QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osg.dll $$TARGETDIR/release/. && + #QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgViewer.dll $$TARGETDIR/release/. && + #QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgGA.dll $$TARGETDIR/release/. && + #QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgDB.dll $$TARGETDIR/release/. && + #QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgText.dll $$TARGETDIR/release/. && + #QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/OpenThreads.dll $$TARGETDIR/release/. && + + QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/. + + # osg/osgEarth dynamic casts might fail without this compiler option. + # see http://osgearth.org/wiki/FAQ for details. + + # Copy google earth starter file + QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/release/ + QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/debug/ + +} + +# Windows (32bit) +win32-g++ { + + message(Building for Windows Platform (32bit)) + + # Special settings for debug + #CONFIG += CONSOLE + + INCLUDEPATH += $$BASEDIR/lib/sdl/include \ + $$BASEDIR/lib/opal/include #\ #\ + #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include" + + LIBS += -L$$BASEDIR/lib/sdl/win32 \ + -lmingw32 -lSDLmain -lSDL -mwindows + + + + debug { + DESTDIR = $$BUILDDIR/debug + } + + release { + DESTDIR = $$BUILDDIR/release + } + + RC_FILE = $$BASEDIR/qgroundcontrol.rc + + # Copy dependencies + debug { + QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/. + } + + release { + QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release/. + QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/. + } + + # osg/osgEarth dynamic casts might fail without this compiler option. + # see http://osgearth.org/wiki/FAQ for details. + QMAKE_CXXFLAGS += -Wl,-E +} diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index aec966e8c76faa43457094ffd454eabddabcedd4..d45f0c99f02d2c7df4f532b9ab3ab1b072971c9a 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -30,7 +30,8 @@ QT += network \ opengl \ svg \ xml \ - phonon + phonon \ + webkit TEMPLATE = app TARGET = qgroundcontrol BASEDIR = $$IN_PWD @@ -138,7 +139,9 @@ FORMS += src/ui/MainWindow.ui \ src/ui/QGCPxImuFirmwareUpdate.ui \ src/ui/QGCDataPlot2D.ui \ src/ui/QGCRemoteControlView.ui \ - src/ui/QMap3D.ui + src/ui/QMap3D.ui \ + src/ui/QGCWebView.ui \ + src/ui/map3D/QGCGoogleEarthView.ui # src/ui/WaypointGlobalView.ui INCLUDEPATH += src \ @@ -222,14 +225,16 @@ HEADERS += src/MG.h \ src/ui/linechart/IncrementalPlot.h \ src/ui/map/Waypoint2DIcon.h \ src/ui/map/MAV2DIcon.h \ - src/ui/QGCRemoteControlView.h \ # src/ui/WaypointGlobalView.h \ + src/ui/QGCRemoteControlView.h \ src/ui/RadioCalibration/RadioCalibrationData.h \ src/ui/RadioCalibration/RadioCalibrationWindow.h \ src/ui/RadioCalibration/AirfoilServoCalibrator.h \ src/ui/RadioCalibration/SwitchCalibrator.h \ src/ui/RadioCalibration/CurveCalibrator.h \ src/ui/RadioCalibration/AbstractCalibrator.h \ - src/comm/QGCMAVLink.h + src/comm/QGCMAVLink.h \ + src/ui/QGCWebView.h \ + src/ui/map3D/QGCGoogleEarthView.h contains(DEPENDENCIES_PRESENT, osg) { @@ -242,23 +247,25 @@ contains(DEPENDENCIES_PRESENT, osg) { src/ui/map3D/QOSGWidget.h \ src/ui/map3D/PixhawkCheetahGeode.h \ src/ui/map3D/Pixhawk3DWidget.h \ - src/ui/map3D/Q3DWidgetFactory.h - -contains(DEPENDENCIES_PRESENT, osgearth) { - message("Including headers for OSGEARTH") - - # Enable only if OpenSceneGraph is available - HEADERS += src/ui/map3D/QMap3D.h + src/ui/map3D/Q3DWidgetFactory.h \ + src/ui/map3D/WebImageCache.h \ + src/ui/map3D/WebImage.h \ + src/ui/map3D/TextureCache.h \ + src/ui/map3D/Texture.h \ + src/ui/map3D/Imagery.h + contains(DEPENDENCIES_PRESENT, osgearth) { + message("Including headers for OSGEARTH") + + # Enable only if OpenSceneGraph is available + HEADERS += src/ui/map3D/QMap3D.h + } } -} - contains(DEPENDENCIES_PRESENT, libfreenect) { message("Including headers for libfreenect") # Enable only if libfreenect is available HEADERS += src/input/Freenect.h } - SOURCES += src/main.cc \ src/Core.cc \ src/uas/UASManager.cc \ @@ -327,39 +334,38 @@ SOURCES += src/main.cc \ src/ui/RadioCalibration/SwitchCalibrator.cc \ src/ui/RadioCalibration/CurveCalibrator.cc \ src/ui/RadioCalibration/AbstractCalibrator.cc \ - src/ui/RadioCalibration/RadioCalibrationData.cc - + src/ui/RadioCalibration/RadioCalibrationData.cc \ + src/ui/QGCWebView.cc \ + src/ui/map3D/QGCGoogleEarthView.cc contains(DEPENDENCIES_PRESENT, osg) { message("Including sources for OpenSceneGraph") # Enable only if OpenSceneGraph is available SOURCES += src/ui/map3D/Q3DWidget.cc \ - src/ui/map3D/ImageWindowGeode.cc \ - src/ui/map3D/GCManipulator.cc \ - src/ui/map3D/QOSGWidget.cc \ + src/ui/map3D/ImageWindowGeode.cc \ + src/ui/map3D/GCManipulator.cc \ + src/ui/map3D/QOSGWidget.cc \ src/ui/map3D/PixhawkCheetahGeode.cc \ src/ui/map3D/Pixhawk3DWidget.cc \ - src/ui/map3D/Q3DWidgetFactory.cc - - - -contains(DEPENDENCIES_PRESENT, osgearth) { - message("Including sources for osgEarth") - - # Enable only if OpenSceneGraph is available - SOURCES += src/ui/map3D/QMap3D.cc - + src/ui/map3D/Q3DWidgetFactory.cc \ + src/ui/map3D/WebImageCache.cc \ + src/ui/map3D/WebImage.cc \ + src/ui/map3D/TextureCache.cc \ + src/ui/map3D/Texture.cc \ + src/ui/map3D/Imagery.cc + contains(DEPENDENCIES_PRESENT, osgearth) { + message("Including sources for osgEarth") + + # Enable only if OpenSceneGraph is available + SOURCES += src/ui/map3D/QMap3D.cc + } } -} - -contains(DEPENDENCIES_PRESENT, libfreenect) { +contains(DEPENDENCIES_PRESENT, libfreenect) { message("Including sources for libfreenect") - + # Enable only if libfreenect is available SOURCES += src/input/Freenect.cc } - - RESOURCES += mavground.qrc # Include RT-LAB Library diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc index b2c3858da4996b4b640f055f7910202fe7971a99..2bdf16ab834b9bcde71f85724278b6440b76bfaf 100644 --- a/src/GAudioOutput.cc +++ b/src/GAudioOutput.cc @@ -41,7 +41,7 @@ This file is part of the QGROUNDCONTROL project #endif // Speech synthesis is only supported with MSVC compiler -#if _MSC_VER +#if _MSC_VER2 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx #define _ATL_APARTMENT_THREADED @@ -93,7 +93,7 @@ emergency(false) flite_init(); #endif - #if _MSC_VER + #if _MSC_VER2 ISpVoice * pVoice = NULL; if (FAILED(::CoInitialize(NULL))) @@ -134,7 +134,7 @@ emergency(false) GAudioOutput::~GAudioOutput() { -#ifdef _MSC_VER +#ifdef _MSC_VER2 ::CoUninitialize(); #endif } diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 87f7b5a987d5827dbc268f6d1decf4c4fa523ea8..4af4fcf50cca0f862fc1f138333e57820642043b 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -142,6 +142,7 @@ void MainWindow::buildWidgets() #ifdef QGC_OSGEARTH_ENABLED _3DMapWidget = Q3DWidgetFactory::get("MAP3D"); #endif + gEarthWidget = new QGCGoogleEarthView(this); // Dock widgets controlDockWidget = new QDockWidget(tr("Control"), this); @@ -239,6 +240,7 @@ void MainWindow::arrangeCenterStack() #ifdef QGC_OSGEARTH_ENABLED if (_3DMapWidget) centerStack->addWidget(_3DMapWidget); #endif + if (gEarthWidget) centerStack->addWidget(gEarthWidget); if (hudWidget) centerStack->addWidget(hudWidget); if (dataplotWidget) centerStack->addWidget(dataplotWidget); @@ -388,6 +390,7 @@ void MainWindow::connectActions() connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp())); connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits())); connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap())); + connect(ui.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView())); // Joystick configuration connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure())); @@ -1017,6 +1020,55 @@ void MainWindow::load3DMapView() } #endif this->show(); + } + +void MainWindow::loadGoogleEarthView() +{ + clearView(); + + // 3D map + if (gEarthWidget) + { + QStackedWidget *centerStack = dynamic_cast(centralWidget()); + if (centerStack) + { + centerStack->setCurrentWidget(gEarthWidget); + } + } + + // UAS CONTROL + if (controlDockWidget) + { + addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget); + controlDockWidget->show(); + } + + // UAS LIST + if (listDockWidget) + { + addDockWidget(Qt::BottomDockWidgetArea, listDockWidget); + listDockWidget->show(); + } + + // WAYPOINT LIST + if (waypointsDockWidget) + { + addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget); + waypointsDockWidget->show(); + } + + // HORIZONTAL SITUATION INDICATOR + if (hsiDockWidget) + { + HSIDisplay* hsi = dynamic_cast( hsiDockWidget->widget() ); + if (hsi) + { + hsi->start(); + addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget); + hsiDockWidget->show(); + } + } + this->show(); } diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h index 31bb449b21f77e3e77731aba72aa6c5acca68eb3..38db7929181b952c0693c75267a607b5b92c3c4d 100644 --- a/src/ui/MainWindow.h +++ b/src/ui/MainWindow.h @@ -63,7 +63,7 @@ This file is part of the QGROUNDCONTROL project #include "HSIDisplay.h" #include "QGCDataPlot2D.h" #include "QGCRemoteControlView.h" - +#include "QGCGoogleEarthView.h" #include "LogCompressor.h" @@ -113,6 +113,8 @@ public slots: void loadOperatorView(); /** @brief Load 3D view */ void load3DView(); + /** @brief Load 3D Google Earth view */ + void loadGoogleEarthView(); /** @brief Load 3D map view */ void load3DMapView(); /** @brief Load view with all widgets */ @@ -170,6 +172,7 @@ protected: #ifdef QGC_OSGEARTH_ENABLED QPointer _3DMapWidget; #endif + QPointer gEarthWidget; // Dock widgets QPointer controlDockWidget; QPointer infoDockWidget; diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui index ed91679edcafa0bf811a97f6a1e6cc2509a5b520..cf7a13f8febe6e8193e36aca7faa74db9dc70e7e 100644 --- a/src/ui/MainWindow.ui +++ b/src/ui/MainWindow.ui @@ -38,7 +38,7 @@ 0 0 1000 - 25 + 22 @@ -77,6 +77,7 @@ + @@ -235,7 +236,7 @@ :/images/categories/preferences-system.svg:/images/categories/preferences-system.svg - Show 3D local view + Show 3D Local View Show 3D view @@ -316,7 +317,7 @@ :/images/categories/applications-internet.svg:/images/categories/applications-internet.svg - Show Global operator view + Show 2D Map View @@ -325,7 +326,16 @@ :/images/categories/applications-internet.svg:/images/categories/applications-internet.svg - Show 3D Globe view + Show 3D Global View + + + + + + :/images/mapproviders/google.png:/images/mapproviders/google.png + + + Google Earth View diff --git a/src/ui/QGCWebView.cc b/src/ui/QGCWebView.cc new file mode 100644 index 0000000000000000000000000000000000000000..7de964b90022f7e51bd191e1ec2b0d72dfa035f6 --- /dev/null +++ b/src/ui/QGCWebView.cc @@ -0,0 +1,28 @@ +#include "QGCWebView.h" +#include "ui_QGCWebView.h" + +QGCWebView::QGCWebView(QWidget *parent) : + QWidget(parent), + ui(new Ui::QGCWebView) +{ + ui->setupUi(this); + ui->webView->settings()->setAttribute(QWebSettings::PluginsEnabled, true); + ui->webView->load(QUrl("http://qgroundcontrol.org")); +} + +QGCWebView::~QGCWebView() +{ + delete ui; +} + +void QGCWebView::changeEvent(QEvent *e) +{ + QWidget::changeEvent(e); + switch (e->type()) { + case QEvent::LanguageChange: + ui->retranslateUi(this); + break; + default: + break; + } +} diff --git a/src/ui/QGCWebView.h b/src/ui/QGCWebView.h new file mode 100644 index 0000000000000000000000000000000000000000..9c85ff08f16f5325b242738db4bc78e6e3f1af97 --- /dev/null +++ b/src/ui/QGCWebView.h @@ -0,0 +1,25 @@ +#ifndef QGCWEBVIEW_H +#define QGCWEBVIEW_H + +#include + +namespace Ui { + class QGCWebView; +} + +class QGCWebView : public QWidget +{ + Q_OBJECT + +public: + explicit QGCWebView(QWidget *parent = 0); + ~QGCWebView(); + +protected: + void changeEvent(QEvent *e); + +private: + Ui::QGCWebView *ui; +}; + +#endif // QGCWEBVIEW_H diff --git a/src/ui/QGCWebView.ui b/src/ui/QGCWebView.ui new file mode 100644 index 0000000000000000000000000000000000000000..d7f8a87a33dcb1767e00004ff8790d2f6e8f49f6 --- /dev/null +++ b/src/ui/QGCWebView.ui @@ -0,0 +1,37 @@ + + + QGCWebView + + + + 0 + 0 + 400 + 300 + + + + Form + + + + + + + about:blank + + + + + + + + + QWebView + QWidget +
QtWebKit/QWebView
+ + + + + diff --git a/src/ui/map3D/Imagery.cc b/src/ui/map3D/Imagery.cc index 7e972b5cf83833437305cb3b314cad45b03842fa..ff9a4d572e50d9582e198a77d87f6b793e7476a3 100644 --- a/src/ui/map3D/Imagery.cc +++ b/src/ui/map3D/Imagery.cc @@ -46,6 +46,12 @@ Imagery::Imagery() } +Imagery::ImageryType +Imagery::getImageryType(void) const +{ + return currentImageryType; +} + void Imagery::setImageryType(ImageryType type) { @@ -62,7 +68,6 @@ Imagery::setOffset(double xOffset, double yOffset) void Imagery::prefetch2D(double windowWidth, double windowHeight, double zoom, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, const QString& utmZone) { double tileResolution; @@ -88,10 +93,10 @@ Imagery::prefetch2D(double windowWidth, double windowHeight, int zoomLevel; tileBounds(tileResolution, - xOrigin + viewXOffset - windowWidth / 2.0 / zoom, - yOrigin + viewYOffset - windowHeight / 2.0 / zoom, - xOrigin + viewXOffset + windowWidth / 2.0 / zoom, - yOrigin + viewYOffset + windowHeight / 2.0 / zoom, utmZone, + xOrigin - windowWidth / 2.0 / zoom * 1.5, + yOrigin - windowHeight / 2.0 / zoom * 1.5, + xOrigin + windowWidth / 2.0 / zoom * 1.5, + yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone, minTileX, minTileY, maxTileX, maxTileY, zoomLevel); for (int r = minTileY; r <= maxTileY; ++r) @@ -108,7 +113,6 @@ Imagery::prefetch2D(double windowWidth, double windowHeight, void Imagery::draw2D(double windowWidth, double windowHeight, double zoom, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, const QString& utmZone) { double tileResolution; @@ -134,12 +138,17 @@ Imagery::draw2D(double windowWidth, double windowHeight, int zoomLevel; tileBounds(tileResolution, - xOrigin + viewXOffset - windowWidth / 2.0 / zoom * 1.5, - yOrigin + viewYOffset - windowHeight / 2.0 / zoom * 1.5, - xOrigin + viewXOffset + windowWidth / 2.0 / zoom * 1.5, - yOrigin + viewYOffset + windowHeight / 2.0 / zoom * 1.5, utmZone, + xOrigin - windowWidth / 2.0 / zoom * 1.5, + yOrigin - windowHeight / 2.0 / zoom * 1.5, + xOrigin + windowWidth / 2.0 / zoom * 1.5, + yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone, minTileX, minTileY, maxTileX, maxTileY, zoomLevel); + if (getNumDrawables() > 0) + { + removeDrawables(0, getNumDrawables()); + } + for (int r = minTileY; r <= maxTileY; ++r) { for (int c = minTileX; c <= maxTileX; ++c) @@ -152,10 +161,11 @@ Imagery::draw2D(double windowWidth, double windowHeight, TexturePtr t = textureCache->get(tileURL); if (!t.isNull()) { - t->draw(x1 - xOrigin, y1 - yOrigin, - x2 - xOrigin, y2 - yOrigin, - x3 - xOrigin, y3 - yOrigin, - x4 - xOrigin, y4 - yOrigin, true); + addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin, + y2 - yOrigin, x2 - xOrigin, + y3 - yOrigin, x3 - xOrigin, + y4 - yOrigin, x4 - xOrigin, + true)); } } } @@ -164,17 +174,14 @@ Imagery::draw2D(double windowWidth, double windowHeight, void Imagery::prefetch3D(double radius, double tileResolution, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, - const QString& utmZone, bool useHeightModel) + const QString& utmZone) { int minTileX, minTileY, maxTileX, maxTileY; int zoomLevel; tileBounds(tileResolution, - xOrigin + viewXOffset - radius, - yOrigin + viewYOffset - radius, - xOrigin + viewXOffset + radius, - yOrigin + viewYOffset + radius, utmZone, + xOrigin - radius, yOrigin - radius, + xOrigin + radius, yOrigin + radius, utmZone, minTileX, minTileY, maxTileX, maxTileY, zoomLevel); for (int r = minTileY; r <= maxTileY; ++r) @@ -183,7 +190,7 @@ Imagery::prefetch3D(double radius, double tileResolution, { QString url = getTileLocation(c, r, zoomLevel, tileResolution); - TexturePtr t = textureCache->get(url, useHeightModel); + TexturePtr t = textureCache->get(url); } } } @@ -191,19 +198,21 @@ Imagery::prefetch3D(double radius, double tileResolution, void Imagery::draw3D(double radius, double tileResolution, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, - const QString& utmZone, bool useHeightModel) + const QString& utmZone) { int minTileX, minTileY, maxTileX, maxTileY; int zoomLevel; tileBounds(tileResolution, - xOrigin + viewXOffset - radius, - yOrigin + viewYOffset - radius, - xOrigin + viewXOffset + radius, - yOrigin + viewYOffset + radius, utmZone, + xOrigin - radius, yOrigin - radius, + xOrigin + radius, yOrigin + radius, utmZone, minTileX, minTileY, maxTileX, maxTileY, zoomLevel); + if (getNumDrawables() > 0) + { + removeDrawables(0, getNumDrawables()); + } + for (int r = minTileY; r <= maxTileY; ++r) { for (int c = minTileX; c <= maxTileX; ++c) @@ -213,14 +222,15 @@ Imagery::draw3D(double radius, double tileResolution, double x1, y1, x2, y2, x3, y3, x4, y4; imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4); - TexturePtr t = textureCache->get(tileURL, useHeightModel); + TexturePtr t = textureCache->get(tileURL); if (!t.isNull()) { - t->draw(x1 - xOrigin, y1 - yOrigin, - x2 - xOrigin, y2 - yOrigin, - x3 - xOrigin, y3 - yOrigin, - x4 - xOrigin, y4 - yOrigin, true); + addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin, + y2 - yOrigin, x2 - xOrigin, + y3 - yOrigin, x3 - xOrigin, + y4 - yOrigin, x4 - xOrigin, + true)); } } } @@ -257,8 +267,7 @@ Imagery::imageBounds(int tileX, int tileY, double tileResolution, LLtoUTM(lat2, lon2, x3, y3, utmZone); LLtoUTM(lat2, lon1, x4, y4, utmZone); } - else if (currentImageryType == SWISSTOPO_SATELLITE || - currentImageryType == SWISSTOPO_SATELLITE_3D) + else if (currentImageryType == SWISSTOPO_SATELLITE) { double utmMultiplier = tileResolution * 200.0; double minX = tileX * utmMultiplier; @@ -295,8 +304,7 @@ Imagery::tileBounds(double tileResolution, UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution, maxTileX, minTileY, zoomLevel); } - else if (currentImageryType == SWISSTOPO_SATELLITE || - currentImageryType == SWISSTOPO_SATELLITE_3D) + else if (currentImageryType == SWISSTOPO_SATELLITE) { double utmMultiplier = tileResolution * 200; @@ -555,7 +563,7 @@ Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone, * D * D * D * D * D / 120.0) / cos(phi1Rad); longitude = LongOrigin + longitude / M_PI * 180.0; } - +#include QString Imagery::getTileLocation(int tileX, int tileY, int zoomLevel, double tileResolution) const @@ -572,7 +580,7 @@ Imagery::getTileLocation(int tileX, int tileY, int zoomLevel, oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX << "&y=" << tileY << "&z=" << zoomLevel; break; - case SWISSTOPO_SATELLITE: case SWISSTOPO_SATELLITE_3D: + case SWISSTOPO_SATELLITE: oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY << "/tile-"; if (tileResolution < 1.0) diff --git a/src/ui/map3D/Imagery.h b/src/ui/map3D/Imagery.h index 157bd5479b430296d868130bfbdb0a56383cf412..224ef258c169d72a8f65605fa3a2846f9aef4647 100644 --- a/src/ui/map3D/Imagery.h +++ b/src/ui/map3D/Imagery.h @@ -32,44 +32,42 @@ This file is part of the QGROUNDCONTROL project #ifndef IMAGERY_H #define IMAGERY_H +#include #include #include #include "TextureCache.h" -class Imagery +class Imagery : public osg::Geode { public: enum ImageryType { - GOOGLE_MAP = 0, - GOOGLE_SATELLITE = 1, - SWISSTOPO_SATELLITE = 2, - SWISSTOPO_SATELLITE_3D = 3 + BLANK_MAP = 0, + GOOGLE_MAP = 1, + GOOGLE_SATELLITE = 2, + SWISSTOPO_SATELLITE = 3 }; Imagery(); + ImageryType getImageryType(void) const; void setImageryType(ImageryType type); void setOffset(double xOffset, double yOffset); void prefetch2D(double windowWidth, double windowHeight, double zoom, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, const QString& utmZone); void draw2D(double windowWidth, double windowHeight, double zoom, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, const QString& utmZone); void prefetch3D(double radius, double tileResolution, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, - const QString& utmZone, bool useHeightModel); + const QString& utmZone); void draw3D(double radius, double tileResolution, double xOrigin, double yOrigin, - double viewXOffset, double viewYOffset, - const QString& utmZone, bool useHeightModel); + const QString& utmZone); bool update(void); diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc index c9350784ce7dbd5f6e5e6e7c5e45887f7b6e7ff1..85d0cd94598de6cf63e548e315ce8b8aef3e4146 100644 --- a/src/ui/map3D/Pixhawk3DWidget.cc +++ b/src/ui/map3D/Pixhawk3DWidget.cc @@ -49,6 +49,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) , uas(NULL) , displayGrid(true) , displayTrail(false) + , displayImagery(true) , displayTarget(false) , displayWaypoints(true) , displayRGBD2D(false) @@ -74,11 +75,9 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) trailNode = createTrail(); rollingMap->addChild(trailNode); -#ifdef QGC_OSGEARTH_ENABLED // generate map model mapNode = createMap(); - root->addChild(mapNode); -#endif + allocentricMap->addChild(mapNode); // generate target model allocentricMap->addChild(createTarget()); @@ -171,6 +170,12 @@ Pixhawk3DWidget::showWaypoints(int state) } } +void +Pixhawk3DWidget::selectMapSource(int index) +{ + mapNode->setImageryType(static_cast(index)); +} + void Pixhawk3DWidget::selectVehicleModel(int index) { @@ -205,7 +210,7 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state) followCamera = false; } } -#include + QVector< osg::ref_ptr > Pixhawk3DWidget::findVehicleModels(void) { @@ -273,6 +278,12 @@ Pixhawk3DWidget::buildLayout(void) waypointsCheckBox->setText("Waypoints"); waypointsCheckBox->setChecked(displayWaypoints); + QLabel* mapLabel = new QLabel("Map", this); + QComboBox* mapComboBox = new QComboBox(this); + mapComboBox->addItem("None"); + mapComboBox->addItem("Map (Google)"); + mapComboBox->addItem("Satellite (Google)"); + QLabel* modelLabel = new QLabel("Vehicle Model", this); QComboBox* modelComboBox = new QComboBox(this); for (int i = 0; i < vehicleModels.size(); ++i) @@ -299,12 +310,14 @@ Pixhawk3DWidget::buildLayout(void) layout->addWidget(trailCheckBox, 1, 1); layout->addWidget(waypointsCheckBox, 1, 2); layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3); - layout->addWidget(modelLabel, 1, 4); - layout->addWidget(modelComboBox, 1, 5); - layout->addWidget(targetButton, 1, 6); - layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 7); - layout->addWidget(recenterButton, 1, 8); - layout->addWidget(followCameraCheckBox, 1, 9); + layout->addWidget(mapLabel, 1, 4); + layout->addWidget(mapComboBox, 1, 5); + layout->addWidget(modelLabel, 1, 6); + layout->addWidget(modelComboBox, 1, 7); + layout->addWidget(targetButton, 1, 8); + layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 9); + layout->addWidget(recenterButton, 1, 10); + layout->addWidget(followCameraCheckBox, 1, 11); layout->setRowStretch(0, 100); layout->setRowStretch(1, 1); setLayout(layout); @@ -315,6 +328,8 @@ Pixhawk3DWidget::buildLayout(void) this, SLOT(showTrail(int))); connect(waypointsCheckBox, SIGNAL(stateChanged(int)), this, SLOT(showWaypoints(int))); + connect(mapComboBox, SIGNAL(currentIndexChanged(int)), + this, SLOT(selectMapSource(int))); connect(modelComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectVehicleModel(int))); connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter())); @@ -362,20 +377,42 @@ Pixhawk3DWidget::display(void) robotPitch, osg::Vec3f(1.0f, 0.0f, 0.0f), robotRoll, osg::Vec3f(0.0f, 1.0f, 0.0f))); - updateTrail(robotX, robotY, robotZ); - updateTarget(); - updateWaypoints(); + if (displayTrail) + { + updateTrail(robotX, robotY, robotZ); + } + + if (displayImagery) + { + updateImagery(); + } + + if (displayTarget) + { + updateTarget(); + } + + if (displayWaypoints) + { + updateWaypoints(); + } + #ifdef QGC_LIBFREENECT_ENABLED - updateRGBD(); + if (displayRGBD2D || displayRGBD3D) + { + updateRGBD(); + } #endif updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw); // set node visibility + rollingMap->setChildValue(gridNode, displayGrid); rollingMap->setChildValue(trailNode, displayTrail); rollingMap->setChildValue(targetNode, displayTarget); rollingMap->setChildValue(waypointsNode, displayWaypoints); egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D); + allocentricMap->setChildValue(mapNode, displayImagery); hudGroup->setChildValue(rgb2DGeode, displayRGBD2D); hudGroup->setChildValue(depth2DGeode, displayRGBD2D); @@ -400,6 +437,9 @@ Pixhawk3DWidget::keyPressEvent(QKeyEvent* event) case 'c': case 'C': enableRGBDColor = !enableRGBDColor; break; + case 'i': case 'I': + displayImagery = !displayImagery; + break; } } @@ -435,7 +475,7 @@ Pixhawk3DWidget::createGrid(void) // draw a 20m x 20m grid with 0.25m resolution for (float i = -radius; i <= radius; i += resolution) { - if (fabsf(i - roundf(i)) < 0.01f) + if (fabsf(i - floor(i + 0.5f)) < 0.01f) { coarseCoords->push_back(osg::Vec3(i, -radius, 0.0f)); coarseCoords->push_back(osg::Vec3(i, radius, 0.0f)); @@ -512,16 +552,11 @@ Pixhawk3DWidget::createTrail(void) return geode; } -#ifdef QGC_OSGEARTH_ENABLED -osg::ref_ptr +osg::ref_ptr Pixhawk3DWidget::createMap(void) { - osg::ref_ptr model = osgDB::readNodeFile("map.earth"); - osg::ref_ptr node = osgEarth::MapNode::findMapNode(model); - - return node; + return osg::ref_ptr(new Imagery()); } -#endif osg::ref_ptr Pixhawk3DWidget::createTarget(void) @@ -730,6 +765,74 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ) trailGeometry->dirtyBound(); } +void +Pixhawk3DWidget::updateImagery(void) +{ + char zone[5] = "32T"; + + double viewingRadius = cameraManipulator->getDistance() * 10.0; + if (viewingRadius < 100.0) + { + viewingRadius = 100.0; + } + + double minResolution = 0.25; + double centerResolution = cameraManipulator->getDistance() / 25.0; + double maxResolution = 1048576.0; + + Imagery::ImageryType imageryType = mapNode->getImageryType(); + switch (imageryType) + { + case Imagery::GOOGLE_MAP: + minResolution = 0.25; + break; + case Imagery::GOOGLE_SATELLITE: + minResolution = 0.5; + break; + case Imagery::SWISSTOPO_SATELLITE: + minResolution = 0.25; + maxResolution = 0.25; + break; + default: {} + } + + double resolution = minResolution; + while (resolution * 2.0 < centerResolution) + { + resolution *= 2.0; + } + if (resolution > maxResolution) + { + resolution = maxResolution; + } + + mapNode->draw3D(viewingRadius, + resolution, + cameraManipulator->getCenter().y(), + cameraManipulator->getCenter().x(), + zone); + + // prefetch map tiles + if (resolution / 2.0 >= minResolution) + { + mapNode->prefetch3D(viewingRadius / 2.0, + resolution / 2.0, + cameraManipulator->getCenter().y(), + cameraManipulator->getCenter().x(), + zone); + } + if (resolution * 2.0 <= maxResolution) + { + mapNode->prefetch3D(viewingRadius * 2.0, + resolution * 2.0, + cameraManipulator->getCenter().y(), + cameraManipulator->getCenter().x(), + zone); + } + + mapNode->update(); +} + void Pixhawk3DWidget::updateTarget(void) { diff --git a/src/ui/map3D/Pixhawk3DWidget.h b/src/ui/map3D/Pixhawk3DWidget.h index d4377ca193457607a6b5aa8c43d3ca61381a58eb..182326dd1de2516d1b7191f3aab540a389c5c8e8 100644 --- a/src/ui/map3D/Pixhawk3DWidget.h +++ b/src/ui/map3D/Pixhawk3DWidget.h @@ -33,10 +33,8 @@ #define PIXHAWK3DWIDGET_H #include -#ifdef QGC_OSGEARTH_ENABLED -#include -#endif +#include "Imagery.h" #include "ImageWindowGeode.h" #ifdef QGC_LIBFREENECT_ENABLED @@ -65,6 +63,7 @@ private slots: void showGrid(int state); void showTrail(int state); void showWaypoints(int state); + void selectMapSource(int index); void selectVehicleModel(int index); void recenter(void); void toggleFollowCamera(int state); @@ -81,11 +80,7 @@ protected: private: osg::ref_ptr createGrid(void); osg::ref_ptr createTrail(void); - -#ifdef QGC_OSGEARTH_ENABLED - osg::ref_ptr createMap(void); -#endif - + osg::ref_ptr createMap(void); osg::ref_ptr createTarget(void); osg::ref_ptr createWaypoints(void); osg::ref_ptr createRGBD3D(void); @@ -96,6 +91,7 @@ private: void updateHUD(float robotX, float robotY, float robotZ, float robotRoll, float robotPitch, float robotYaw); void updateTrail(float robotX, float robotY, float robotZ); + void updateImagery(void); void updateTarget(void); void updateWaypoints(void); #ifdef QGC_LIBFREENECT_ENABLED @@ -106,6 +102,7 @@ private: bool displayGrid; bool displayTrail; + bool displayImagery; bool displayTarget; bool displayWaypoints; bool displayRGBD2D; @@ -128,9 +125,7 @@ private: osg::ref_ptr trailNode; osg::ref_ptr trailGeometry; osg::ref_ptr trailDrawArrays; -#ifdef QGC_OSGEARTH_ENABLED - osg::ref_ptr mapNode; -#endif + osg::ref_ptr mapNode; osg::ref_ptr targetNode; osg::ref_ptr targetPosition; osg::ref_ptr waypointsNode; diff --git a/src/ui/map3D/Q3DWidget.h b/src/ui/map3D/Q3DWidget.h index 0dcd8d91f1716e129a7b7fcfb45f2fa2403c92d7..c5a3f26a1d00ffd7ce57134fc7fa2faa4013561a 100644 --- a/src/ui/map3D/Q3DWidget.h +++ b/src/ui/map3D/Q3DWidget.h @@ -33,7 +33,7 @@ This file is part of the QGROUNDCONTROL project #define Q3DWIDGET_H #include - +#include #include #include diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc new file mode 100644 index 0000000000000000000000000000000000000000..9f3beb303e67e6d792b4ef4afa359d57eaaaf368 --- /dev/null +++ b/src/ui/map3D/QGCGoogleEarthView.cc @@ -0,0 +1,28 @@ +#include "QGCGoogleEarthView.h" +#include "ui_QGCGoogleEarthView.h" + +QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) : + QWidget(parent), + ui(new Ui::QGCGoogleEarthView) +{ + ui->setupUi(this); + ui->webView->settings()->setAttribute(QWebSettings::PluginsEnabled, true); + ui->webView->load(QUrl("earth.html")); +} + +QGCGoogleEarthView::~QGCGoogleEarthView() +{ + delete ui; +} + +void QGCGoogleEarthView::changeEvent(QEvent *e) +{ + QWidget::changeEvent(e); + switch (e->type()) { + case QEvent::LanguageChange: + ui->retranslateUi(this); + break; + default: + break; + } +} diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h new file mode 100644 index 0000000000000000000000000000000000000000..47f17c1fb819b62803c81ae84450a5157b2743b2 --- /dev/null +++ b/src/ui/map3D/QGCGoogleEarthView.h @@ -0,0 +1,25 @@ +#ifndef QGCGOOGLEEARTHVIEW_H +#define QGCGOOGLEEARTHVIEW_H + +#include + +namespace Ui { + class QGCGoogleEarthView; +} + +class QGCGoogleEarthView : public QWidget +{ + Q_OBJECT + +public: + explicit QGCGoogleEarthView(QWidget *parent = 0); + ~QGCGoogleEarthView(); + +protected: + void changeEvent(QEvent *e); + +private: + Ui::QGCGoogleEarthView *ui; +}; + +#endif // QGCGOOGLEEARTHVIEW_H diff --git a/src/ui/map3D/QGCGoogleEarthView.ui b/src/ui/map3D/QGCGoogleEarthView.ui new file mode 100644 index 0000000000000000000000000000000000000000..a720d9a59ada593d183e553d2c3813664787dd07 --- /dev/null +++ b/src/ui/map3D/QGCGoogleEarthView.ui @@ -0,0 +1,40 @@ + + + QGCGoogleEarthView + + + + 0 + 0 + 400 + 300 + + + + Form + + + + 0 + + + + + + about:blank + + + + + + + + + QWebView + QWidget +
QtWebKit/QWebView
+ + + + + diff --git a/src/ui/map3D/Texture.cc b/src/ui/map3D/Texture.cc index 43703e8929a913ec877d20d1382009042f1c667d..f307c0a8e9d094e2cf40205e91547535109bb05a 100644 --- a/src/ui/map3D/Texture.cc +++ b/src/ui/map3D/Texture.cc @@ -33,18 +33,39 @@ This file is part of the QGROUNDCONTROL project #include "Texture.h" -Texture::Texture() - : _is3D(false) +Texture::Texture(unsigned int _id) + : id(_id) + , texture2D(new osg::Texture2D) + , geometry(new osg::Geometry) { texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST); texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST); - GLuint id; - glGenTextures(1, &id); - t->setID(id); - glBindTexture(GL_TEXTURE_2D, id); - glPixelStorei(GL_UNPACK_ALIGNMENT, 1); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + + texture2D->setDataVariance(osg::Object::DYNAMIC); + texture2D->setResizeNonPowerOfTwoHint(false); + + osg::ref_ptr image = new osg::Image; + texture2D->setImage(image); + + osg::ref_ptr vertices(new osg::Vec2Array(4)); + geometry->setVertexArray(vertices); + + osg::ref_ptr textureCoords = new osg::Vec2Array; + textureCoords->push_back(osg::Vec2(0.0f, 1.0f)); + textureCoords->push_back(osg::Vec2(1.0f, 1.0f)); + textureCoords->push_back(osg::Vec2(1.0f, 0.0f)); + textureCoords->push_back(osg::Vec2(0.0f, 0.0f)); + geometry->setTexCoordArray(id, textureCoords); + + geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, + 0, 4)); + + osg::ref_ptr colors(new osg::Vec4Array); + colors->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f)); + geometry->setColorArray(colors); + geometry->setColorBinding(osg::Geometry::BIND_OVERALL); + + geometry->setUseDisplayList(false); } const QString& @@ -53,64 +74,33 @@ Texture::getSourceURL(void) const return sourceURL; } -void -Texture::setId(unsigned int _id) -{ - id = _id; -} - void Texture::sync(const WebImagePtr& image) { state = static_cast(image->getState()); if (image->getState() != WebImage::UNINITIALIZED && - (sourceURL != image->getSourceURL() || - _is3D != image->is3D())) + sourceURL != image->getSourceURL()) { sourceURL = image->getSourceURL(); - _is3D = image->is3D(); } if (image->getState() == WebImage::READY && image->getSyncFlag()) { image->setSyncFlag(false); - if (image->getWidth() != imageWidth || - image->getHeight() != imageHeight) + if (texture2D->getImage() != NULL) { - imageWidth = image->getWidth(); - textureWidth = 32; - while (textureWidth < imageWidth) - { - textureWidth *= 2; - } - imageHeight = image->getHeight(); - textureHeight = 32; - while (textureHeight < imageHeight) - { - textureHeight *= 2; - } - - maxU = static_cast(imageWidth) - / static_cast(textureWidth); - maxV = static_cast(imageHeight) - / static_cast(textureHeight); - - osg::ref_ptr image; - image->setImage(textureWidth, textureHeight, 8, 3, GL_RGBA, GL_UNSIGNED_BYTES, NULL, osg::Image::USE_NEW_DELETE); - - texture2D-> - glBindTexture(GL_TEXTURE_2D, id); - glTexImage2D(GL_TEXTURE_2D, 0, 3, textureWidth, textureHeight, - 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL); + texture2D->getImage()->setImage(image->getWidth(), + image->getHeight(), + 1, + GL_RGB, + GL_RGB, + GL_UNSIGNED_BYTE, + image->getImageData(), + osg::Image::NO_DELETE); + texture2D->getImage()->dirty(); } - - glBindTexture(GL_TEXTURE_2D, id); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight, - GL_RGBA, GL_UNSIGNED_BYTE, image->getImageData()); - - heightModel = image->getHeightModel(); } } @@ -126,126 +116,45 @@ Texture::draw(float x1, float y1, float x2, float y2, float x3, float y3, float x4, float y4, bool smoothInterpolation) const { - osg::ref_ptr geometry(new osg::Geometry); - osg::ref_ptr stateset(new osg::StateSet); + osg::Vec2Array* vertices = + static_cast(geometry->getVertexArray()); + (*vertices)[0].set(x1, y1); + (*vertices)[1].set(x2, y2); + (*vertices)[2].set(x3, y3); + (*vertices)[3].set(x4, y4); + + osg::DrawArrays* drawarrays = + static_cast(geometry->getPrimitiveSet(0)); + osg::Vec4Array* colors = + static_cast(geometry->getColorArray()); if (state == REQUESTED) { - osg::ref_ptr vertices(new osg::Vec2Array); - vertices->push_back(osg::Vec2(x1, y1)); - vertices->push_back(osg::Vec2(x2, y2)); - vertices->push_back(osg::Vec2(x3, y3)); - vertices->push_back(osg::Vec2(x4, y4)); - - geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, - 0, vertices->size())); - - geometry->setVertexArray(vertices); - - osg::ref_ptr color(new osg::Vec4Array); - color->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f)); - geometry->setColorArray(color); - geometry->setColorBinding(osg::Geometry::BIND_OVERALL); + drawarrays->set(osg::PrimitiveSet::LINES, 0, 4); + (*colors)[0].set(0.0f, 0.0f, 1.0f, 1.0f); + geometry->getOrCreateStateSet()-> + setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::OFF); + return geometry; } - stateset->setTextureAttributeAndModes(id, texture2D); - - float dx, dy; if (smoothInterpolation) { texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR); texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR); - dx = 1.0f / (2.0f * textureWidth); - dy = 1.0f / (2.0f * textureHeight); } else { texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST); texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST); - dx = 0.0f; - dy = 0.0f; } - glColor3f(1.0f, 1.0f, 1.0f); - if (!_is3D) - { - osg::ref_ptr tc = new osg::Vec2Array; - - geometry->setTexCoordArray(id, tc); - tc->push_back(osg::Vec2(dx, maxV - dy)); - tc->push_back(osg::Vec2(maxU - dx, maxV - dy)); - tc->push_back(osg::Vec2(maxU - dx, dy)); - tc->push_back(osg::Vec2(dx, dy)); - - glBegin(GL_QUADS); - glTexCoord2f(dx, maxV - dy); - glVertex3f(x1, y1, 0.0f); - glTexCoord2f(maxU - dx, maxV - dy); - glVertex3f(x2, y2, 0.0f); - glTexCoord2f(maxU - dx, dy); - glVertex3f(x3, y3, 0.0f); - glTexCoord2f(dx, dy); - glVertex3f(x4, y4, 0.0f); - glEnd(); - } - else - { - float scaleX = 1.0f / static_cast(heightModel.size() - 1); + drawarrays->set(osg::PrimitiveSet::POLYGON, 0, 4); + (*colors)[0].set(1.0f, 1.0f, 1.0f, 1.0f); - for (int32_t i = 0; i < heightModel.size() - 1; ++i) - { - float scaleI = scaleX * static_cast(i); - - float scaleY = - 1.0f / static_cast(heightModel[i].size() - 1); - - float x1i = x1 + scaleI * (x4 - x1); - float x1f = x2 + scaleI * (x3 - x2); - float x2i = x1i + scaleX * (x4 - x1); - float x2f = x1f + scaleX * (x3 - x2); - - for (int32_t j = 0; j < heightModel[i].size() - 1; ++j) - { - float scaleJ = scaleY * static_cast(j); - - float y1i = y1 + scaleJ * (y2 - y1); - float y1f = y4 + scaleJ * (y3 - y4); - float y2i = y1i + scaleY * (y2 - y1); - float y2f = y1f + scaleY * (y3 - y4); - - float nx1 = x1i + scaleJ * (x1f - x1i); - float nx2 = x1i + (scaleJ + scaleY) * (x1f - x1i); - float nx3 = x2i + (scaleJ + scaleY) * (x2f - x2i); - float nx4 = x2i + scaleJ * (x2f - x2i); - float ny1 = y1i + scaleI * (y1f - y1i); - float ny2 = y2i + scaleI * (y2f - y2i); - float ny3 = y2i + (scaleI + scaleX) * (y2f - y2i); - float ny4 = y1i + (scaleI + scaleX) * (y1f - y1i); - - glBegin(GL_QUADS); - glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f), - dy + (1.0f - scaleI) * (maxV - dy * 2.0f)); - glVertex3f(nx1, ny1, -static_cast(heightModel[i][j])); - glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f), - dy + (1.0f - scaleI) * (maxV - dy * 2.0f)); - glVertex3f(nx2, ny2, -static_cast(heightModel[i][j + 1])); - glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f), - dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f)); - glVertex3f(nx3, ny3, -static_cast(heightModel[i + 1][j + 1])); - glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f), - dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f)); - glVertex3f(nx4, ny4, -static_cast(heightModel[i + 1][j])); - - glEnd(); - } - } - } -} + geometry->getOrCreateStateSet()-> + setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::ON); -bool -Texture::is3D(void) const -{ - return _is3D; + return geometry; } diff --git a/src/ui/map3D/Texture.h b/src/ui/map3D/Texture.h index 6907c831d8dc4abcdc1ddbf3320475a0bc168869..9be6f53f26863fdd916eda323e181f10ed60b1f1 100644 --- a/src/ui/map3D/Texture.h +++ b/src/ui/map3D/Texture.h @@ -32,14 +32,10 @@ This file is part of the QGROUNDCONTROL project #ifndef TEXTURE_H #define TEXTURE_H -#if (defined __APPLE__) & (defined __MACH__) -#include -#else -#include -#endif #include #include #include +#include #include #include "WebImage.h" @@ -47,7 +43,7 @@ This file is part of the QGROUNDCONTROL project class Texture { public: - Texture(); + explicit Texture(unsigned int _id); const QString& getSourceURL(void) const; @@ -61,8 +57,6 @@ public: float x3, float y3, float x4, float y4, bool smoothInterpolation) const; - bool is3D(void) const; - private: enum State { @@ -75,18 +69,7 @@ private: QString sourceURL; unsigned int id; osg::ref_ptr texture2D; - - int32_t textureWidth; - int32_t textureHeight; - - int32_t imageWidth; - int32_t imageHeight; - - bool _is3D; - QVector< QVector > heightModel; - - float maxU; - float maxV; + osg::ref_ptr geometry; }; typedef QSharedPointer TexturePtr; diff --git a/src/ui/map3D/TextureCache.cc b/src/ui/map3D/TextureCache.cc index 3337f5235cef19f118bb9f12f5c8d14dc1a2c6aa..5e36a72c79a6dda90858f4a522f3d3583d496b2d 100644 --- a/src/ui/map3D/TextureCache.cc +++ b/src/ui/map3D/TextureCache.cc @@ -37,28 +37,26 @@ TextureCache::TextureCache(uint32_t _cacheSize) { for (uint32_t i = 0; i < cacheSize; ++i) { - TexturePtr t(new Texture); - t->setId(i); + TexturePtr t(new Texture(i)); textures.push_back(t); } } TexturePtr -TextureCache::get(const QString& tileURL, bool useHeightModel) +TextureCache::get(const QString& tileURL) { - QPair p1 = lookup(tileURL, useHeightModel); + QPair p1 = lookup(tileURL); if (!p1.first.isNull()) { return p1.first; } - QPair p2 = - imageCache->lookup(tileURL, useHeightModel); + QPair p2 = imageCache->lookup(tileURL); if (!p2.first.isNull()) { textures[p2.second]->sync(p2.first); - p1 = lookup(tileURL, useHeightModel); + p1 = lookup(tileURL); return p1.first; } @@ -79,12 +77,11 @@ TextureCache::sync(void) } QPair -TextureCache::lookup(const QString& tileURL, bool useHeightModel) +TextureCache::lookup(const QString& tileURL) { for (int32_t i = 0; i < textures.size(); ++i) { - if (textures[i]->getSourceURL() == tileURL && - textures[i]->is3D() == useHeightModel) + if (textures[i]->getSourceURL() == tileURL) { return qMakePair(textures[i], i); } diff --git a/src/ui/map3D/TextureCache.h b/src/ui/map3D/TextureCache.h index ef469a124ea11f352e60d43cb6044dd0cb9f3836..25be665b90f82560549d35237e17688566432a53 100644 --- a/src/ui/map3D/TextureCache.h +++ b/src/ui/map3D/TextureCache.h @@ -42,13 +42,12 @@ class TextureCache public: explicit TextureCache(uint32_t cacheSize); - TexturePtr get(const QString& tileURL, bool useHeightModel = false); + TexturePtr get(const QString& tileURL); void sync(void); private: - QPair lookup(const QString& tileURL, - bool useHeightModel); + QPair lookup(const QString& tileURL); bool requireSync(void) const; diff --git a/src/ui/map3D/WebImage.cc b/src/ui/map3D/WebImage.cc index 466d6879542f23cd21e030c3390d850d1966e648..23cf20769b09c795dcc0dbfeeb96aa549c5362c1 100644 --- a/src/ui/map3D/WebImage.cc +++ b/src/ui/map3D/WebImage.cc @@ -39,7 +39,6 @@ WebImage::WebImage() , sourceURL("") , image(0) , lastReference(0) - , _is3D(false) , syncFlag(false) { @@ -52,7 +51,6 @@ WebImage::clear(void) sourceURL.clear(); state = WebImage::UNINITIALIZED; lastReference = 0; - heightModel.clear(); } WebImage::State @@ -79,18 +77,12 @@ WebImage::setSourceURL(const QString& url) sourceURL = url; } -const uint8_t* +uchar* WebImage::getImageData(void) const { return image->scanLine(0); } -const QVector< QVector >& -WebImage::getHeightModel(void) const -{ - return heightModel; -} - bool WebImage::setData(const QByteArray& data) { @@ -131,90 +123,32 @@ WebImage::setData(const QString& filename) } } -bool -WebImage::setData(const QString& imageFilename, const QString& heightFilename) -{ - QFile heightFile(heightFilename); - - QImage tempImage; - if (tempImage.load(imageFilename) && heightFile.open(QIODevice::ReadOnly)) - { - if (image.isNull()) - { - image.reset(new QImage); - } - *image = QGLWidget::convertToGLFormat(tempImage); - - QDataStream heightDataStream(&heightFile); - - // read in width and height values for height map - char header[8]; - heightDataStream.readRawData(header, 8); - - int32_t height = *(reinterpret_cast(header)); - int32_t width = *(reinterpret_cast(header + 4)); - - char buffer[height * width * sizeof(int32_t)]; - heightDataStream.readRawData(buffer, height * width * sizeof(int32_t)); - - heightModel.clear(); - for (int32_t i = 0; i < height; ++i) - { - QVector scanline; - for (int32_t j = 0; j < width; ++j) - { - int32_t n = *(reinterpret_cast(buffer - + (i * height + j) - * sizeof(int32_t))); - scanline.push_back(n); - } - heightModel.push_back(scanline); - } - - heightFile.close(); - - _is3D = true; - - return true; - } - else - { - return false; - } -} - -int32_t +int WebImage::getWidth(void) const { return image->width(); } -int32_t +int WebImage::getHeight(void) const { return image->height(); } -int32_t +int WebImage::getByteCount(void) const { return image->byteCount(); } -bool -WebImage::is3D(void) const -{ - return _is3D; -} - -uint64_t +ulong WebImage::getLastReference(void) const { return lastReference; } void -WebImage::setLastReference(uint64_t value) +WebImage::setLastReference(ulong value) { lastReference = value; } diff --git a/src/ui/map3D/WebImage.h b/src/ui/map3D/WebImage.h index c4dc2a1d31a57ede192c049d735960ac06af0dd6..21d8546b3ea1990fce4b49b39bd8cf8bc4bb7c2b 100644 --- a/src/ui/map3D/WebImage.h +++ b/src/ui/map3D/WebImage.h @@ -57,20 +57,16 @@ public: const QString& getSourceURL(void) const; void setSourceURL(const QString& url); - const uint8_t* getImageData(void) const; - const QVector< QVector >& getHeightModel(void) const; + uchar* getImageData(void) const; bool setData(const QByteArray& data); bool setData(const QString& filename); - bool setData(const QString& imageFilename, const QString& heightFilename); - int32_t getWidth(void) const; - int32_t getHeight(void) const; - int32_t getByteCount(void) const; + int getWidth(void) const; + int getHeight(void) const; + int getByteCount(void) const; - bool is3D(void) const; - - uint64_t getLastReference(void) const; - void setLastReference(uint64_t value); + ulong getLastReference(void) const; + void setLastReference(ulong value); bool getSyncFlag(void) const; void setSyncFlag(bool onoff); @@ -79,9 +75,7 @@ private: State state; QString sourceURL; QScopedPointer image; - QVector< QVector > heightModel; - uint64_t lastReference; - bool _is3D; + ulong lastReference; bool syncFlag; }; diff --git a/src/ui/map3D/WebImageCache.cc b/src/ui/map3D/WebImageCache.cc index 2203f2141422c44370d7ca71807ea78cdf95675c..aca9e4fa4360cc4226e59f7b6bfaf1e95f6f512a 100644 --- a/src/ui/map3D/WebImageCache.cc +++ b/src/ui/map3D/WebImageCache.cc @@ -52,15 +52,14 @@ WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize) } QPair -WebImageCache::lookup(const QString& url, bool useHeightModel) +WebImageCache::lookup(const QString& url) { QPair cacheEntry; for (int32_t i = 0; i < webImages.size(); ++i) { if (webImages[i]->getState() != WebImage::UNINITIALIZED && - webImages[i]->getSourceURL() == url && - webImages[i]->is3D() == useHeightModel) + webImages[i]->getSourceURL() == url) { cacheEntry.first = webImages[i]; cacheEntry.second = i; @@ -111,22 +110,7 @@ WebImageCache::lookup(const QString& url, bool useHeightModel) } else { - bool success; - - if (useHeightModel) - { - QString heightURL = url; - heightURL.replace("color", "dom"); - heightURL.replace(".jpg", ".txt"); - - success = cacheEntry.first->setData(url, heightURL); - } - else - { - success = cacheEntry.first->setData(url); - } - - if (success) + if (cacheEntry.first->setData(url)) { cacheEntry.first->setSyncFlag(true); cacheEntry.first->setState(WebImage::READY); diff --git a/src/ui/map3D/WebImageCache.h b/src/ui/map3D/WebImageCache.h index 7b2f1ea6b8163ab1cf165a1a4997cdb0a05fcc41..d482d717a60b2338e5a2f20e1e8beda680211759 100644 --- a/src/ui/map3D/WebImageCache.h +++ b/src/ui/map3D/WebImageCache.h @@ -45,8 +45,7 @@ class WebImageCache : public QObject public: WebImageCache(QObject* parent, uint32_t cacheSize); - QPair lookup(const QString& url, - bool useHeightModel); + QPair lookup(const QString& url); WebImagePtr at(int32_t index) const;