MapWidget.h 6.01 KB
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/*=====================================================================

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QGroundControl Open Source Ground Control Station
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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    QGROUNDCONTROL is free software: you can redistribute it and/or modify
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    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.

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    QGROUNDCONTROL is distributed in the hope that it will be useful,
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    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
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    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/

/**
 * @file
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 *   @brief Definition of MapWidget
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 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
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 *   @author Mariano Lizarraga
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 *
 */

#ifndef MAPWIDGET_H
#define MAPWIDGET_H

#include <QtGui/QWidget>
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#include <QMap>
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#include "qmapcontrol.h"
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#include "UASInterface.h"
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#include "QPointF"

#include <qmath.h>


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class QMenu;
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class Waypoint;
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class Waypoint2DIcon;
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namespace Ui {
    class MapWidget;
}

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    using namespace qmapcontrol;

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/**
 * @brief 2D Moving map
 *
 * This map displays street maps, aerial images and the MAV position,
 * waypoints and trails on top.
 */
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class MapWidget : public QWidget {
    Q_OBJECT
public:
    MapWidget(QWidget *parent = 0);
    ~MapWidget();

public slots:
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    void addUAS(UASInterface* uas);
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    void activeUASSet(UASInterface* uas);
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    /** @brief Update the system specs of one system */
    void updateSystemSpecs(int uas);
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    /** @brief Update the selected system */
    void updateSelectedSystem(int uas);
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    /** @brief Update the attitude */
    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
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    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
    void updatePosition(float time, double lat, double lon);
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    void updateCameraPosition(double distance, double bearing, QString dir);
    QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
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    /** @brief Clear the waypoints overlay layer */
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    void clearWaypoints(int uas=0);
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    /** @brief Clear the UAV tracks on the map */
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    void clearPath(int uas=0);

    /** @brief Update waypoint list */
    void updateWaypointList(int uas);
    /** @brief Clear all waypoints and re-add them from updated list */
    void redoWaypoints(int uas=0);

    /** @brief Update waypoint */
    void updateWaypoint(int uas, Waypoint* wp);
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    void updateWaypoint(int uas, Waypoint* wp, bool updateView);
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    void drawBorderCamAtMap(bool status);
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    /** @brief Bring up dialog to go to a specific location */
    void goTo();
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protected:
    void changeEvent(QEvent* e);
    void wheelEvent(QWheelEvent *event);
    void keyPressEvent(QKeyEvent *event);
    void resizeEvent(QResizeEvent* event);
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    /** @brief Start widget updating */
    void showEvent(QShowEvent* event);
    /** @brief Stop widget updating */
    void hideEvent(QHideEvent* event);
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    QAction* osmAction;
    QAction* yahooActionMap;
    QAction* yahooActionSatellite;
    QAction* yahooActionOverlay;
    QAction* googleActionMap;
    QAction* googleSatAction;

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    QPushButton* followgps;
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    QPushButton* createPath;
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    QPushButton* clearTracking;
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    QLabel* gpsposition;
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    QMenu* mapMenu;
    QPushButton* mapButton;

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    qmapcontrol::MapControl* mc;            ///< QMapControl widget
    qmapcontrol::MapAdapter* mapadapter;    ///< Adapter to load the map data
    qmapcontrol::Layer* l;                  ///< Current map layer (background)
    qmapcontrol::Layer* overlay;            ///< Street overlay (foreground)
    qmapcontrol::Layer* tracks;             ///< Layer for UAV tracks
    qmapcontrol::GeometryLayer* geomLayer;  ///< Layer for waypoints
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    //only for experiment
    qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator

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    int zoomLevel;
    int detailZoom; ///< Steps zoomed in further than qMapControl allows
    static const int scrollStep = 40; ///< Scroll n pixels per keypress
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    static const int maxZoom = 50;    ///< Maximum zoom level
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    //Layer* gSatLayer;
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    QMap<int, qmapcontrol::Point*> uasIcons;
    QMap<int, qmapcontrol::LineString*> uasTrails;
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    QMap<int, QPen*> mavPens;
    //QMap<int, QList<qmapcontrol::Point*> > mavWps;
    //QMap<int, qmapcontrol::LineString*> waypointPaths;
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    UASInterface* mav;
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    quint64 lastUpdate;
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    bool initialized;

    /** @brief Initialize view */
    void init();
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  protected slots:
    void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
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    void captureGeometryClick(Geometry*, QPoint);
    void captureGeometryDrag(Geometry* geom, QPointF coordinate);
    void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
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    void createPathButtonClicked(bool checked);

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    /** @brief Create the graphic representation of the waypoint */
    void createWaypointGraphAtMap(int id, const QPointF coordinate);
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    void mapproviderSelected(QAction* action);

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  signals:
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    //void movePoint(QPointF newCoord);
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    //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
    //void createGlobalWP(bool value, QPointF centerCoordinate);
    void waypointCreated(Waypoint* wp);
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    void sendGeometryEndDrag(const QPointF coordinate, const int index);
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private:
    Ui::MapWidget *m_ui;
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    QList<qmapcontrol::Point*> wps;
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    QList<Waypoint2DIcon*>wpIcons;
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    qmapcontrol::LineString* waypointPath;
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    //QHash <QString, qmapcontrol::Point*> wpIndex;
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    QPen* pointPen;
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    int wpExists(const QPointF coordinate);
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    bool waypointIsDrag;
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    qmapcontrol::LineString* camLine;
    QList<qmapcontrol::Point*> camPoints;
    QPointF lastCamBorderPos;
    bool drawCamBorder;
    int radioCamera;

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};

#endif // MAPWIDGET_H