QGCGoogleEarthView.cc 25.5 KB
Newer Older
1 2 3 4
#include <QApplication>
#include <QDir>
#include <QShowEvent>
#include <QSettings>
5
#include <QInputDialog>
6 7 8 9 10 11 12 13 14

#include <QDebug>
#include <QFile>
#include <QTextStream>
#include "UASManager.h"

#ifdef Q_OS_MAC
#include <QWebFrame>
#include <QWebPage>
15
#include <QWebElement>
16 17 18
#include "QGCWebPage.h"
#endif

19 20 21
#ifdef _MSC_VER
#include <QAxObject>
#include <QUuid>
22
#include <mshtml.h>
23 24
#include <comdef.h>
#include <qaxtypes.h>
25 26 27
#endif

#include "QGC.h"
28 29
#include "ui_QGCGoogleEarthView.h"
#include "QGCGoogleEarthView.h"
pixhawk's avatar
pixhawk committed
30
#include "UASWaypointManager.h"
31 32 33 34

#define QGCGOOGLEEARTHVIEWSETTINGS QString("GoogleEarthViewSettings_")

QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
35 36 37 38 39 40 41 42 43 44
    QWidget(parent),
    updateTimer(new QTimer(this)),
    refreshRateMs(100),
    mav(NULL),
    followCamera(true),
    trailEnabled(true),
    webViewInitialized(false),
    jScriptInitialized(false),
    gEarthInitialized(false),
    currentViewMode(QGCGoogleEarthView::VIEW_MODE_SIDE),
45
#if (defined Q_OS_MAC)
46
    webViewMac(new QWebView(this)),
47 48
#endif
#ifdef _MSC_VER
49 50
    webViewWin(new QGCWebAxWidget(this)),
    documentWin(NULL),
51
#endif
52
    ui(new Ui::QGCGoogleEarthView)
53 54 55 56
{
#ifdef _MSC_VER
    // Create layout and attach webViewWin

57 58 59 60 61 62 63 64 65
    QFile file("doc.html");
    if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
        qDebug() << __FILE__ << __LINE__ << "Could not open log file";

    QTextStream out(&file);
    out << webViewWin->generateDocumentation();
    out.flush();
    file.flush();
    file.close();
66 67 68 69 70 71 72 73 74 75 76 77 78


#else
#endif

    // Load settings
    QSettings settings;
    followCamera = settings.value(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera).toBool();
    trailEnabled = settings.value(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled).toBool();

    ui->setupUi(this);
#if (defined Q_OS_MAC)
    ui->webViewLayout->addWidget(webViewMac);
pixhawk's avatar
pixhawk committed
79
    //connect(webViewMac, SIGNAL(loadFinished(bool)), this, SLOT(initializeGoogleEarth(bool)));
80 81 82 83 84 85 86
#endif

#ifdef _MSC_VER
    ui->webViewLayout->addWidget(webViewWin);
#endif

    connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
pixhawk's avatar
pixhawk committed
87
    connect(ui->resetButton, SIGNAL(clicked()), this, SLOT(reloadHTML()));
88
    connect(ui->changeViewButton, SIGNAL(clicked()), this, SLOT(toggleViewMode()));
89
    connect(ui->clearTrailsButton, SIGNAL(clicked()), this, SLOT(clearTrails()));
90 91
    connect(ui->atmosphereCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableAtmosphere(bool)));
    connect(ui->daylightCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableDaylight(bool)));
92 93

    connect(UASManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(setHome(double,double,double)));
94 95 96 97 98 99 100 101
}

QGCGoogleEarthView::~QGCGoogleEarthView()
{
    QSettings settings;
    settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera);
    settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled);
    settings.sync();
102
#if (defined Q_OS_MAC)
103
    delete webViewMac;
104 105
#endif
#ifdef _MSC_VER
106
    delete webViewWin;
107
#endif
108 109 110
    delete ui;
}

111 112 113 114 115 116 117 118
/**
 * @param range in centimeters
 */
void QGCGoogleEarthView::setViewRangeScaledInt(int range)
{
    setViewRange(range/100.0f);
}

pixhawk's avatar
pixhawk committed
119 120 121 122 123 124 125 126 127
void QGCGoogleEarthView::reloadHTML()
{
    hide();
    webViewInitialized = false;
    jScriptInitialized = false;
    gEarthInitialized = false;
    show();
}

128 129 130 131 132
void QGCGoogleEarthView::enableEditMode(bool mode)
{
    javaScript(QString("setDraggingAllowed(%1);").arg(mode));
}

133 134 135 136 137 138 139 140 141 142
void QGCGoogleEarthView::enableDaylight(bool enable)
{
    javaScript(QString("enableDaylight(%1);").arg(enable));
}

void QGCGoogleEarthView::enableAtmosphere(bool enable)
{
    javaScript(QString("enableAtmosphere(%1);").arg(enable));
}

143 144 145 146 147 148 149 150
/**
 * @param range in meters (SI-units)
 */
void QGCGoogleEarthView::setViewRange(float range)
{
    javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5));
}

151 152 153 154 155
void QGCGoogleEarthView::setDistanceMode(int mode)
{
    javaScript(QString("setDistanceMode(%1);").arg(mode));
}

156 157
void QGCGoogleEarthView::toggleViewMode()
{
158
    switch (currentViewMode) {
159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175
    case VIEW_MODE_MAP:
        setViewMode(VIEW_MODE_SIDE);
        break;
    case VIEW_MODE_SIDE:
        setViewMode(VIEW_MODE_MAP);
        break;
    case VIEW_MODE_CHASE_LOCKED:
        setViewMode(VIEW_MODE_CHASE_FREE);
        break;
    case VIEW_MODE_CHASE_FREE:
        setViewMode(VIEW_MODE_CHASE_LOCKED);
        break;
    }
}

void QGCGoogleEarthView::setViewMode(QGCGoogleEarthView::VIEW_MODE mode)
{
176
    switch (mode) {
177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193
    case VIEW_MODE_MAP:
        ui->changeViewButton->setText("Free View");
        break;
    case VIEW_MODE_SIDE:
        ui->changeViewButton->setText("Map View");
        break;
    case VIEW_MODE_CHASE_LOCKED:
        ui->changeViewButton->setText("Free Chase");
        break;
    case VIEW_MODE_CHASE_FREE:
        ui->changeViewButton->setText("Fixed Chase");
        break;
    }
    currentViewMode = mode;
    javaScript(QString("setViewMode(%1);").arg(mode));
}

194 195
void QGCGoogleEarthView::addUAS(UASInterface* uas)
{
196 197 198 199 200 201 202 203 204 205 206 207
    // uasid, type, color (in #rrbbgg format)
    QString uasColor = uas->getColor().name().remove(0, 1);
    // Convert to bbggrr format
    QString rChannel = uasColor.mid(0, 2);
    uasColor.remove(0, 2);
    uasColor.prepend(rChannel);
    // Set alpha value to 0x66, append JavaScript quotes ('')
    uasColor.prepend("'66").append("'");
    javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uasColor));

    if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID()));

208 209
    // Automatically receive further position updates
    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
pixhawk's avatar
pixhawk committed
210 211
    // Receive waypoint updates
    // Connect the waypoint manager / data storage to the UI
212 213 214
    connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
    connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
    //connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypointEditable(Waypoint*)));
pixhawk's avatar
pixhawk committed
215
    // TODO Update waypoint list on UI changes here
216 217 218 219
}

void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
{
220 221
    if (uas)
    {
222
        mav = uas;
223
        javaScript(QString("setCurrAircraft(%1);").arg(uas->getUASID()));
224
        updateWaypointList(uas->getUASID());
225 226 227
    }
}

pixhawk's avatar
pixhawk committed
228 229 230 231 232 233 234
/**
 * This function is called if a a single waypoint is updated and
 * also if the whole list changes.
 */
void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp)
{
    // Only accept waypoints in global coordinate frame
235
    if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
236
    {
pixhawk's avatar
pixhawk committed
237 238 239
        // We're good, this is a global waypoint

        // Get the index of this waypoint
lm's avatar
lm committed
240
        // note the call to getGlobalFrameAndNavTypeIndexOf()
pixhawk's avatar
pixhawk committed
241
        // as we're only handling global waypoints
lm's avatar
lm committed
242
        int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
pixhawk's avatar
pixhawk committed
243
        // If not found, return (this should never happen, but helps safety)
244 245
        if (wpindex == -1)
        {
pixhawk's avatar
pixhawk committed
246
            return;
247 248 249
        }
        else
        {
250
            javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 22).arg(wp->getLongitude(), 0, 'f', 22).arg(wp->getAltitude(), 0, 'f', 22).arg(wp->getAction()));
251
            //qDebug() << QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction());
pixhawk's avatar
pixhawk committed
252 253 254 255 256 257 258 259 260 261 262 263 264
        }
    }
}

/**
 * Update the whole list of waypoints. This is e.g. necessary if the list order changed.
 * The UAS manager will emit the appropriate signal whenever updating the list
 * is necessary.
 */
void QGCGoogleEarthView::updateWaypointList(int uas)
{
    // Get already existing waypoints
    UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
265 266
    if (uasInstance)
    {
pixhawk's avatar
pixhawk committed
267
        // Get all waypoints, including non-global waypoints
lm's avatar
lm committed
268
        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
pixhawk's avatar
pixhawk committed
269 270 271 272

        // Trim internal list to number of global waypoints in the waypoint manager list
        javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()));

lm's avatar
lm committed
273 274
        qDebug() << QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count());

pixhawk's avatar
pixhawk committed
275
        // Load all existing waypoints into map view
276 277
        foreach (Waypoint* wp, wpList)
        {
pixhawk's avatar
pixhawk committed
278 279 280 281 282
            updateWaypoint(uas, wp);
        }
    }
}

283
void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
284 285
{
    Q_UNUSED(usec);
286
    javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 22).arg(lon, 0, 'f', 22).arg(alt, 0, 'f', 22));
287

lm's avatar
lm committed
288
    //qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15);
289 290
}

291 292 293
void QGCGoogleEarthView::clearTrails()
{
    QList<UASInterface*> mavs = UASManager::instance()->getUASList();
294 295
    foreach (UASInterface* currMav, mavs)
    {
296 297 298 299
        javaScript(QString("clearTrail(%1);").arg(currMav->getUASID()));
    }
}

300 301
void QGCGoogleEarthView::showTrail(bool state)
{
302
    // Check if the current trail has to be hidden
303 304
    if (trailEnabled && !state)
    {
305
        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
306 307
        foreach (UASInterface* currMav, mavs)
        {
308
            javaScript(QString("hideTrail(%1);").arg(currMav->getUASID()));
309 310 311 312
        }
    }

    // Check if the current trail has to be shown
313 314
    if (!trailEnabled && state)
    {
315
        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
316 317
        foreach (UASInterface* currMav, mavs)
        {
318 319 320 321
            javaScript(QString("showTrail(%1);").arg(currMav->getUASID()));
        }
    }
    trailEnabled = state;
322 323 324 325 326
    ui->trailCheckbox->setChecked(state);
}

void QGCGoogleEarthView::showWaypoints(bool state)
{
pixhawk's avatar
pixhawk committed
327
    waypointsEnabled = state;
328 329 330 331 332
}

void QGCGoogleEarthView::follow(bool follow)
{
    ui->followAirplaneCheckbox->setChecked(follow);
333 334 335 336
    if (follow != followCamera)
    {
        if (follow)
        {
337
            setViewMode(VIEW_MODE_CHASE_LOCKED);
338 339 340
        }
        else
        {
341 342 343
            setViewMode(VIEW_MODE_SIDE);
        }
    }
344
    followCamera = follow;
345
    javaScript(QString("setFollowEnabled(%1)").arg(follow));
346 347 348 349 350 351 352 353
}

void QGCGoogleEarthView::goHome()
{
    // Disable follow and update
    follow(false);
    updateState();
    // Go to home location
354
    javaScript("goHome();");
355 356 357 358
}

void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
{
359
    qDebug() << "SETTING GCS HOME IN GOOGLE MAPS" << lat << lon << alt;
360
    javaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
361 362
}

363 364 365 366 367 368 369 370 371 372 373 374 375 376
void QGCGoogleEarthView::setHome()
{
    javaScript(QString("enableSetHomeMode();"));
}

void QGCGoogleEarthView::moveToPosition()
{
    bool ok;
    javaScript("sampleCurrentPosition();");
    double latitude = documentElement("currentCameraLatitude").toDouble();
    double longitude = documentElement("currentCameraLongitude").toDouble();
    QString text = QInputDialog::getText(this, tr("Please enter coordinates"),
                                         tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
                                         QString("%1,%2").arg(latitude).arg(longitude), &ok);
377
    if (ok && !text.isEmpty()) {
378
        QStringList split = text.split(",");
379
        if (split.length() == 2) {
380 381 382 383 384 385
            bool convert;
            double latitude = split.first().toDouble(&convert);
            ok &= convert;
            double longitude = split.last().toDouble(&convert);
            ok &= convert;

386
            if (ok) {
387 388 389 390 391 392
                javaScript(QString("setLookAtLatLon(%1,%2);").arg(latitude, 0, 'f', 15).arg(longitude, 0, 'f', 15));
            }
        }
    }
}

393 394
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
{
395
    updateTimer->stop();
LM's avatar
LM committed
396 397
    QWidget::hideEvent(event);
    emit visibilityChanged(false);
398 399
}

400 401 402 403
void QGCGoogleEarthView::showEvent(QShowEvent* event)
{
    // React only to internal (pre-display)
    // events
LM's avatar
LM committed
404
    QWidget::showEvent(event);
405
    // Enable widget, initialize on first run
406

LM's avatar
LM committed
407 408
    if (!webViewInitialized)
    {
409
#if (defined Q_OS_MAC)
410 411 412
        webViewMac->setPage(new QGCWebPage(webViewMac));
        webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
        webViewMac->load(QUrl(QCoreApplication::applicationDirPath()+"/earth.html"));
413 414 415
#endif

#ifdef _MSC_VER
416 417
        //webViewWin->dynamicCall("GoHome()");
        webViewWin->dynamicCall("Navigate(const QString&)", QApplication::applicationDirPath() + "/earth.html");
418 419
#endif

420 421 422
        webViewInitialized = true;
        // Reloading the webpage, this resets Google Earth
        gEarthInitialized = false;
423

424
        QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
LM's avatar
LM committed
425 426 427
    }
    else
    {
428 429
        updateTimer->start(refreshRateMs);
    }
LM's avatar
LM committed
430
    emit visibilityChanged(true);
431 432
}

433 434
void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3)
{
435
    qDebug() << no << str1 << str2 << str3;
436 437 438 439 440
}

QVariant QGCGoogleEarthView::javaScript(QString javaScript)
{
#ifdef Q_OS_MAC
441
    if (!jScriptInitialized) {
442
        return QVariant(false);
443
    } else {
444 445
        return webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript);
    }
446 447
#endif
#ifdef _MSC_VER
448
    if(!jScriptInitialized) {
449 450
        qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
        return QVariant(false);
451
    } else {
452 453 454
        QVariantList params;
        params.append(javaScript);
        params.append("JScript");
455 456
        QVariant result = jScriptWin->dynamicCall("execScript(QString, QString)", params);
        return result;
457
    }
458 459 460
#endif
}

461 462 463 464 465 466 467 468
QVariant QGCGoogleEarthView::documentElement(QString name)
{
#ifdef Q_OS_MAC
    QString javaScript("getGlobal(%1)");
    QVariant result = webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript.arg(name));
    return result;
#endif
#ifdef _MSC_VER
469
    if(!jScriptInitialized) {
470
        qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
471 472
    } else {
        if (documentWin) {
473 474 475 476 477 478 479 480 481 482 483 484
            QString resultString;

            // Get HTMLElement object
            QVariantList params;
            IHTMLDocument3* doc;
            documentWin->queryInterface( IID_IHTMLDocument3, (void**)&doc);
            params.append(name);
            IHTMLElement* element = NULL;
            // Append alias
            name.prepend("JScript_");
            HRESULT res = doc->getElementById(QStringToBSTR(name), &element);
            //BSTR elemString;
lm's avatar
lm committed
485
            if (SUCCEEDED(res) && element) {
486 487 488 489
                //element->get_innerHTML(&elemString);
                VARIANT var;
                var.vt = VT_BSTR;
                HRESULT res = element->getAttribute(L"value", 0, &var);
490
                if (SUCCEEDED(res) && (var.vt != VT_NULL)) {
491 492 493
                    QByteArray typeName;
                    QVariant qtValue = VARIANTToQVariant(var,typeName);
                    return qtValue;
494
                } else {
495 496
                    qDebug() << __FILE__ << __LINE__ << "JAVASCRIPT ATTRIBUTE" << name << "NOT FOUND";
                }
497
            } else {
498 499 500
                qDebug() << __FILE__ << __LINE__ << "DID NOT GET HTML ELEMENT" << name;
            }
        }
501
    }
502
    return QVariant(0);
503 504 505
#endif
}

506 507
void QGCGoogleEarthView::initializeGoogleEarth()
{
508
    if (!jScriptInitialized) {
509 510
#ifdef Q_OS_MAC
        jScriptInitialized = true;
511
#endif
512 513
#ifdef _MSC_VER
        QAxObject* doc = webViewWin->querySubObject("Document()");
514
        //IDispatch* Disp;
515
        IDispatch* winDoc = NULL;
516
        IHTMLDocument2* document = NULL;
517 518 519 520

        //332C4425-26CB-11D0-B483-00C04FD90119 IHTMLDocument2
        //25336920-03F9-11CF-8FD0-00AA00686F13 HTMLDocument
        doc->queryInterface(QUuid("{332C4425-26CB-11D0-B483-00C04FD90119}"), (void**)(&winDoc));
521
        if (winDoc) {
522
            document = NULL;
523 524 525
            winDoc->QueryInterface( IID_IHTMLDocument2, (void**)&document );
            IHTMLWindow2 *window = NULL;
            document->get_parentWindow( &window );
526
            documentWin = new QAxObject(document, webViewWin);
527 528 529
            jScriptWin = new QAxObject(window, webViewWin);
            connect(jScriptWin, SIGNAL(exception(int,QString,QString,QString)), this, SLOT(printWinException(int,QString,QString,QString)));
            jScriptInitialized = true;
530
        } else {
531 532
            qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting";
        }
533
#endif
534
        QTimer::singleShot(1500, this, SLOT(initializeGoogleEarth()));
535 536
        return;
    }
537

538 539
    if (!gEarthInitialized) {
        if (!documentElement("initialized").toBool()) {
540
            QTimer::singleShot(300, this, SLOT(initializeGoogleEarth()));
541
            qDebug() << "NOT INITIALIZED, WAITING";
542
        } else {
543 544
            gEarthInitialized = true;

545
            // Set home location
546
            setHome(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude());
547 548 549

            // Add all MAVs
            QList<UASInterface*> mavs = UASManager::instance()->getUASList();
550
            foreach (UASInterface* currMav, mavs) {
551
                addUAS(currMav);
552 553
            }

554 555 556
            // Set current UAS
            setActiveUAS(UASManager::instance()->getActiveUAS());

557
            // Add any further MAV automatically
558 559
            connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)), Qt::UniqueConnection);
            connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)), Qt::UniqueConnection);
560 561 562 563 564

            // Connect UI signals/slots

            // Follow checkbox
            ui->followAirplaneCheckbox->setChecked(followCamera);
565
            connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)), Qt::UniqueConnection);
566 567 568

            // Trail checkbox
            ui->trailCheckbox->setChecked(trailEnabled);
569
            connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)), Qt::UniqueConnection);
570 571 572

            // Go home
            connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
573 574 575 576 577 578 579 580 581
            // Set home
            connect(ui->setHomeButton, SIGNAL(clicked()), this, SLOT(setHome()));

            // Visibility of set home button
            connect(ui->editButton, SIGNAL(clicked(bool)), ui->setHomeButton, SLOT(setVisible(bool)));
            ui->setHomeButton->setVisible(ui->editButton->isChecked());

            // To Lat/Lon button
            connect(ui->toLatLonButton, SIGNAL(clicked()), this, SLOT(moveToPosition()));
582 583

            // Cam distance slider
584
            connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)), Qt::UniqueConnection);
585
            setViewRangeScaledInt(ui->camDistanceSlider->value());
586

587 588 589 590 591
            // Distance combo box
            connect(ui->camDistanceComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setDistanceMode(int)), Qt::UniqueConnection);
            // Edit mode button
            connect(ui->editButton, SIGNAL(clicked(bool)), this, SLOT(enableEditMode(bool)), Qt::UniqueConnection);

592 593 594
            // Update waypoint list
            if (mav) updateWaypointList(mav->getUASID());

595 596 597
            // Start update timer
            updateTimer->start(refreshRateMs);

598 599
            // Set current view mode
            setViewMode(currentViewMode);
600 601
            setDistanceMode(ui->camDistanceComboBox->currentIndex());
            enableEditMode(ui->editButton->isChecked());
602 603
            enableAtmosphere(ui->atmosphereCheckBox->isChecked());
            enableDaylight(ui->daylightCheckBox->isChecked());
pixhawk's avatar
pixhawk committed
604
            follow(this->followCamera);
605 606 607

            // Move to home location
            goHome();
608 609 610 611 612 613
        }
    }
}

void QGCGoogleEarthView::updateState()
{
614 615 616
#if (QGC_EVENTLOOP_DEBUG)
    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
617
    if (gEarthInitialized) {
618 619 620 621 622 623 624 625 626 627 628
        int uasId = 0;
        double lat = 47.3769;
        double lon = 8.549444;
        double alt = 470.0;

        float roll = 0.0f;
        float pitch = 0.0f;
        float yaw = 0.0f;

        // Update all MAVs
        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
629 630
        foreach (UASInterface* currMav, mavs)
        {
631 632 633 634 635 636 637
            uasId = currMav->getUASID();
            lat = currMav->getLatitude();
            lon = currMav->getLongitude();
            alt = currMav->getAltitude();
            roll = currMav->getRoll();
            pitch = currMav->getPitch();
            yaw = currMav->getYaw();
638

639 640
            //qDebug() << "SETTING POSITION FOR" << uasId << lat << lon << alt << roll << pitch << yaw;

641
            javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
642
                       .arg(uasId)
643 644 645 646 647 648
                       .arg(lat, 0, 'f', 15)
                       .arg(lon, 0, 'f', 15)
                       .arg(alt, 0, 'f', 15)
                       .arg(roll, 0, 'f', 9)
                       .arg(pitch, 0, 'f', 9)
                       .arg(yaw, 0, 'f', 9));
649
        }
650 651 652 653 654 655 656 657


        // Read out new waypoint positions and waypoint create events
        // this is polling (bad) but forced because of the crappy
        // Microsoft API available in Qt - improvements wanted

        // First check if a new WP should be created
        bool newWaypointPending = documentElement("newWaypointPending").toBool();
658 659
        if (newWaypointPending)
        {
660 661 662 663 664 665 666 667
            bool coordsOk = true;
            bool ok;
            double latitude = documentElement("newWaypointLatitude").toDouble(&ok);
            coordsOk &= ok;
            double longitude = documentElement("newWaypointLongitude").toDouble(&ok);
            coordsOk &= ok;
            double altitude = documentElement("newWaypointAltitude").toDouble(&ok);
            coordsOk &= ok;
668 669
            if (coordsOk)
            {
670
                // Add new waypoint
671 672
                if (mav)
                {
673
                    Waypoint* wp = mav->getWaypointManager()->createWaypoint();
674
                    wp->setFrame(MAV_FRAME_GLOBAL);
675 676 677 678
                    wp->setAction(MAV_CMD_NAV_WAYPOINT);
                    wp->setLatitude(latitude);
                    wp->setLongitude(longitude);
                    wp->setAltitude(altitude);
679
                    wp->setAcceptanceRadius(10.0); // 10 m
680 681 682 683 684 685 686 687
                }
            }
            javaScript("setNewWaypointPending(false);");
        }

        // Check if a waypoint should be moved
        bool dragWaypointPending = documentElement("dragWaypointPending").toBool();

688 689
        if (dragWaypointPending)
        {
690 691 692 693 694 695 696 697
            bool coordsOk = true;
            bool ok;
            double latitude = documentElement("dragWaypointLatitude").toDouble(&ok);
            coordsOk &= ok;
            double longitude = documentElement("dragWaypointLongitude").toDouble(&ok);
            coordsOk &= ok;
            double altitude = documentElement("dragWaypointAltitude").toDouble(&ok);
            coordsOk &= ok;
698 699

            // UPDATE WAYPOINTS, HOME LOCATION AND OTHER LOCATIONS
700 701
            if (coordsOk)
            {
702
                QString idText = documentElement("dragWaypointIndex").toString();
703 704
                if (idText == "HOME")
                {
705 706 707
                    qDebug() << "HOME UPDATED!";
                    UASManager::instance()->setHomePosition(latitude, longitude, altitude);
                    ui->setHomeButton->setChecked(false);
708 709 710
                }
                else
                {
711
                    // Update waypoint or symbol
712 713
                    if (mav)
                    {
lm's avatar
lm committed
714
                        QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
715 716 717 718

                        bool ok;
                        int index = idText.toInt(&ok);

719 720
                        if (ok && index >= 0 && index < wps.count())
                        {
721 722 723 724
                            Waypoint* wp = wps.at(index);
                            wp->setLatitude(latitude);
                            wp->setLongitude(longitude);
                            wp->setAltitude(altitude);
725
                            mav->getWaypointManager()->notifyOfChangeEditable(wp);
726
                        }
727 728
                    }
                }
729 730 731
            }
            else
            {
732 733 734 735 736 737
                // If coords were not ok, move the view in google earth back
                // to last acceptable location
                updateWaypointList(mav->getUASID());
            }
            javaScript("setDragWaypointPending(false);");
        }
738 739 740 741 742 743 744 745 746 747 748 749 750 751 752
    }
}


void QGCGoogleEarthView::changeEvent(QEvent *e)
{
    QWidget::changeEvent(e);
    switch (e->type()) {
    case QEvent::LanguageChange:
        ui->retranslateUi(this);
        break;
    default:
        break;
    }
}