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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL 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 <http://www.gnu.org/licenses/>.
======================================================================*/
#include <QList>
#include <QApplication>
#include <QTimer>
#include "UASInterface.h"
#define PI 3.1415926535897932384626433832795
#define MEAN_EARTH_DIAMETER 12756274.0
#define UMR 0.017453292519943295769236907684886
IMPLEMENT_QGC_SINGLETON(HomePositionManager, HomePositionManager)
const char* HomePositionManager::_settingsGroup = "HomePositionManager";
const char* HomePositionManager::_latitudeKey = "Latitude";
const char* HomePositionManager::_longitudeKey = "Longitude";
const char* HomePositionManager::_altitudeKey = "Altitude";
HomePositionManager::HomePositionManager(QObject* parent)
: QObject(parent)
, homeLat(47.3769)
, homeLon(8.549444)
, homeAlt(470.0)
qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
HomePositionManager::~HomePositionManager()
void HomePositionManager::_storeSettings(void)
settings.remove(_settingsGroup);
settings.beginGroup(_settingsGroup);
for (int i=0; i<_homePositions.count(); i++) {
HomePosition* homePos = qobject_cast<HomePosition*>(_homePositions[i]);
qDebug() << "Saving" << homePos->name();
settings.beginGroup(homePos->name());
settings.setValue(_latitudeKey, homePos->coordinate().latitude());
settings.setValue(_longitudeKey, homePos->coordinate().longitude());
settings.setValue(_altitudeKey, homePos->coordinate().altitude());
settings.endGroup();
}
settings.endGroup();
// Deprecated settings for old editor
settings.beginGroup("QGC_UASMANAGER");
settings.setValue("HOMELAT", homeLat);
settings.setValue("HOMELON", homeLon);
settings.setValue("HOMEALT", homeAlt);
settings.endGroup();
}
void HomePositionManager::_loadSettings(void)
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_homePositions.clear();
settings.beginGroup(_settingsGroup);
foreach(QString name, settings.childGroups()) {
QGeoCoordinate coordinate;
qDebug() << "Load setting" << name;
settings.beginGroup(name);
coordinate.setLatitude(settings.value(_latitudeKey).toDouble());
coordinate.setLongitude(settings.value(_longitudeKey).toDouble());
coordinate.setAltitude(settings.value(_altitudeKey).toDouble());
settings.endGroup();
_homePositions.append(new HomePosition(name, coordinate, this));
}
settings.endGroup();
if (_homePositions.count() == 0) {
_homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0)));
}
// Deprecated settings for old editor
bool changed = setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
settings.value("HOMELON", homeLon).toDouble(),
settings.value("HOMEALT", homeAlt).toDouble());
// Make sure to fire the change - this will
// make sure widgets get the signal once
if (!changed)
{
emit homePositionChanged(homeLat, homeLon, homeAlt);
}
bool HomePositionManager::setHomePosition(double lat, double lon, double alt)
// and checking for borders
bool changed = false;
if (!isnan(lat) && !isnan(lon) && !isnan(alt)
&& !isinf(lat) && !isinf(lon) && !isinf(alt)
&& lat <= 90.0 && lat >= -90.0 && lon <= 180.0 && lon >= -180.0)
{
if (fabs(homeLat - lat) > 1e-7) changed = true;
if (fabs(homeLon - lon) > 1e-7) changed = true;
if (fabs(homeAlt - alt) > 0.5f) changed = true;
if (changed)
{
homeLat = lat;
homeLon = lon;
homeAlt = alt;
emit homePositionChanged(homeLat, homeLon, homeAlt);
}
}
return changed;
}
bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, double alt)
{
// Checking for NaN and infitiny
// and checking for borders
bool changed = setHomePosition(lat, lon, alt);
if (changed) {
MultiVehicleManager::instance()->setHomePositionForAllVehicles(homeLat, homeLon, homeAlt);
void HomePositionManager::updateHomePosition(const QString& name, const QGeoCoordinate& coordinate)
HomePosition * homePos = NULL;
for (int i=0; i<_homePositions.count(); i++) {
homePos = qobject_cast<HomePosition*>(_homePositions[i]);
if (homePos->name() == name) {
break;
}
homePos = NULL;
}
if (homePos == NULL) {
HomePosition* homePos = new HomePosition(name, coordinate, this);
_homePositions.append(homePos);
} else {
homePos->setName(name);
homePos->setCoordinate(coordinate);
}
_storeSettings();
void HomePositionManager::deleteHomePosition(const QString& name)
// Don't allow delete of last position
if (_homePositions.count() == 1) {
return;
}
qDebug() << "Attempting delete" << name;
for (int i=0; i<_homePositions.count(); i++) {
if (qobject_cast<HomePosition*>(_homePositions[i])->name() == name) {
qDebug() << "Deleting" << name;
_homePositions.removeAt(i);
break;
}
}
_storeSettings();
}
HomePosition::HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent)
: QObject(parent)
, _coordinate(coordinate)
{
setObjectName(name);
HomePosition::~HomePosition()
QString HomePosition::name(void)
void HomePosition::setName(const QString& name)
setObjectName(name);
HomePositionManager::instance()->_storeSettings();
emit nameChanged(name);
QGeoCoordinate HomePosition::coordinate(void)