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#include "QMap3DWidget.h"
#include <QPushButton>
#include <sys/time.h>
#include "UASManager.h"
#include "UASInterface.h"
QMap3DWidget::QMap3DWidget(QWidget* parent)
: Q3DWidget(parent),
uas(NULL),
lastRedrawTime(0.0)
{
setFocusPolicy(Qt::StrongFocus);
initialize(10, 10, 1000, 900, 10.0f);
setCameraParams(0.05f, 0.5f, 0.001f, 0.5f, 30.0f, 0.01f, 400.0f);
setDisplayFunc(display, this);
addTimerFunc(100, timer, this);
QPushButton* mapButton = new QPushButton(this);
mapButton->setText("Grid");
// display the MapControl in the application
QGridLayout* layout = new QGridLayout(this);
layout->setMargin(0);
layout->setSpacing(2);
//layout->addWidget(mc, 0, 0, 1, 2);
layout->addWidget(mapButton, 1, 0);
layout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 1);
layout->setRowStretch(0, 100);
layout->setRowStretch(1, 1);
layout->setColumnStretch(0, 1);
layout->setColumnStretch(1, 50);
setLayout(layout);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
this, SLOT(setActiveUAS(UASInterface*)));
}
QMap3DWidget::~QMap3DWidget()
{
}
void
QMap3DWidget::display(void* clientData)
{
QMap3DWidget* map3d = reinterpret_cast<QMap3DWidget *>(clientData);
map3d->displayHandler();
}
void
QMap3DWidget::displayHandler(void)
{
if (cheetahModel.get() == 0)
{
cheetahModel.reset(new CheetahModel);
cheetahModel->init(1.0f, 1.0f, 1.0f);
}
if (uas == NULL)
{
return;
}
// turn on smooth lines
glEnable(GL_LINE_SMOOTH);
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
// clear window
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT);
// draw Cheetah model
glPushMatrix();
glRotatef(uas->getYaw(), 0.0f, 0.0f, 1.0f);
glRotatef(uas->getPitch(), 0.0f, 1.0f, 0.0f);
glRotatef(uas->getRoll(), 1.0f, 0.0f, 0.0f);
glLineWidth(3.0f);
glColor3f(0.0f, 1.0f, 0.0f);
glBegin(GL_LINES);
glVertex3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.3f, 0.0f, 0.0f);
glEnd();
cheetahModel->draw();
glPopMatrix();
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
*/
void QMap3DWidget::setActiveUAS(UASInterface* uas)
{
if (this->uas != NULL && this->uas != uas)
{
// Disconnect any previously connected active MAV
//disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
}
this->uas = uas;
}
void
QMap3DWidget::timer(void* clientData)
{
QMap3DWidget* map3d = reinterpret_cast<QMap3DWidget *>(clientData);
map3d->timerHandler();
}
void
QMap3DWidget::timerHandler(void)
{
double timeLapsed = getTime() - lastRedrawTime;
if (timeLapsed > 0.1)
{
forceRedraw();
lastRedrawTime = getTime();
}
addTimerFunc(100, timer, this);
}
double
QMap3DWidget::getTime(void) const
{
struct timeval tv;
gettimeofday(&tv, NULL);
return static_cast<double>(tv.tv_sec) +
static_cast<double>(tv.tv_usec) / 1000000.0;
}