QGCMapWidget.cc

#include "QGCMapWidget.h"
#include "QGCMapToolBar.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "MAV2DIcon.h"
#include "Waypoint2DIcon.h"
#include "UASWaypointManager.h"
#include "ArduPilotMegaMAV.h"

QGCMapWidget::QGCMapWidget(QWidget *parent) :
    mapcontrol::OPMapWidget(parent),
    firingWaypointChange(NULL),
    maxUpdateInterval(2.1f), // 2 seconds
    followUAVEnabled(false),
    trailType(mapcontrol::UAVTrailType::ByTimeElapsed),
    trailInterval(2.0f),
    followUAVID(0),
    mapInitialized(false),
    homeAltitude(0),
    uas(NULL)
{
    currWPManager = UASManager::instance()->getActiveUASWaypointManager();
    waypointLines.insert(0, new QGraphicsItemGroup(map));
    connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
    offlineMode = true;
    // Widget is inactive until shown
    defaultGuidedAlt = -1;
    loadSettings(false);

    this->setContextMenuPolicy(Qt::ActionsContextMenu);

    QAction *guidedaction = new QAction(this);
    guidedaction->setText("Go To Here (Guided Mode)");
    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
    this->addAction(guidedaction);
    guidedaction = new QAction(this);
    guidedaction->setText("Go To Here Alt (Guided Mode)");
    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
    this->addAction(guidedaction);
    QAction *cameraaction = new QAction(this);
    cameraaction->setText("Point Camera Here");
    connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
    this->addAction(cameraaction);
}
void QGCMapWidget::guidedActionTriggered()
{
    if (!uas)
    {
        QMessageBox::information(0,"Error","Please connect first");
        return;
    }
    if (currWPManager)
    {
        if (defaultGuidedAlt == -1)
        {
            if (!guidedAltActionTriggered())
            {
                return;
            }
        }
        // Create new waypoint and send it to the WPManager to send out.
        internals::PointLatLng pos = map->FromLocalToLatLng(mousePressPos.x(), mousePressPos.y());
        qDebug() << "Guided action requested. Lat:" << pos.Lat() << "Lon:" << pos.Lng();
        Waypoint wp;
        wp.setLatitude(pos.Lat());
        wp.setLongitude(pos.Lng());
        wp.setAltitude(defaultGuidedAlt);
        currWPManager->goToWaypoint(&wp);
    }
}
bool QGCMapWidget::guidedAltActionTriggered()
{
    if (!uas)
    {
        QMessageBox::information(0,"Error","Please connect first");
        return false;
    }
    bool ok = false;
    int tmpalt = QInputDialog::getInt(this,"Altitude","Enter default altitude (in meters) of destination point for guided mode",100,0,30000,1,&ok);
    if (!ok)
    {
        //Use has chosen cancel. Do not send the waypoint
        return false;
    }
    defaultGuidedAlt = tmpalt;
    guidedActionTriggered();
    return true;
}
void QGCMapWidget::cameraActionTriggered()
{
    if (!uas)
    {
        QMessageBox::information(0,"Error","Please connect first");
        return;
    }
    ArduPilotMegaMAV *newmav = qobject_cast<ArduPilotMegaMAV*>(this->uas);
    if (newmav)
    {
        newmav->setMountConfigure(4,true,true,true);
        internals::PointLatLng pos = map->FromLocalToLatLng(mousePressPos.x(), mousePressPos.y());
        newmav->setMountControl(pos.Lat(),pos.Lng(),100,true);
    }
}

void QGCMapWidget::mousePressEvent(QMouseEvent *event)
{
    mapcontrol::OPMapWidget::mousePressEvent(event);
}

void QGCMapWidget::mouseReleaseEvent(QMouseEvent *event)
{
    mousePressPos = event->pos();
    mapcontrol::OPMapWidget::mouseReleaseEvent(event);
}

QGCMapWidget::~QGCMapWidget()
{
    SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
    SetShowUAV(false);	//   "          "
    storeSettings();
}

void QGCMapWidget::showEvent(QShowEvent* event)
{
    // Disable OP's standard UAV, we have more than one
    SetShowUAV(false);

    // Pass on to parent widget
    OPMapWidget::showEvent(event);