QGCMapWidget.h 2.78 KB
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#ifndef QGCMAPWIDGET_H
#define QGCMAPWIDGET_H

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#include <QMap>
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#include <QTimer>
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#include "opmapcontrol.h"

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class UASInterface;
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class UASWaypointManager;
class Waypoint;
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typedef mapcontrol::WayPointItem WayPointItem;
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/**
 * @brief Class representing a 2D map using aerial imagery
 */
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class QGCMapWidget : public mapcontrol::OPMapWidget
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{
    Q_OBJECT
public:
    explicit QGCMapWidget(QWidget *parent = 0);
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    ~QGCMapWidget();
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//    /** @brief Convert meters to pixels */
//    float metersToPixels(double meters);
//    double headingP1P2(internals::PointLatLng p1, internals::PointLatLng p2);
//    internals::PointLatLng targetLatLon(internals::PointLatLng source, double heading, double dist);
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signals:
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    void homePositionChanged(double latitude, double longitude, double altitude);
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    /** @brief Signal for newly created map waypoints */
    void waypointCreated(Waypoint* wp);
    void waypointChanged(Waypoint* wp);
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public slots:
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    /** @brief Add system to map view */
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    void addUAS(UASInterface* uas);
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    /** @brief Update the global position of a system */
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    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
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    /** @brief Update the global position of all systems */
    void updateGlobalPosition();
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    /** @brief Update the type, size, etc. of this system */
    void updateSystemSpecs(int uas);
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    /** @brief Change current system in focus / editing */
    void activeUASSet(UASInterface* uas);
    /** @brief Show a dialog to jump to given GPS coordinates */
    void showGoToDialog();
    /** @brief Update this waypoint for this UAS */
    void updateWaypoint(int uas, Waypoint* wp);
    /** @brief Update the whole waypoint */
    void updateWaypointList(int uas);
    /** @brief Update the home position on the map */
    void updateHomePosition(double latitude, double longitude, double altitude);
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    /** @brief Set update rate limit */
    void setUpdateRateLimit(float seconds);
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protected slots:
    /** @brief Convert a map edit into a QGC waypoint event */
    void handleMapWaypointEdit(WayPointItem* waypoint);

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protected:
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    /** @brief Update the highlighting of the currently controlled system */
    void updateSelectedSystem(int uas);
    /** @brief Set the current mouse position on the map as new home position */

    UASWaypointManager* currWPManager; ///< The current waypoint manager
    QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
    QMap<mapcontrol::WayPointItem*, Waypoint*> iconsToWaypoints;
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    Waypoint* firingWaypointChange;
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    QTimer updateTimer;
    float maxUpdateInterval;
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//    enum editMode {
//        NONE,
//        WAYPOINTS,
//        SWEEP,
//        UAVS,
//        HOME,
//        SAFE_AREA
//    };
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    //editMode currEditMode;            ///< The current edit mode on the map
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};

#endif // QGCMAPWIDGET_H