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qgroundcontrol
Commit 1fe54579 authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of git://github.com/amolinap/qgroundcontrol into experimental

parents 5379a798 b5af9b84
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Showing with 158 additions and 125 deletions
src/ui/MapWidget.cc
View file @ 1fe54579
......@@ -115,6 +115,11 @@ void MapWidget::init()
lastZoom = settings.value("LAST_ZOOM", lastZoom).toInt();
settings.endGroup();
settings.beginGroup("QGC_HOMEPOSITION");
homeCoordinate.setY(settings.value("HOME_LATITUDE", homeCoordinate.y()).toDouble());
homeCoordinate.setX(settings.value("HOME_LONGITUDE", homeCoordinate.x()).toDouble());
settings.endGroup();
// SET INITIAL POSITION AND ZOOM
// Set default zoom level
mc->setZoom(lastZoom);
......@@ -140,6 +145,14 @@ void MapWidget::init()
connect(mapproviderGroup, SIGNAL(triggered(QAction*)),
this, SLOT(mapproviderSelected(QAction*)));
//mapSettings.beginGroup("Map_Widget");
//QAction *act = new QAction(mapSettings.value("QAction").toString(), this);
//mapproviderSelected(act);
//mapSettings.endGroup();
// Overlay seems currently broken
// yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
// yahooActionOverlay->setCheckable(true);
......@@ -230,17 +243,6 @@ void MapWidget::init()
waypointPath = new qmapcontrol::LineString (wps, "Waypoint path", pointPen);
mc->layer("Waypoints")->addGeometry(waypointPath);
//Camera Control
// CAMERA INDICATOR LAYER
// create a layer with the mapadapter and type GeometryLayer (for camera indicator)
//camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
//mc->addLayer(camLayer);
//camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
drawCamBorder = false;
radioCamera = 10;
// Done set state
initialized = true;
......@@ -288,10 +290,49 @@ void MapWidget::init()
connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
connect(homePosition, SIGNAL(geometryClicked(Geometry*,QPoint)),
this, SLOT(captureGeometryClick(Geometry*, QPoint)));
connect(homePosition, SIGNAL(geometryDragged(Geometry*, QPointF)),
this, SLOT(captureGeometryDragHome(Geometry*, QPointF)));
connect(homePosition, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
this->loadSettingsMap(settings);
this->createHomePosition(homeCoordinate);
qDebug() << "CHECK END";
}
}
void MapWidget::loadSettingsMap(QSettings &settings)
{
index = 0;
settings.beginGroup("QGC_MAPINDEX");
index = settings.value("MAP_INDEX", index).toInt();
settings.endGroup();
switch(index)
{
case 0:
mapproviderSelected(osmAction);
break;
case 1:
mapproviderSelected(yahooActionMap);
break;
case 2:
mapproviderSelected(yahooActionSatellite);
break;
case 3:
mapproviderSelected(googleActionMap);
break;
case 4:
mapproviderSelected(googleSatAction);
break;
}
}
void MapWidget::goTo()
{
bool ok;
......@@ -332,6 +373,8 @@ void MapWidget::mapproviderSelected(QAction* action)
mapadapter = new qmapcontrol::OSMMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
homePosition->setMapAdapter(mapadapter);
index = 0;
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
......@@ -348,6 +391,8 @@ void MapWidget::mapproviderSelected(QAction* action)
mapadapter = new qmapcontrol::YahooMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
homePosition->setMapAdapter(mapadapter);
index = 1;
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
......@@ -364,6 +409,8 @@ void MapWidget::mapproviderSelected(QAction* action)
mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
homePosition->setMapAdapter(mapadapter);
index = 2;
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
......@@ -377,6 +424,8 @@ void MapWidget::mapproviderSelected(QAction* action)
mapadapter = new qmapcontrol::GoogleMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
homePosition->setMapAdapter(mapadapter);
index = 3;
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
......@@ -391,6 +440,8 @@ void MapWidget::mapproviderSelected(QAction* action)
mapadapter = new qmapcontrol::GoogleSatMapAdapter();
l->setMapAdapter(mapadapter);
geomLayer->setMapAdapter(mapadapter);
homePosition->setMapAdapter(mapadapter);
index = 4;
if (isVisible()) mc->updateRequestNew();
mc->setZoom(zoom);
......@@ -706,6 +757,38 @@ void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
mc->setMouseMode(qmapcontrol::MapControl::Panning);
}
if (!setHome->isChecked())
{
mc->setMouseMode(qmapcontrol::MapControl::Panning);
if(mav)
{
// Update homePosition
UASManager::instance()->setHomePosition(
static_cast<double>(homeCoordinate.x()),
static_cast<double>(homeCoordinate.y()), 0);
}
}
}
void MapWidget::captureGeometryDragHome(Geometry *geom, QPointF coordinate)
{
if (isVisible()) mc->updateRequest(geom->boundingBox().toRect());
Waypoint2DIcon* point2Find = dynamic_cast <Waypoint2DIcon*> (geom);
if (point2Find)// && wps.count() > index)
{
// Update visual
point2Find->setCoordinate(coordinate);
homeCoordinate.setX(coordinate.x());
homeCoordinate.setY(coordinate.y());
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(homeCoordinate.x(), homeCoordinate.y(),"g");
if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
}
}
MapWidget::~MapWidget()
......@@ -1010,7 +1093,7 @@ void MapWidget::wheelEvent(QWheelEvent *event)
detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
// visual field of camera
updateCameraPosition(20*newZoom,0,"no");
//updateCameraPosition(20*newZoom,0,"no");
}
}
......@@ -1077,7 +1160,19 @@ void MapWidget::hideEvent(QHideEvent* event)
settings.setValue("LAST_LONGITUDE", currentPos.x());
settings.setValue("LAST_ZOOM", mc->currentZoom());
settings.endGroup();
settings.beginGroup("QGC_MAPINDEX");
settings.setValue("MAP_INDEX", index);
settings.endGroup();
settings.beginGroup("QGC_HOMEPOSITION");
settings.setValue("HOME_LATITUDE", homeCoordinate.y());
settings.setValue("HOME_LONGITUDE", homeCoordinate.x());
settings.endGroup();
settings.sync();
}
}
......@@ -1146,88 +1241,25 @@ void MapWidget::clearPath(int uas)
}
}
void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
{
Q_UNUSED(dir);
Q_UNUSED(bearing);
if (mc)
{
// FIXME Mariano
//camPoints.clear();
QPointF currentPos = mc->currentCoordinate();
// QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
// qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
// qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
// camPoints.append(tempPoint1);
// camPoints.append(tempPoint2);
// camLine->setPoints(camPoints);
QPen* camBorderPen = new QPen(QColor(255,0,0));
camBorderPen->setWidth(2);
//radio = mc->currentZoom()
if(drawCamBorder)
{
//clear camera borders
mc->layer("Camera")->clearGeometries();
//create a camera borders
qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
//camBorder->setCoordinate(currentPos);
mc->layer("Camera")->addGeometry(camBorder);
// mc->layer("Camera")->addGeometry(camLine);
if (isVisible()) mc->updateRequestNew();
}
else
if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
{
//clear camera borders
mc->layer("Camera")->clearGeometries();
if (isVisible()) mc->updateRequestNew();
}
this->createHomePosition(coordinate);
}
}
void MapWidget::drawBorderCamAtMap(bool status)
void MapWidget::createHomePosition(const QPointF coordinate)
{
drawCamBorder = status;
updateCameraPosition(20,0,"no");
}
QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance)
{
QPointF temp;
double rad = M_PI/180;
bearing = bearing*rad;
temp.setX((lon1 + ((distance/60) * (sin(bearing)))));
temp.setY((lat1 + ((distance/60) * (cos(bearing)))));
return temp;
}
void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
{
if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
{
homeCoordinate= coordinate;
Waypoint2DIcon* tempCirclePoint;
double latitud = homeCoordinate.x();
double longitud = homeCoordinate.y();
double latitude = homeCoordinate.y();
double longitude = homeCoordinate.x();
tempCirclePoint = new Waypoint2DIcon(
latitud,
longitud,
longitude,
latitude,
20, "g", qmapcontrol::Point::Middle);
QPen* pencil = new QPen(Qt::blue);
......@@ -1236,13 +1268,12 @@ void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coord
mc->layer("Station")->clearGeometries();
mc->layer("Station")->addGeometry(tempCirclePoint);
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitud, longitud,"g");
qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitude, longitude,"g");
if (isVisible())
{
mc->updateRequest(tempPoint->boundingBox().toRect());
}
}
}
void MapWidget::createHomePositionClick(bool click)
......@@ -1250,11 +1281,15 @@ void MapWidget::createHomePositionClick(bool click)
Q_UNUSED(click);
if (!setHome->isChecked())
{
if(mav)
{
UASManager::instance()->setHomePosition(
static_cast<double>(homeCoordinate.x()),
static_cast<double>(homeCoordinate.y()), 0);
static_cast<double>(homeCoordinate.y()),
static_cast<double>(homeCoordinate.x()), 0);
qDebug()<<"Set home position "<<homeCoordinate.x()<<" "<<homeCoordinate.y();
qDebug()<<"Set home position "<<homeCoordinate.y()<<" "<<homeCoordinate.x();
}
}
}
src/ui/MapWidget.h
View file @ 1fe54579
......@@ -40,8 +40,7 @@ This file is part of the QGROUNDCONTROL project
#include "QPointF"
#include <qmath.h>
#include <QSettings>
class QMenu;
class Waypoint;
......@@ -76,8 +75,8 @@ public slots:
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
void updatePosition(float time, double lat, double lon);
void updateCameraPosition(double distance, double bearing, QString dir);
QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
//void updateCameraPosition(double distance, double bearing, QString dir);
//QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
/** @brief Clear the waypoints overlay layer */
void clearWaypoints(int uas=0);
......@@ -93,7 +92,7 @@ public slots:
void updateWaypoint(int uas, Waypoint* wp);
void updateWaypoint(int uas, Waypoint* wp, bool updateView);
void drawBorderCamAtMap(bool status);
//void drawBorderCamAtMap(bool status);
/** @brief Bring up dialog to go to a specific location */
void goTo();
......@@ -130,8 +129,6 @@ protected:
qmapcontrol::Layer* tracks; ///< Layer for UAV tracks
qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
qmapcontrol::GeometryLayer* homePosition; ///< Layer for station control
//only for experiment
//qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
int zoomLevel;
int detailZoom; ///< Steps zoomed in further than qMapControl allows
......@@ -143,8 +140,6 @@ protected:
QMap<int, qmapcontrol::Point*> uasIcons;
QMap<int, qmapcontrol::LineString*> uasTrails;
QMap<int, QPen*> mavPens;
//QMap<int, QList<qmapcontrol::Point*> > mavWps;
//QMap<int, qmapcontrol::LineString*> waypointPaths;
UASInterface* mav;
quint64 lastUpdate;
bool initialized;
......@@ -158,6 +153,8 @@ protected:
void captureGeometryDrag(Geometry* geom, QPointF coordinate);
void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
void captureGeometryDragHome(Geometry* geom, QPointF coordinate);
void createPathButtonClicked(bool checked);
/** @brief Create the graphic representation of the waypoint */
......@@ -165,16 +162,14 @@ protected:
void mapproviderSelected(QAction* action);
void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
void createHomePosition(const QPointF coordinate);
void createHomePositionClick(bool click);
void loadSettingsMap(QSettings &);
signals:
//void movePoint(QPointF newCoord);
//void captureMapCoordinateClick(const QPointF coordinate); //ROCA
//void createGlobalWP(bool value, QPointF centerCoordinate);
void waypointCreated(Waypoint* wp);
void sendGeometryEndDrag(const QPointF coordinate, const int index);
private:
Ui::MapWidget *m_ui;
QList<qmapcontrol::Point*> wps;
......@@ -184,15 +179,8 @@ private:
QPen* pointPen;
int wpExists(const QPointF coordinate);
bool waypointIsDrag;
qmapcontrol::LineString* camLine;
QList<qmapcontrol::Point*> camPoints;
QPointF lastCamBorderPos;
bool drawCamBorder;
int radioCamera;
QPointF homeCoordinate;
int8_t index;
};
#endif // MAPWIDGET_H
src/ui/SlugsPadCameraControl.ui
View file @ 1fe54579
......@@ -41,7 +41,7 @@
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgba(255, 0, 0,50%);</string>
<string notr="true">background-color: rgb(135, 206, 235);</string>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
......@@ -67,6 +67,9 @@
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="lbPixel">
<property name="styleSheet">
<string notr="true">font-color:rgb(0, 0, 0);</string>
</property>
<property name="text">
<string>----</string>
</property>
......
src/ui/uas/UASControlParameters.cpp
View file @ 1fe54579
......@@ -80,11 +80,11 @@ void UASControlParameters::changedMode(int mode)
if(modeTemp != this->mode)
{
ui->lbMode->setStyleSheet("background-color: rgb(255, 0, 0)");
ui->lbMode->setStyleSheet("background-color: rgb(165, 42, 42)");
}
else
{
ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)");
}
}
......@@ -104,12 +104,17 @@ void UASControlParameters::activeUasSet(UASInterface *uas)
void UASControlParameters::updateGlobalPosition(UASInterface * a, double b, double c, double aa, quint64 ab)
{
//ui->sbHeight->setValue(aa);
Q_UNUSED(a);
Q_UNUSED(b);
Q_UNUSED(c);
Q_UNUSED(ab);
this->altitude=aa;
}
void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy, double vz, quint64 time)
{
Q_UNUSED(time);
Q_UNUSED(uas);
this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0));
//ui->sbAirSpeed->setValue(speed);
}
......@@ -117,6 +122,8 @@ void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy,
void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double pitch, double yaw, quint64 time)
{
Q_UNUSED(uas);
Q_UNUSED(pitch);
Q_UNUSED(yaw);
Q_UNUSED(time);
//ui->sbTurnRate->setValue(roll);
this->roll = roll;
......@@ -194,7 +201,7 @@ void UASControlParameters::updateMode(int uas,QString mode,QString description)
this->mode = mode;
ui->lbMode->setText(this->mode);
ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)");
}
void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
......
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