diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc index fae39cc0cb9a00da4f7bb1c9c3890f7f3d9786fc..749f2bd19506eb1e35ea26e0c2523616ffe51b0c 100644 --- a/src/ui/SlugsDataSensorView.cc +++ b/src/ui/SlugsDataSensorView.cc @@ -15,6 +15,10 @@ SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) : activeUAS = NULL; this->setVisible(false); + + + + } SlugsDataSensorView::~SlugsDataSensorView() @@ -236,4 +240,6 @@ void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId, ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat)); } + + #endif // MAVLINK_ENABLED_SLUGS diff --git a/src/ui/SlugsDataSensorView.h b/src/ui/SlugsDataSensorView.h index 6cd40b01bbd70d9dca789d52c40a78c5b8cd5aad..ed0b9f07c7dd2195ddca02c739a7b1e795635fc7 100644 --- a/src/ui/SlugsDataSensorView.h +++ b/src/ui/SlugsDataSensorView.h @@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project #include "SlugsMAV.h" #include "mavlink.h" + namespace Ui { class SlugsDataSensorView; } @@ -163,6 +164,8 @@ public slots: void slugsGPSDateTimeChanged(int systemId, const mavlink_gps_date_time_t& gpsDateTime); + + #endif // MAVLINK_ENABLED_SLUGS protected: @@ -172,6 +175,11 @@ private: Ui::SlugsDataSensorView *ui; + + + + + }; #endif // SLUGSDATASENSORVIEW_H diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui index 917e4571738f72967e0f48d57d1ea724e850e682..4a6e2de6bc0a1e9004a25ffdd440a16eb4c1a06a 100644 --- a/src/ui/SlugsDataSensorView.ui +++ b/src/ui/SlugsDataSensorView.ui @@ -35,7 +35,7 @@ - 2 + 0 diff --git a/src/ui/SlugsPIDControl.cpp b/src/ui/SlugsPIDControl.cpp index 9168eb99f4c20712b91d35b3a73e94cac58bc3d3..18fd516304cd92f4aff41c4726dc55ffecc8051f 100644 --- a/src/ui/SlugsPIDControl.cpp +++ b/src/ui/SlugsPIDControl.cpp @@ -22,6 +22,19 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) : setRedColorStyle(); setGreenColorStyle(); + refreshTimerGet = new QTimer(this); + refreshTimerGet->setInterval(100); // 20 Hz + connect(refreshTimerGet, SIGNAL(timeout()), this, SLOT(slugsGetGeneral())); + + + refreshTimerSet = new QTimer(this); + refreshTimerSet->setInterval(100); // 20 Hz + connect(refreshTimerSet, SIGNAL(timeout()), this, SLOT(slugsSetGeneral())); + + + counterRefreshGet = 1; + counterRefreshSet = 1; + } /** @@ -40,6 +53,8 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas) { connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t))); connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) ); + + connect(ui->setGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartSet())); } #endif // MAVLINK_ENABLED_SLUG @@ -611,4 +626,90 @@ void SlugsPIDControl::sendMessagePIDStatus(int PIDtype) } } +void SlugsPIDControl::slugsGetGeneral() +{ + valuesMutex.lock(); + switch(counterRefreshGet) + { + case 1: + ui->dT_PID_get_pushButton->click(); + break; + case 2: + ui->HELPComm_PDI_get_pushButton->click(); + break; + case 3: + ui->dE_PID_get_pushButton->click(); + break; + case 4: + ui->dR_PDI_get_pushButton->click(); + break; + case 5: + ui->dA_PID_get_pushButton->click(); + break; + case 6: + ui->Pitch2dT_PDI_get_pushButton->click(); + break; + default: + refreshTimerGet->stop(); + break; + + + } + + counterRefreshGet++; + valuesMutex.unlock(); + +} + +void SlugsPIDControl::slugsSetGeneral() +{ + valuesMutex.lock(); + switch(counterRefreshSet) + { + case 1: + ui->dT_PID_set_pushButton->click(); + break; + case 2: + ui->HELPComm_PDI_set_pushButton->click(); + break; + case 3: + ui->dE_PID_set_pushButton->click(); + break; + case 4: + ui->dR_PDI_set_pushButton->click(); + break; + case 5: + ui->dA_PID_set_pushButton->click(); + break; + case 6: + ui->Pitch2dT_PDI_set_pushButton->click(); + break; + default: + refreshTimerSet->stop(); + break; + + } + + counterRefreshSet++; + valuesMutex.unlock(); +} +void SlugsPIDControl::slugsTimerStartSet() +{ + counterRefreshSet = 1; + refreshTimerSet->start(); + +} + +void SlugsPIDControl::slugsTimerStartGet() +{ + counterRefreshGet = 1; + refreshTimerGet->start(); + +} +void SlugsPIDControl::slugsTimerStop() +{ +// refreshTimerGet->stop(); +// counterRefresh = 1; + +} #endif // MAVLINK_ENABLED_SLUGS diff --git a/src/ui/SlugsPIDControl.h b/src/ui/SlugsPIDControl.h index d701de07d71d0345c5de26aac93ab3f41554b9c2..e6e818bee7e7cad0592b92d60e0e9ecb6b0ee6b2 100644 --- a/src/ui/SlugsPIDControl.h +++ b/src/ui/SlugsPIDControl.h @@ -7,6 +7,8 @@ #include "QGCMAVLink.h" #include "SlugsMAV.h" #include "mavlink.h" +#include +#include namespace Ui { class SlugsPIDControl; @@ -236,6 +238,20 @@ public slots: */ void get_Pitch2dT_PID(); + /** + * @brief get and updates the values on widget + */ + void slugsGetGeneral(); + /** + * @brief Sent all values to UAS + */ + void slugsSetGeneral(); + + void slugsTimerStartSet(); + void slugsTimerStartGet(); + void slugsTimerStop(); + + //Create, send and get Messages PID // void createMessagePID(); @@ -263,6 +279,12 @@ private: //SlugsMav Message mavlink_pid_t pidMessage; mavlink_slugs_action_t actionSlugs; + + QTimer* refreshTimerSet; ///< The main timer, controls the update view + QTimer* refreshTimerGet; ///< The main timer, controls the update view + int counterRefreshSet; + int counterRefreshGet; + QMutex valuesMutex; }; #endif // SLUGSPIDCONTROL_H diff --git a/src/ui/SlugsPIDControl.ui b/src/ui/SlugsPIDControl.ui index 936f2de402db8c2782d23d10917c3d560e4d50ef..042f3d92c3fe31622011b0295bb50fa622ff0a7b 100644 --- a/src/ui/SlugsPIDControl.ui +++ b/src/ui/SlugsPIDControl.ui @@ -7,759 +7,591 @@ 0 0 429 - 504 + 579 Form - - - 2 - - - - - - - Air Speed Hold (dT) - - - - - - - - - 10 - 75 - true - - - - P - - - - - - - - 10 - 75 - true - - - - I - - - - - - - - 10 - 75 - true - - - - D - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - + + + + + + + + + Air Speed Hold (dT) + + + + + + + + + 10 + 75 + true + + + + P + + + + + + + + 10 + 75 + true + + + + I + + + + + + + + 10 + 75 + true + + + + D + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + - 0.0 + Recepcion - - - - 0.0 - - - true - - - - - - - - - Recepcion - - - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - - SET - - - - - - - GET - - - - - + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 10 - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Pitch Followei (dE) - - - - - - - - - 10 - 75 - true - - - - P - - - - - - - - 10 - 75 - true - - - - I - - - - - - - - 10 - 75 - true - - - - D - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - + + + + + + SET + + + + + + + GET + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - - SET - - - - - - - GET - - - - - + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + Pitch Followei (dE) + + + + + + + + + 10 + 75 + true + + + + P + + + + + + + + 10 + 75 + true + + + + I + + + + + + + + 10 + 75 + true + + + + D + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 10 - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Roll Control (dA) - - - - - - - - - 10 - 75 - true - - - - P - - - - - - - - 10 - 75 - true - - - - I - - - - - - - - 10 - 75 - true - - - - D - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - + + + + + + SET + + + + + + + GET + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - - SET - - - - - - - GET - - - - - + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + Roll Control (dA) + + + + + + + + + 10 + 75 + true + + + + P + + + + + + + + 10 + 75 + true + + + + I + + + + + + + + 10 + 75 + true + + + + D + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 10 - - - - - - - - - - - - - Heigth Error lo Pitch Comm - - - - - - - - - 10 - 75 - true - - - - P - - - - - - - - 10 - 75 - true - - - - I - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - 10 - 75 - true - - - - QFrame::Sunken - - - 5 - - - 1 - - - Qt::Horizontal - - - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - - - 10 - 75 - true - - - - FF - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - + + + + + + SET + + + + + + + GET + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - - SET - - - - - - - GET - - - - - + + + + + + + + + + Heigth Error lo Pitch Comm + + + + + + + + + 10 + 75 + true + + + + P + + + + + + + + 10 + 75 + true + + + + I + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 10 - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Yaw Damper (dR) - - - - - - - - - 10 - 75 - true - - - - P - - - - - - - - 10 - 75 - true - - - - I - - - - - + + 10 @@ -767,215 +599,416 @@ true - - D - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 - - - true - - - - - - - 0.0 - - - - - - - 0.0 + + QFrame::Sunken - - true + + 5 - - - - - - - - Qt::Vertical - - - - 20 - 10 - - - - - - - - - - SET + + 1 - - - - - - GET + + Qt::Horizontal - - + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 10 - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Pitch to dT FF term - - - - - - - - - 10 - 75 - true - - - - FF + + + + + + + 10 + 75 + true + + + + FF + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + + + Qt::Vertical - - - - - - 0.0 + + + 20 + 10 + - + - - - - 0.0 - - - true - - + + + + + + SET + + + + + + + GET + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + - - - - - - - SET - - - - - - - GET - - - - - + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + Yaw Damper (dR) + + + + + + + + + 10 + 75 + true + + + + P + + + + + + + + 10 + 75 + true + + + + I + + + + + + + + 10 + 75 + true + + + + D + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 10 + + + + + + SET + + + + + + + GET + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + - - - + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + Pitch to dT FF term + + + + + + + + + 10 + 75 + true + + + + FF + + + + + + + 0.0 + + + + + + + 0.0 + + + true + + + + + + + + + + + SET + + + + + + + GET + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + - - - Qt::Vertical + + + Set General - - - 20 - 40 - + + + + + + Get General - + + verticalSpacer_13 dT_P_set diff --git a/src/ui/SlugsPadCameraControl.cpp b/src/ui/SlugsPadCameraControl.cpp index 79262ba26cf7e42680e1474eb22671bddea74479..40b40c072ec83feb6c385387f04c696cccac969e 100644 --- a/src/ui/SlugsPadCameraControl.cpp +++ b/src/ui/SlugsPadCameraControl.cpp @@ -1,14 +1,231 @@ #include "SlugsPadCameraControl.h" #include "ui_SlugsPadCameraControl.h" +#include +#include +#include +#include SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) : - QWidget(parent), - ui(new Ui::SlugsPadCameraControl) + QWidget(parent), //QGraphicsView(parent), + ui(new Ui::SlugsPadCameraControl), + dragging(0) { ui->setupUi(this); + x1= 0; + y1 = 0; + } SlugsPadCameraControl::~SlugsPadCameraControl() { delete ui; } + +void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event) +{ + emit mouseMoveCoord(event->x(),event->y()); + +} + +void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event) +{ + emit mousePressCoord(event->x(),event->y()); + x1 = event->x(); + y1 = event->y(); + +} + +void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event) +{ + emit mouseReleaseCoord(event->x(),event->y()); + getDeltaPositionPad(event->x(), event->y()); + +} + +void SlugsPadCameraControl::paintEvent(QPaintEvent *pe) +{ + Q_UNUSED(pe); + QPainter painter(this); + painter.setPen(Qt::blue); + painter.setFont(QFont("Arial", 30)); + +// QRectF rectangle(tL.x(), tL.y(), ui->padCamContro_frame->width(), ui->padCamContro_frame->height()); +// int startAngle = 30 * 16; +// int spanAngle = 120 * 16; + + painter.drawLine(QPoint(ui->frame->width()/2,ui->frame->geometry().topLeft().y()), + QPoint(ui->frame->width()/2,ui->frame->geometry().bottomRight().y())); + + painter.drawLine(QPoint(ui->frame->geometry().topLeft().x(),ui->frame->height()/2), + QPoint(ui->frame->geometry().bottomRight().x(),ui->frame->height()/2)); + + + // painter.drawLine(QPoint()); + //painter.drawLines(padLines); + + + // painter.drawPie(rectangle, startAngle, spanAngle); + + //painter.drawText(rect(), Qt::AlignCenter, "Qt"); +} + +void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2) +{ + + QString dir = "nd"; + QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2); + + double bearing = localMeasures.x(); + double dist = getDistPixel(y1,x1,y2,x2); + + + + if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30))) + { + emit dirCursorText("up"); + //bearing = 315; + dir = "up"; + } + else + { + if((bearing > 30)&&(bearing <= 60) ) + { + emit dirCursorText("right up"); + //bearing = 315; + dir = "riht up"; + } + else + { + if((bearing > 60)&&(bearing <= 105) ) + { + emit dirCursorText("right"); + //bearing = 315; + dir = "riht"; + } + else + { + if((bearing > 105)&&(bearing <= 150) ) + { + emit dirCursorText("right down"); + //bearing = 315; + dir = "riht down"; + } + else + { + if((bearing > 150)&&(bearing <= 195) ) + { + emit dirCursorText("down"); + //bearing = 315; + dir = "down"; + } + else + { + if((bearing > 195)&&(bearing <= 240) ) + { + emit dirCursorText("left down"); + //bearing = 315; + dir = "left down"; + } + else + { + if((bearing > 240)&&(bearing <= 300) ) + { + emit dirCursorText("left"); + //bearing = 315; + dir = "left"; + } + else + { + if((bearing > 300)&&(bearing <= 330) ) + { + emit dirCursorText("left up"); + //bearing = 315; + dir = "left up"; + } + + } + + } + + } + + } + + } + + } + + } + + + emit changeCursorPosition(bearing, dist, dir); + +} + +double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2) +{ + double cateto_opuesto,cateto_adyacente; + //latitud y longitud del primer punto + + + cateto_opuesto = abs((x1-x2)); //diferencia de latitudes entre PCR1 y PCR2 + cateto_adyacente = abs((y1-y2));//diferencia de longitudes entre PCR1 y PCR2 + + return sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2)); + + // distancia = (float) hipotenusa; +} + +/** + * Esta función xxxxxxxxx + * @param double lat1 --> + * @param double lon1 --> + * @param double lat2 --> + * @param double lon2 --> + * @param ref double rumbo --> + * @param ref double distancia --> + */ +QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2) +{ + double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion; + + //latitude and longitude first point + + if(lat1<0) lat1= lat1*(-1); + if(lat2<0) lat2= lat2*(-1); + if(lon1<0) lon1= lon1*(-1); + if(lon2<0) lon1= lon1*(-1); + + cateto_opuesto = abs((lat1-lat2)); + cateto_adyacente = abs((lon1-lon2)); + + hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2)); + distancia = hipotenusa*60; + + + if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante + marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292); + else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante + marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292; + else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante + marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292); + else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante + marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292); + else if((lat1 < lat2) && (lon1 == lon2)) //360 + marcacion = 360; + else if((lat1 == lat2) && (lon1 > lon2)) //270 + marcacion = 270; + else if((lat1 > lat2) && (lon1 == lon2)) //180 + marcacion = 180; + else if((lat1 == lat2) && (lon1 < lon2)) //90 + marcacion =90; + else if((lat1 == lat2) && (lon1 == lon2)) //0 + marcacion = 0.0; + + // this only convert real bearing to frame widget bearing + marcacion = marcacion +90; + if(marcacion>= 360) marcacion = marcacion - 360; + + return QPointF(marcacion,distancia); + +} diff --git a/src/ui/SlugsPadCameraControl.h b/src/ui/SlugsPadCameraControl.h index a9843a387a017df0c7b828f344773c1a92c3964d..06a923328c5c12042a81d197072254fec56df9c4 100644 --- a/src/ui/SlugsPadCameraControl.h +++ b/src/ui/SlugsPadCameraControl.h @@ -2,21 +2,46 @@ #define SLUGSPADCAMERACONTROL_H #include +#include namespace Ui { class SlugsPadCameraControl; } -class SlugsPadCameraControl : public QWidget +class SlugsPadCameraControl : public QWidget //QGraphicsView// { Q_OBJECT public: explicit SlugsPadCameraControl(QWidget *parent = 0); + ~SlugsPadCameraControl(); +public slots: + void getDeltaPositionPad(int x, int y); + double getDistPixel(int x1, int y1, int x2, int y2); + QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2); + +signals: + void mouseMoveCoord(int x, int y); + void mousePressCoord(int x, int y); + void mouseReleaseCoord(int x, int y); + void dirCursorText(QString dir); + void distance_Bearing(double dist, double bearing); + void changeCursorPosition(double bearing, double distance, QString textDir); + +protected: + void mousePressEvent(QMouseEvent* event); + void mouseReleaseEvent(QMouseEvent* event); + void mouseMoveEvent(QMouseEvent* event); + void paintEvent(QPaintEvent *pe); + private: Ui::SlugsPadCameraControl *ui; + bool dragging; + int x1; + int y1; + }; #endif // SLUGSPADCAMERACONTROL_H diff --git a/src/ui/SlugsPadCameraControl.ui b/src/ui/SlugsPadCameraControl.ui index aad00293ca4a65c895fe4485ff2a1713116d95b8..f96e02a006d094f0e8a0fcab16ebfe8506c07bb8 100644 --- a/src/ui/SlugsPadCameraControl.ui +++ b/src/ui/SlugsPadCameraControl.ui @@ -6,8 +6,8 @@ 0 0 - 400 - 300 + 183 + 127 @@ -16,6 +16,36 @@ background-color: rgb(255, 170, 0); + + + 1 + + + 1 + + + + + + 181 + 125 + + + + true + + + background-color: rgba(255, 0, 0,50%); + + + QFrame::StyledPanel + + + QFrame::Raised + + + + diff --git a/src/ui/SlugsVideoCamControl.cpp b/src/ui/SlugsVideoCamControl.cpp index 0949c6ac18cf62c33b02f06a7ad53dc751cec653..30ea6cb47dc0be103ae1ac4bb6f580b88c8a3098 100644 --- a/src/ui/SlugsVideoCamControl.cpp +++ b/src/ui/SlugsVideoCamControl.cpp @@ -13,33 +13,52 @@ #include #include #include +#include +#include "SlugsPadCameraControl.h" SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) : QWidget(parent), ui(new Ui::SlugsVideoCamControl), dragging(0) + { ui->setupUi(this); x1= 0; y1 = 0; connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool))); - tL = ui->padCamContro_frame->frameGeometry().topLeft(); - bR = ui->padCamContro_frame->frameGeometry().bottomRight(); +// tL = ui->padCamContro_frame->frameGeometry().topLeft(); +// bR = ui->padCamContro_frame->frameGeometry().bottomRight(); //ui->padCamContro_frame->setVisible(true); - // create a layout for camera pad - QGridLayout* padCameraLayout = new QGridLayout(ui->padCamContro_frame); - padCameraLayout->setSpacing(2); - padCameraLayout->setMargin(0); - padCameraLayout->setAlignment(Qt::AlignTop); - ui->padCamContro_frame->setLayout(padCameraLayout); +// // create a layout for camera pad +// QGridLayout* padCameraLayout = new QGridLayout(this); +// padCameraLayout->setSpacing(2); +// padCameraLayout->setMargin(0); +// padCameraLayout->setAlignment(Qt::AlignTop); + + //ui->padCamContro_frame->setLayout(padCameraLayout); // create a camera pad widget - padCamera = new SlugsPadCameraControl(); + //test = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this); + //test->setMaximumWidth(50); + //ui->gridLayout->addWidget(test, 0,0); + + padCamera = new SlugsPadCameraControl(this); + + ui->gridLayout->addWidget(padCamera); + + connect(padCamera,SIGNAL(mouseMoveCoord(int,int)),this,SLOT(mousePadMoveEvent(int,int))); + connect(padCamera,SIGNAL(mousePressCoord(int,int)),this,SLOT(mousePadPressEvent(int,int))); + connect(padCamera,SIGNAL(mouseReleaseCoord(int,int)),this,SLOT(mousePadReleaseEvent(int,int))); + connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString))); - padCameraLayout->addWidget(padCamera); + //padCamera->setVisible(true); + + + + // padCameraLayout->addWidget(padCamera); @@ -65,16 +84,7 @@ SlugsVideoCamControl::~SlugsVideoCamControl() void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event) { - // ui->label_dir->setText("Camera Pos = " + QString::number(event->x()) + " - " + QString::number(event->y())); -// QPoint tL = ui->padCamContro_frame->frameGeometry().topLeft(); -// QPoint bR = ui->padCamContro_frame->frameGeometry().bottomRight(); - -// if (!(event->x() > bR.x() || event->x() < tL.x() || -// event->y() > bR.y() || event->y() < tL.y() ) && dragging){ - - -// } - + Q_UNUSED(event); } @@ -83,291 +93,42 @@ void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt) { Q_UNUSED(evnt); - x1 = evnt->x(); - y1 = evnt->y(); - - dragging = true; } void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt) { Q_UNUSED(evnt); - dragging = false; - getDeltaPositionPad(evnt->x(), evnt->y()); -} -void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status) -{ - emit viewCamBorderAtMap(status); } -void SlugsVideoCamControl::getDeltaPositionPad(int x2, int y2) -{ - //double dist = getDistPixel(x1,y1,x2,y2); - - QString dir = "nd"; - QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2); - - double bearing = localMeasures.x(); - double dist = localMeasures.y(); - - bearing = bearing +90; - if(bearing>= 360) bearing = bearing - 360; - - if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30))) - { - ui->label_dir->setText("up"); - //bearing = 315; - dir = "up"; - } - else - { - if((bearing > 30)&&(bearing <= 60) ) - { - ui->label_dir->setText("right up"); - //bearing = 315; - dir = "riht up"; - } - else - { - if((bearing > 60)&&(bearing <= 105) ) - { - ui->label_dir->setText("right"); - //bearing = 315; - dir = "riht"; - } - else - { - if((bearing > 105)&&(bearing <= 150) ) - { - ui->label_dir->setText("right down"); - //bearing = 315; - dir = "riht down"; - } - else - { - if((bearing > 150)&&(bearing <= 195) ) - { - ui->label_dir->setText("down"); - //bearing = 315; - dir = "down"; - } - else - { - if((bearing > 195)&&(bearing <= 240) ) - { - ui->label_dir->setText("left down"); - //bearing = 315; - dir = "left down"; - } - else - { - if((bearing > 240)&&(bearing <= 300) ) - { - ui->label_dir->setText("left"); - //bearing = 315; - dir = "left"; - } - else - { - if((bearing > 300)&&(bearing <= 330) ) - { - ui->label_dir->setText("left up"); - //bearing = 315; - dir = "left up"; - } - - } - - } - - } - - } - - } - - } - - } - - ui->label_x->setText("Distancia= " + QString::number(dist) + " - x =" + QString::number(x1) ); - ui->label_y->setText("Bearing= " + QString::number(bearing) + " - y = " + QString::number(y1)); - - - - emit changeCamPosition(20, bearing, dir); - -// if((x2label_dir->setText("left Up"); -//// bearing = 315; -// dir = "left up"; - - -// } -// else -// { -// if((x2y1)) // left down -// { -// ui->label_dir->setText("left down"); -//// bearing = 225; -// dir = "left down"; - - -// } -// else -// { -// if((x2label_dir->setText("left"); -//// bearing = 270; -// dir = "left"; - -// } -// else -// { -// if((x2==x1)&&(y2label_dir->setText("Up"); -//// bearing = 0; -// dir = "up"; - -// } -// else -// { -// if((x2==x1)&&(y2>y1)) // down -// { -// ui->label_dir->setText("down"); -//// bearing = 180; -// dir = "down"; - -// } -// else -// { -// if((x2>x1)&&(y2==y1)) // right -// { -// ui->label_dir->setText("right"); -//// bearing = 90; -// dir = "right"; - -// } -// else -// { -// if((x2>x1)&&(y2label_dir->setText("right Up"); -//// bearing = 45; -// dir = "right up"; - -// } -// else -// { -// if((x2>x1)&&(y2>y1))//right down -// { -// ui->label_dir->setText("right down"); -//// bearing = 135; -// dir = "right down"; - -// } -// } -// } -// } -// } -// } -// } -// } - +void SlugsVideoCamControl::mousePadMoveEvent(int x, int y) +{ } -double SlugsVideoCamControl::getDistPixel(int x1, int y1, int x2, int y2) +void SlugsVideoCamControl::mousePadPressEvent(int x, int y) { - double cateto_opuesto,cateto_adyacente; - //latitud y longitud del primer punto +} - cateto_opuesto = abs((x1-x2)); //diferencia de latitudes entre PCR1 y PCR2 - cateto_adyacente = abs((y1-y2));//diferencia de longitudes entre PCR1 y PCR2 +void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y) +{ - return sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2)); - // distancia = (float) hipotenusa; } -/** - * Esta función xxxxxxxxx - * @param double lat1 --> - * @param double lon1 --> - * @param double lat2 --> - * @param double lon2 --> - * @param ref double rumbo --> - * @param ref double distancia --> - */ -QPointF SlugsVideoCamControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2) +void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status) { - double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion; - - //latitude and longitude first point - - if(lat1<0) lat1= lat1*(-1); - if(lat2<0) lat2= lat2*(-1); - if(lon1<0) lon1= lon1*(-1); - if(lon2<0) lon1= lon1*(-1); - - cateto_opuesto = abs((lat1-lat2)); - cateto_adyacente = abs((lon1-lon2)); - - hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2)); - distancia = hipotenusa*60; - - - if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante - marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292); - else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante - marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292; - else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante - marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292); - else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante - marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292); - else if((lat1 < lat2) && (lon1 == lon2)) //360 - marcacion = 360; - else if((lat1 == lat2) && (lon1 > lon2)) //270 - marcacion = 270; - else if((lat1 > lat2) && (lon1 == lon2)) //180 - marcacion = 180; - else if((lat1 == lat2) && (lon1 < lon2)) //90 - marcacion =90; - else if((lat1 == lat2) && (lon1 == lon2)) //0 - marcacion = 0.0; - - return QPointF(marcacion,distancia); - + emit viewCamBorderAtMap(status); } -void SlugsVideoCamControl::paintEvent(QPaintEvent *pe) +void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance, QString dirText) { - Q_UNUSED(pe); - QPainter painter(this); - painter.setPen(Qt::blue); - painter.setFont(QFont("Arial", 30)); + ui->label_dir->setText(dirText); + ui->label_x->setText("Distancia= " + QString::number(distance)); + ui->label_y->setText("Bearing= " + QString::number(bearing)); -// QRectF rectangle(tL.x(), tL.y(), ui->padCamContro_frame->width(), ui->padCamContro_frame->height()); -// int startAngle = 30 * 16; -// int spanAngle = 120 * 16; - - painter.drawLine(QPoint(tL.x(),tL.y()),QPoint(bR.x(),bR.y())); - // painter.drawLine(QPoint()); - //painter.drawLines(padLines); - - - // painter.drawPie(rectangle, startAngle, spanAngle); - - //painter.drawText(rect(), Qt::AlignCenter, "Qt"); + emit changeCamPosition(20, bearing, dirText); } - - - - diff --git a/src/ui/SlugsVideoCamControl.h b/src/ui/SlugsVideoCamControl.h index 793879d22b556cfba6100aebe38eeef3f3c72dbf..2580033a5e1dee3883ea60008707112b6f11f674 100644 --- a/src/ui/SlugsVideoCamControl.h +++ b/src/ui/SlugsVideoCamControl.h @@ -7,6 +7,8 @@ #include #include #include "SlugsPadCameraControl.h" +#include + #define DELTA 1000 @@ -26,33 +28,29 @@ public: public slots: void changeViewCamBorderAtMapStatus(bool status); - void getDeltaPositionPad(int x, int y); - double getDistPixel(int x1, int y1, int x2, int y2); - QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2); + void getDeltaPositionPad(double dir, double dist, QString dirText); + + + void mousePadPressEvent(int x, int y); + void mousePadReleaseEvent(int x, int y); + void mousePadMoveEvent(int x, int y); signals: void changeCamPosition(double dist, double dir, QString textDir); void viewCamBorderAtMap(bool status); protected: - virtual void mousePressEvent(QMouseEvent* event); - virtual void mouseReleaseEvent(QMouseEvent* event); - void mouseMoveEvent(QMouseEvent* event); - //virtual void paintEvent(QPaintEvent *pe); - void paintEvent(QPaintEvent *pe); + void mousePressEvent(QMouseEvent* event); + void mouseReleaseEvent(QMouseEvent* event); + void mouseMoveEvent(QMouseEvent* event); -private: - Ui::SlugsVideoCamControl *ui; - bool dragging; - int x1; - int y1; - QPoint tL; - QPoint bR; - SlugsPadCameraControl* padCamera; +private: + Ui::SlugsVideoCamControl *ui; + SlugsPadCameraControl* padCamera; }; diff --git a/src/ui/SlugsVideoCamControl.ui b/src/ui/SlugsVideoCamControl.ui index a94832ac34aae54e649d3edf9863f63b3aca5d33..c89c2e7ef26e6c05ecb9e103c616c02506d1934b 100644 --- a/src/ui/SlugsVideoCamControl.ui +++ b/src/ui/SlugsVideoCamControl.ui @@ -24,29 +24,6 @@ - - - - 0 - 0 - - - - false - - - background-color: rgba(255, 170, 0,0%); - - - - QFrame::WinPanel - - - QFrame::Sunken - - - - @@ -77,7 +54,7 @@ - +