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Commit 59bbbfbe authored by lm's avatar lm
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Working 2d map use, needs more testing though

parent 004183d5
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Showing with 274 additions and 169 deletions
qgroundcontrol.pro
View file @ 59bbbfbe
...@@ -213,7 +213,8 @@ FORMS += src/ui/MainWindow.ui \ ...@@ -213,7 +213,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/UASControlParameters.ui \ src/ui/UASControlParameters.ui \
src/ui/mission/QGCMissionDoWidget.ui \ src/ui/mission/QGCMissionDoWidget.ui \
src/ui/mission/QGCMissionConditionWidget.ui \ src/ui/mission/QGCMissionConditionWidget.ui \
src/ui/map/QGCMapToolbar.ui src/ui/map/QGCMapTool.ui \
src/ui/map/QGCMapToolBar.ui
INCLUDEPATH += src \ INCLUDEPATH += src \
src/ui \ src/ui \
src/ui/linechart \ src/ui/linechart \
...@@ -328,7 +329,8 @@ HEADERS += src/MG.h \ ...@@ -328,7 +329,8 @@ HEADERS += src/MG.h \
src/ui/map/MAV2DIcon.h \ src/ui/map/MAV2DIcon.h \
src/ui/map/Waypoint2DIcon.h \ src/ui/map/Waypoint2DIcon.h \
src/ui/mavlink/QGCMAVLinkTextEdit.h \ src/ui/mavlink/QGCMAVLinkTextEdit.h \
src/ui/map/QGCMapToolbar.h src/ui/map/QGCMapTool.h \
src/ui/map/QGCMapToolBar.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008::HEADERS += src/ui/map3D/QGCGoogleEarthView.h macx|win32-msvc2008::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
...@@ -456,7 +458,8 @@ SOURCES += src/main.cc \ ...@@ -456,7 +458,8 @@ SOURCES += src/main.cc \
src/ui/map/MAV2DIcon.cc \ src/ui/map/MAV2DIcon.cc \
src/ui/map/Waypoint2DIcon.cc \ src/ui/map/Waypoint2DIcon.cc \
src/ui/mavlink/QGCMAVLinkTextEdit.cc \ src/ui/mavlink/QGCMAVLinkTextEdit.cc \
src/ui/map/QGCMapToolbar.cc src/ui/map/QGCMapTool.cc \
src/ui/map/QGCMapToolBar.cc
macx|win32-msvc2008::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc macx|win32-msvc2008::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
contains(DEPENDENCIES_PRESENT, osg) { contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph") message("Including sources for OpenSceneGraph")
......
src/ui/MainWindow.cc
View file @ 59bbbfbe
...@@ -29,7 +29,7 @@ ...@@ -29,7 +29,7 @@
#include "QGCToolWidget.h" #include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h" #include "QGCMAVLinkLogPlayer.h"
#include "QGCSettingsWidget.h" #include "QGCSettingsWidget.h"
#include "QGCMapWidget.h" #include "QGCMapTool.h"
#ifdef QGC_OSG_ENABLED #ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h" #include "Q3DWidgetFactory.h"
...@@ -352,7 +352,7 @@ void MainWindow::buildCommonWidgets() ...@@ -352,7 +352,7 @@ void MainWindow::buildCommonWidgets()
// Center widgets // Center widgets
if (!mapWidget) if (!mapWidget)
{ {
mapWidget = new QGCMapWidget(this); mapWidget = new QGCMapTool(this);
addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP); addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
} }
......
src/ui/MainWindow.h
View file @ 59bbbfbe
...@@ -76,6 +76,8 @@ This file is part of the QGROUNDCONTROL project ...@@ -76,6 +76,8 @@ This file is part of the QGROUNDCONTROL project
#include "SlugsPadCameraControl.h" #include "SlugsPadCameraControl.h"
#include "UASControlParameters.h" #include "UASControlParameters.h"
class QGCMapTool;
/** /**
* @brief Main Application Window * @brief Main Application Window
* *
...@@ -376,7 +378,7 @@ protected: ...@@ -376,7 +378,7 @@ protected:
QPointer<HUD> hudWidget; QPointer<HUD> hudWidget;
QPointer<mapcontrol::OPMapWidget> mapWidget; QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget; QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget; QPointer<QGCDataPlot2D> dataplotWidget;
#ifdef QGC_OSG_ENABLED #ifdef QGC_OSG_ENABLED
......
src/ui/map/QGCMapTool.cc 0 → 100644
View file @ 59bbbfbe
#include "QGCMapTool.h"
#include "ui_QGCMapTool.h"
QGCMapTool::QGCMapTool(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCMapTool)
{
ui->setupUi(this);
// Connect map and toolbar
ui->toolBar->setMap(ui->map);
}
QGCMapTool::~QGCMapTool()
{
delete ui;
}
src/ui/map/QGCMapTool.h 0 → 100644
View file @ 59bbbfbe
#ifndef QGCMAPTOOL_H
#define QGCMAPTOOL_H
#include <QWidget>
namespace Ui {
class QGCMapTool;
}
class QGCMapTool : public QWidget
{
Q_OBJECT
public:
explicit QGCMapTool(QWidget *parent = 0);
~QGCMapTool();
private:
Ui::QGCMapTool *ui;
};
#endif // QGCMAPTOOL_H
src/ui/map/QGCMapTool.ui 0 → 100644
View file @ 59bbbfbe
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCMapTool</class>
<widget class="QWidget" name="QGCMapTool">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout" stretch="100,1">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGCMapWidget" name="map" native="true"/>
</item>
<item>
<widget class="QGCMapToolBar" name="toolBar" native="true"/>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>QGCMapToolBar</class>
<extends>QWidget</extends>
<header>QGCMapToolBar.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QGCMapWidget</class>
<extends>QWidget</extends>
<header>QGCMapWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
src/ui/map/QGCMapToolBar.cc 0 → 100644
View file @ 59bbbfbe
#include "QGCMapToolBar.h"
#include "QGCMapWidget.h"
#include "ui_QGCMapToolBar.h"
QGCMapToolBar::QGCMapToolBar(QWidget *parent) :
QWidget(parent),
map(NULL),
ui(new Ui::QGCMapToolBar)
{
ui->setupUi(this);
}
void QGCMapToolBar::setMap(QGCMapWidget* map)
{
this->map = map;
if (map)
{
connect(ui->goToButton, SIGNAL(clicked()), map, SLOT(showGoToDialog()));
connect(ui->goHomeButton, SIGNAL(clicked()), map, SLOT(goHome()));
}
}
QGCMapToolBar::~QGCMapToolBar()
{
delete ui;
}
src/ui/map/QGCMapToolbar.cc deleted 100644 → 0
View file @ 004183d5
#include "QGCMapToolbar.h"
#include "ui_QGCMapToolbar.h"
QGCMapToolbar::QGCMapToolbar(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCMapToolbar)
{
ui->setupUi(this);
}
QGCMapToolbar::~QGCMapToolbar()
{
delete ui;
}
src/ui/map/QGCMapToolbar.h
View file @ 59bbbfbe
...@@ -3,20 +3,27 @@ ...@@ -3,20 +3,27 @@
#include <QWidget> #include <QWidget>
class QGCMapWidget;
namespace Ui { namespace Ui {
class QGCMapToolbar; class QGCMapToolBar;
} }
class QGCMapToolbar : public QWidget class QGCMapToolBar : public QWidget
{ {
Q_OBJECT Q_OBJECT
public: public:
explicit QGCMapToolbar(QWidget *parent = 0); explicit QGCMapToolBar(QWidget *parent = 0);
~QGCMapToolbar(); ~QGCMapToolBar();
void setMap(QGCMapWidget* map);
protected:
QGCMapWidget* map;
private: private:
Ui::QGCMapToolbar *ui; Ui::QGCMapToolBar *ui;
}; };
#endif // QGCMAPTOOLBAR_H #endif // QGCMAPTOOLBAR_H
src/ui/map/QGCMapToolbar.ui
View file @ 59bbbfbe
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0"> <ui version="4.0">
<class>QGCMapToolbar</class> <class>QGCMapToolBar</class>
<widget class="QWidget" name="QGCMapToolbar"> <widget class="QWidget" name="QGCMapToolBar">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>617</width> <width>669</width>
<height>28</height> <height>35</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
...@@ -18,19 +18,19 @@ ...@@ -18,19 +18,19 @@
<number>12</number> <number>12</number>
</property> </property>
<property name="margin"> <property name="margin">
<number>2</number> <number>4</number>
</property> </property>
<item> <item>
<widget class="QPushButton" name="goToLatLonButton"> <widget class="QLabel" name="posLabel">
<property name="text"> <property name="text">
<string>Lat/Lon</string> <string>00.00 00.00</string>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QPushButton" name="goToHomeButton"> <widget class="QPushButton" name="goToButton">
<property name="text"> <property name="text">
<string>Home</string> <string>Lat/Lon</string>
</property> </property>
</widget> </widget>
</item> </item>
...@@ -39,25 +39,35 @@ ...@@ -39,25 +39,35 @@
<property name="text"> <property name="text">
<string>Edit</string> <string>Edit</string>
</property> </property>
<property name="checkable">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QPushButton" name="setHomeButton"> <widget class="QPushButton" name="goHomeButton">
<property name="text"> <property name="text">
<string>Set Home</string> <string>Go Home</string>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QLabel" name="latLonLabel"> <widget class="QCheckBox" name="followCheckBox">
<property name="text"> <property name="text">
<string>Mouse Coordinate</string> <string>Follow</string>
</property> </property>
</widget> </widget>
</item> </item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>242</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout> </layout>
</widget> </widget>
<resources/> <resources/>
......
src/ui/map/QGCMapWidget.cc
View file @ 59bbbfbe
...@@ -342,6 +342,11 @@ void QGCMapWidget::updateHomePosition(double latitude, double longitude, double ...@@ -342,6 +342,11 @@ void QGCMapWidget::updateHomePosition(double latitude, double longitude, double
SetShowHome(true); // display the HOME position on the map SetShowHome(true); // display the HOME position on the map
} }
void QGCMapWidget::goHome()
{
SetCurrentPosition(Home->Coord());
}
/** /**
* Limits the update rate on the specified interval. Set to zero (0) to run at maximum * Limits the update rate on the specified interval. Set to zero (0) to run at maximum
* telemetry speed. Recommended rate is 2 s. * telemetry speed. Recommended rate is 2 s.
...@@ -406,7 +411,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp) ...@@ -406,7 +411,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
// this has to be changed to accept read-only updates from other systems as well. // this has to be changed to accept read-only updates from other systems as well.
if (UASManager::instance()->getUASForId(uas)->getWaypointManager() == currWPManager) { if (UASManager::instance()->getUASForId(uas)->getWaypointManager() == currWPManager) {
// Only accept waypoints in global coordinate frame // Only accept waypoints in global coordinate frame
if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType()) { if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType()) {
// We're good, this is a global waypoint // We're good, this is a global waypoint
// Get the index of this waypoint // Get the index of this waypoint
...@@ -481,89 +486,45 @@ void QGCMapWidget::updateWaypointList(int uas) ...@@ -481,89 +486,45 @@ void QGCMapWidget::updateWaypointList(int uas)
// Currently only accept waypoint updates from the UAS in focus // Currently only accept waypoint updates from the UAS in focus
// this has to be changed to accept read-only updates from other systems as well. // this has to be changed to accept read-only updates from other systems as well.
if (UASManager::instance()->getUASForId(uas)->getWaypointManager() == currWPManager) { if (UASManager::instance()->getUASForId(uas)->getWaypointManager() == currWPManager) {
qDebug() << "UPDATING WP LIST"; qDebug() << "UPDATING WP LIST";
// Get current WP list // Get current WP list
// compare to local WP maps and // compare to local WP maps and
// update / remove all WPs // update / remove all WPs
// int localCount = waypointsToIcons.count(); // int localCount = waypointsToIcons.count();
// ORDER MATTERS HERE! // ORDER MATTERS HERE!
// TWO LOOPS ARE NEEDED - INFINITY LOOP ELSE // TWO LOOPS ARE NEEDED - INFINITY LOOP ELSE
// Delete first all old waypoints // Delete first all old waypoints
// this is suboptimal (quadratic, but wps should stay in the sub-100 range anyway) // this is suboptimal (quadratic, but wps should stay in the sub-100 range anyway)
QVector<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList(); QVector<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
foreach (Waypoint* wp, waypointsToIcons.keys()) foreach (Waypoint* wp, waypointsToIcons.keys())
{
// Get icon to work on
mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp);
if (!wps.contains(wp))
{ {
waypointsToIcons.remove(wp); // Get icon to work on
iconsToWaypoints.remove(icon); mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp);
WPDelete(icon); if (!wps.contains(wp))
{
waypointsToIcons.remove(wp);
iconsToWaypoints.remove(icon);
WPDelete(icon);
}
} }
}
// Update all existing waypoints // Update all existing waypoints
foreach (Waypoint* wp, waypointsToIcons.keys()) foreach (Waypoint* wp, waypointsToIcons.keys())
{ {
// Update remaining waypoints // Update remaining waypoints
updateWaypoint(uas, wp); updateWaypoint(uas, wp);
} }
// Update all potentially new waypoints // Update all potentially new waypoints
foreach (Waypoint* wp, wps) foreach (Waypoint* wp, wps)
{ {
// Update / add only if new // Update / add only if new
if (!waypointsToIcons.contains(wp)) updateWaypoint(uas, wp); if (!waypointsToIcons.contains(wp)) updateWaypoint(uas, wp);
}
} }
// int globalCount = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeCount();
// // Get already existing waypoints
// UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
// if (uasInstance) {
// // Get update rect of old content, this is what will be redrawn
// // in the last step
// QRect updateRect = waypointPath->boundingBox().toRect();
// // Get all waypoints, including non-global waypoints
// QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getWaypointList();
// // Clear if necessary
// if (wpList.count() == 0) {
// clearWaypoints(uas);
// return;
// }
// // Trim internal list to number of global waypoints in the waypoint manager list
// int overSize = waypointPath->points().count() - uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeCount();
// if (overSize > 0) {
// // Remove n waypoints at the end of the list
// // the remaining waypoints will be updated
// // in the next step
// for (int i = 0; i < overSize; ++i) {
// wps.removeLast();
// mc->layer("Waypoints")->removeGeometry(wpIcons.last());
// wpIcons.removeLast();
// waypointPath->points().removeLast();
// }
// }
// // Load all existing waypoints into map view
// foreach (Waypoint* wp, wpList) {
// // Block map draw updates, since we update everything in the next step
// // but update internal data structures.
// // Please note that updateWaypoint() ignores non-global waypoints
// updateWaypoint(mav->getUASID(), wp, false);
// }
// // Update view
// if (isVisible()) mc->updateRequest(updateRect);
// }
}
} }
......
src/ui/map/QGCMapWidget.h
View file @ 59bbbfbe
...@@ -43,6 +43,8 @@ public slots: ...@@ -43,6 +43,8 @@ public slots:
void activeUASSet(UASInterface* uas); void activeUASSet(UASInterface* uas);
/** @brief Show a dialog to jump to given GPS coordinates */ /** @brief Show a dialog to jump to given GPS coordinates */
void showGoToDialog(); void showGoToDialog();
/** @brief Jump to the home position on the map */
void goHome();
/** @brief Update this waypoint for this UAS */ /** @brief Update this waypoint for this UAS */
void updateWaypoint(int uas, Waypoint* wp); void updateWaypoint(int uas, Waypoint* wp);
/** @brief Update the whole waypoint */ /** @brief Update the whole waypoint */
......
src/ui/map/Waypoint2DIcon.cc
View file @ 59bbbfbe
...@@ -82,8 +82,8 @@ void Waypoint2DIcon::updateWaypoint() ...@@ -82,8 +82,8 @@ void Waypoint2DIcon::updateWaypoint()
int oldWidth = oldSize.width() + 20; int oldWidth = oldSize.width() + 20;
int oldHeight = oldSize.height() + 20; int oldHeight = oldSize.height() + 20;
map->update(this->x()-10, this->y()-10, oldWidth, oldHeight); map->update(this->x()-10, this->y()-10, oldWidth, oldHeight);
qDebug() << "UPDATING DUE TO SMALLER SIZE"; //qDebug() << "UPDATING DUE TO SMALLER SIZE";
qDebug() << "X:" << this->x()-1 << "Y:" << this->y()-1 << "WIDTH:" << oldWidth << "HEIGHT:" << oldHeight; //qDebug() << "X:" << this->x()-1 << "Y:" << this->y()-1 << "WIDTH:" << oldWidth << "HEIGHT:" << oldHeight;
} }
else else
{ {
...@@ -91,7 +91,6 @@ void Waypoint2DIcon::updateWaypoint() ...@@ -91,7 +91,6 @@ void Waypoint2DIcon::updateWaypoint()
this->update(); this->update();
} }
oldSize = boundingRect(); oldSize = boundingRect();
qDebug() << "UPDATING WP";
} }
} }
...@@ -133,44 +132,30 @@ void Waypoint2DIcon::drawIcon() ...@@ -133,44 +132,30 @@ void Waypoint2DIcon::drawIcon()
{ {
picture.fill(Qt::transparent); picture.fill(Qt::transparent);
QPainter painter(&picture); QPainter painter(&picture);
painter.setRenderHint(QPainter::TextAntialiasing, true);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
QPen pen1(Qt::black);
pen1.setWidth(4);
QPen pen2(color);
pen2.setWidth(2);
painter.setBrush(Qt::NoBrush);
// DRAW WAYPOINT // DRAW WAYPOINT
QPointF p(picture.width()/2, picture.height()/2); QPointF p(picture.width()/2, picture.height()/2);
QPolygonF poly(4); QPolygonF poly(4);
// Top point // Top point
poly.replace(0, QPointF(p.x(), p.y()-picture.height()/2.0f)); poly.replace(0, QPointF(p.x(), p.y()-picture.height()/2.0f+8*painter.pen().width()));
// Right point // Right point
poly.replace(1, QPointF(p.x()+picture.width()/2.0f, p.y())); poly.replace(1, QPointF(p.x()+picture.width()/2.0f-8*painter.pen().width(), p.y()));
// Bottom point // Bottom point
poly.replace(2, QPointF(p.x(), p.y() + picture.height()/2.0f)); poly.replace(2, QPointF(p.x(), p.y() + picture.height()/2.0f-8*painter.pen().width()));
poly.replace(3, QPointF(p.x() - picture.width()/2.0f, p.y())); poly.replace(3, QPointF(p.x() - picture.width()/2.0f+8*painter.pen().width(), p.y()));
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
//pen.setColor(color);
// if (pen) {
// pen->setWidthF(2);
// painter.setPen(*pen);
// } else {
QPen pen2(color);
pen2.setWidth(2);
painter.setPen(pen2);
// }
painter.setBrush(Qt::NoBrush);
int waypointSize = qMin(picture.width(), picture.height()); int waypointSize = qMin(picture.width(), picture.height());
float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f)); float rad = (waypointSize/2.0f) * 0.7f * (1/sqrt(2.0f));
// If this is not a waypoint (only the default representation) // If this is not a waypoint (only the default representation)
// or it is a waypoint, but not one where direction has no meaning // or it is a waypoint, but not one where direction has no meaning
...@@ -180,40 +165,62 @@ void Waypoint2DIcon::drawIcon() ...@@ -180,40 +165,62 @@ void Waypoint2DIcon::drawIcon()
(waypoint->getAction() != (int)MAV_CMD_NAV_LAND) && (waypoint->getAction() != (int)MAV_CMD_NAV_LAND) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_UNLIM) && (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_UNLIM) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TIME) && (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TIME) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TURNS) (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TURNS) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_RETURN_TO_LAUNCH)
))) )))
{ {
painter.drawLine(p.x(), p.y(), p.x()+sin(Heading()) * rad, p.y()-cos(Heading()) * rad); painter.setPen(pen1);
painter.drawLine(p.x(), p.y(), p.x()+sin(Heading()/180.0f*M_PI) * rad, p.y()-cos(Heading()/180.0f*M_PI) * rad);
painter.setPen(pen2);
painter.drawLine(p.x(), p.y(), p.x()+sin(Heading()/180.0f*M_PI) * rad, p.y()-cos(Heading()/180.0f*M_PI) * rad);
} }
if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_TAKEOFF)) if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_TAKEOFF))
{ {
// Takeoff waypoint // Takeoff waypoint
int width = (picture.width()-1); int width = picture.width()-2*painter.pen().width();
int height = (picture.height()-1); int height = picture.height()-2*-painter.pen().width();
painter.drawRect(0, 0, width, height); painter.drawRect(painter.pen().width()/2, painter.pen().width()/2, width, height);
painter.drawRect(width*0.2, height*0.2f, width*0.6f, height*0.6f); painter.drawRect(width*0.2+painter.pen().width()/2, height*0.2f+painter.pen().width()/2, width*0.6f, height*0.6f);
} }
else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND)) else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND))
{ {
// Landing waypoint // Landing waypoint
int width = (picture.width()-1)/2; int width = (picture.width())/2-painter.pen().width();
int height = (picture.height()-1)/2; int height = (picture.height())/2-painter.pen().width();
painter.setPen(pen1);
painter.drawEllipse(p, width, height);
painter.drawLine(p.x()-width/2, p.y()-height/2, width, height);
painter.setPen(pen2);
painter.drawEllipse(p, width, height); painter.drawEllipse(p, width, height);
painter.drawEllipse(p, width*0.6f, height*0.6f); painter.drawLine(p.x()-width/2, p.y()-height/2, width, height);
painter.drawLine(0, 0, picture.width(), picture.height());
painter.drawLine(picture.width(), 0, 0, picture.height());
} }
else if ((waypoint != NULL) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS))) else if ((waypoint != NULL) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
{ {
// Loiter waypoint // Loiter waypoint
int width = (picture.width()-1)/2; int width = (picture.width())/2-9*painter.pen().width();
int height = (picture.height()-1)/2; int height = (picture.height())/2-9*painter.pen().width();
painter.setPen(pen1);
painter.drawEllipse(p, width, height);
painter.drawPoint(p);
painter.setPen(pen2);
painter.drawEllipse(p, width, height); painter.drawEllipse(p, width, height);
painter.drawPoint(p);
}
else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_RETURN_TO_LAUNCH))
{
// Return to launch waypoint
int width = picture.width()-2*painter.pen().width();
int height = picture.height()-2*-painter.pen().width();
painter.drawRect(painter.pen().width()/2, painter.pen().width()/2, width, height);
painter.drawText(width/10, width/10, width/10*8, width/10*8, 0, QString("R"));
} }
else else
{ {
// Navigation waypoint // Navigation waypoint
painter.setPen(pen1);
painter.drawPolygon(poly);
painter.setPen(pen2);
painter.drawPolygon(poly); painter.drawPolygon(poly);
} }
} }
...@@ -222,28 +229,42 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op ...@@ -222,28 +229,42 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
{ {
Q_UNUSED(option); Q_UNUSED(option);
Q_UNUSED(widget); Q_UNUSED(widget);
QPen pen = painter->pen();
pen.setWidth(2);
painter->drawPixmap(-picture.width()/2,-picture.height()/2,picture); painter->drawPixmap(-picture.width()/2,-picture.height()/2,picture);
if (this->isSelected()) if (this->isSelected())
{ {
pen.setColor(Qt::yellow);
painter->drawRect(QRectF(-picture.width()/2,-picture.height()/2,picture.width()-1,picture.height()-1)); painter->drawRect(QRectF(-picture.width()/2,-picture.height()/2,picture.width()-1,picture.height()-1));
} }
QPen pen = painter->pen(); QPen penBlack(Qt::black);
penBlack.setWidth(4);
pen.setColor(color); pen.setColor(color);
if ((waypoint) && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius) if ((waypoint) && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius)
{ {
QPen redPen = QPen(pen); QPen redPen = QPen(pen);
redPen.setColor(Qt::red); redPen.setColor(Qt::yellow);
painter->setPen(redPen); painter->setPen(redPen);
const int acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), Coord()); const int acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), Coord());
if (waypoint) painter->drawEllipse(QPointF(0, 0), acceptance, acceptance); painter->setPen(penBlack);
painter->drawEllipse(QPointF(0, 0), acceptance, acceptance);
painter->setPen(redPen);
painter->drawEllipse(QPointF(0, 0), acceptance, acceptance);
} }
if ((waypoint) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS))) if ((waypoint) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
{ {
painter->setPen(pen); QPen penDash(color);
pen.setWidth(2); penDash.setWidth(1);
//penDash.setStyle(Qt::DotLine);
const int loiter = map->metersToPixels(waypoint->getLoiterOrbit(), Coord()); const int loiter = map->metersToPixels(waypoint->getLoiterOrbit(), Coord());
if (waypoint) painter->drawEllipse(QPointF(0, 0), loiter, loiter); if (loiter > picture.width()/2)
{
painter->setPen(penBlack);
painter->drawEllipse(QPointF(0, 0), loiter, loiter);
painter->setPen(penDash);
painter->drawEllipse(QPointF(0, 0), loiter, loiter);
}
} }
} }
src/ui/map/Waypoint2DIcon.h
View file @ 59bbbfbe
...@@ -15,14 +15,14 @@ public: ...@@ -15,14 +15,14 @@ public:
* @param longitude * @param longitude
* @param name name of the circle point * @param name name of the circle point
*/ */
Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), QString description = QString(), int radius=24); Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), QString description = QString(), int radius=30);
/** /**
* *
* @param wp Waypoint * @param wp Waypoint
* @param radius the radius of the circle * @param radius the radius of the circle
*/ */
Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, Waypoint* wp, const QColor& color, int listindex, int radius = 24); Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, Waypoint* wp, const QColor& color, int listindex, int radius = 31);
virtual ~Waypoint2DIcon(); virtual ~Waypoint2DIcon();
......
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