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Commit 8c6c0741 authored by pixhawk's avatar pixhawk
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Added full-fledged multi-wp type interaction. WP-connecting line still missing.

parent e313f6c4
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Showing with 326 additions and 118 deletions
qgroundcontrol.pro
View file @ 8c6c0741
......@@ -302,11 +302,10 @@ HEADERS += src/MG.h \
src/uas/QGCUASParamManager.h \
src/ui/map/QGCMapWidget.h \
src/ui/map/MAV2DIcon.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/mavlink/QGCMAVLinkTextEdit.h \
src/ui/map/QGCMapToolbar.h
# src/ui/map/Waypoint2DIcon.h \
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
contains(DEPENDENCIES_PRESENT, osg) {
......@@ -431,9 +430,9 @@ SOURCES += src/main.cc \
src/uas/QGCUASParamManager.cc \
src/ui/map/QGCMapWidget.cc \
src/ui/map/MAV2DIcon.cc \
src/ui/map/Waypoint2DIcon.cc \
src/ui/mavlink/QGCMAVLinkTextEdit.cc \
src/ui/map/QGCMapToolbar.cc
# src/ui/map/Waypoint2DIcon.cc
macx|win32-msvc2008::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
......
src/ui/WaypointView.cc
View file @ 8c6c0741
......@@ -427,18 +427,19 @@ void WaypointView::updateValues()
}
}
}
switch(action) {
case MAV_CMD_NAV_TAKEOFF:
break;
case MAV_CMD_NAV_LAND:
break;
case MAV_CMD_NAV_WAYPOINT:
break;
case MAV_CMD_NAV_LOITER_UNLIM:
break;
default:
std::cerr << "unknown action" << std::endl;
}
// Do something on actions - currently unused
// switch(action) {
// case MAV_CMD_NAV_TAKEOFF:
// break;
// case MAV_CMD_NAV_LAND:
// break;
// case MAV_CMD_NAV_WAYPOINT:
// break;
// case MAV_CMD_NAV_LOITER_UNLIM:
// break;
// default:
// std::cerr << "unknown action" << std::endl;
// }
if (m_ui->yawSpinBox->value() != wp->getYaw()) {
if (!m_ui->yawSpinBox->isVisible()) m_ui->yawSpinBox->blockSignals(true);
......
src/ui/map/MAV2DIcon.h
View file @ 8c6c0741
......@@ -77,7 +77,6 @@ protected:
bool selected; ///< Wether this is the system currently in focus
int uasid; ///< ID of tracked system
QPen* mypen;
QPixmap* mypixmap;
QSize size;
};
......
src/ui/map/QGCMapWidget.cc
View file @ 8c6c0741
......@@ -3,12 +3,14 @@
#include "UASInterface.h"
#include "UASManager.h"
#include "MAV2DIcon.h"
#include "Waypoint2DIcon.h"
#include "UASWaypointManager.h"
QGCMapWidget::QGCMapWidget(QWidget *parent) :
mapcontrol::OPMapWidget(parent),
currWPManager(NULL),
firingWaypointChange(NULL)
firingWaypointChange(NULL),
maxUpdateInterval(2) // 2 seconds
{
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));
......@@ -88,6 +90,10 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
setFocus();
// Start timer
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateGlobalPosition()));
updateTimer.start(maxUpdateInterval*1000);
}
QGCMapWidget::~QGCMapWidget()
......@@ -157,22 +163,53 @@ void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lo
{
Q_UNUSED(usec);
// Get reference to graphic UAV item
mapcontrol::UAVItem* uav = GetUAV(uas->getUASID());
// Check if reference is valid, else create a new one
if (uav == NULL)
// Immediate update
if (maxUpdateInterval == 0)
{
MAV2DIcon* newUAV = new MAV2DIcon(map, this, uas);
newUAV->setParentItem(map);
UAVS.insert(uas->getUASID(), newUAV);
uav = GetUAV(uas->getUASID());
// Get reference to graphic UAV item
mapcontrol::UAVItem* uav = GetUAV(uas->getUASID());
// Check if reference is valid, else create a new one
if (uav == NULL)
{
MAV2DIcon* newUAV = new MAV2DIcon(map, this, uas);
newUAV->setParentItem(map);
UAVS.insert(uas->getUASID(), newUAV);
uav = GetUAV(uas->getUASID());
}
// Set new lat/lon position of UAV icon
internals::PointLatLng pos_lat_lon = internals::PointLatLng(lat, lon);
uav->SetUAVPos(pos_lat_lon, alt);
// Convert from radians to degrees and apply
uav->SetUAVHeading((uas->getYaw()/M_PI)*180.0f);
}
}
// Set new lat/lon position of UAV icon
internals::PointLatLng pos_lat_lon = internals::PointLatLng(lat, lon);
uav->SetUAVPos(pos_lat_lon, alt);
// Convert from radians to degrees and apply
uav->SetUAVHeading((uas->getYaw()/M_PI)*180.0f);
/**
* Pulls in the positions of all UAVs from the UAS manager
*/
void QGCMapWidget::updateGlobalPosition()
{
QList<UASInterface*> systems = UASManager::instance()->getUASList();
foreach (UASInterface* system, systems)
{
// Get reference to graphic UAV item
mapcontrol::UAVItem* uav = GetUAV(system->getUASID());
// Check if reference is valid, else create a new one
if (uav == NULL)
{
MAV2DIcon* newUAV = new MAV2DIcon(map, this, system);
newUAV->setParentItem(map);
UAVS.insert(system->getUASID(), newUAV);
uav = GetUAV(system->getUASID());
}
// Set new lat/lon position of UAV icon
internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
uav->SetUAVPos(pos_lat_lon, system->getAltitude());
// Convert from radians to degrees and apply
uav->SetUAVHeading((system->getYaw()/M_PI)*180.0f);
}
}
......@@ -239,6 +276,16 @@ void QGCMapWidget::updateHomePosition(double latitude, double longitude, double
SetShowHome(true); // display the HOME position on the map
}
/**
* Limits the update rate on the specified interval. Set to zero (0) to run at maximum
* telemetry speed. Recommended rate is 2 s.
*/
void QGCMapWidget::setUpdateRateLimit(float seconds)
{
maxUpdateInterval = seconds;
updateTimer.start(maxUpdateInterval*1000);
}
// WAYPOINT MAP INTERACTION FUNCTIONS
......@@ -288,6 +335,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
// note the call to getGlobalFrameAndNavTypeIndexOf()
// as we're only handling global waypoints
int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
// If not found, return (this should never happen, but helps safety)
if (wpindex == -1) return;
// Mark this wp as currently edited
......@@ -296,9 +344,9 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
// Check if wp exists yet in map
if (!waypointsToIcons.contains(wp)) {
// Create icon for new WP
mapcontrol::WayPointItem* icon = WPCreate(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()), wp->getAltitude(), wp->getDescription());
icon->SetHeading(wp->getYaw());
icon->SetNumber(wpindex);
Waypoint2DIcon* icon = new Waypoint2DIcon(map, this, wp, uasInstance->getColor(), wpindex);
ConnectWP(icon);
icon->setParentItem(map);
// Update maps to allow inverse data association
waypointsToIcons.insert(wp, icon);
iconsToWaypoints.insert(icon, wp);
......@@ -312,13 +360,25 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
// should not happen, just a precaution
this->blockSignals(true);
// Update the WP
icon->SetCoord(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()));
icon->SetAltitude(wp->getAltitude());
icon->SetHeading(wp->getYaw());
icon->SetNumber(wpindex);
Waypoint2DIcon* wpicon = dynamic_cast<Waypoint2DIcon*>(icon);
if (wpicon)
{
// Let icon read out values directly from waypoint
icon->SetNumber(wpindex);
wpicon->updateWaypoint();
}
else
{
// Use safe standard interfaces for non Waypoint-class based wps
icon->SetCoord(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()));
icon->SetAltitude(wp->getAltitude());
icon->SetHeading(wp->getYaw());
icon->SetNumber(wpindex);
}
// Re-enable signals again
this->blockSignals(false);
}
firingWaypointChange = NULL;
} else {
......@@ -428,3 +488,46 @@ void QGCMapWidget::updateWaypointList(int uas)
// }
}
}
//// ADAPTER / HELPER FUNCTIONS
//float QGCMapWidget::metersToPixels(double meters)
//{
// return meters/map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
//}
//double QGCMapWidget::headingP1P2(internals::PointLatLng p1, internals::PointLatLng p2)
//{
// double lat1 = p1.Lat() * deg_to_rad;
// double lon1 = p2.Lng() * deg_to_rad;
// double lat2 = p2.Lat() * deg_to_rad;
// double lon2 = p2.Lng() * deg_to_rad;
// double delta_lon = lon2 - lon1;
// double y = sin(delta_lon) * cos(lat2);
// double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(delta_lon);
// double heading = atan2(y, x) * rad_to_deg;
// heading += 360;
// while (heading < 0) bear += 360;
// while (heading >= 360) bear -= 360;
// return heading;
//}
//internals::PointLatLng QGCMapWidget::targetLatLon(internals::PointLatLng source, double heading, double dist)
//{
// double lat1 = source.Lat() * deg_to_rad;
// double lon1 = source.Lng() * deg_to_rad;
// heading *= deg_to_rad;
// double ad = dist / earth_mean_radius;
// double lat2 = asin(sin(lat1) * cos(ad) + cos(lat1) * sin(ad) * cos(heading));
// double lon2 = lon1 + atan2(sin(bear) * sin(ad) * cos(lat1), cos(ad) - sin(lat1) * sin(lat2));
// return internals::PointLatLng(lat2 * rad_to_deg, lon2 * rad_to_deg);
//}
src/ui/map/QGCMapWidget.h
View file @ 8c6c0741
......@@ -2,6 +2,7 @@
#define QGCMAPWIDGET_H
#include <QMap>
#include <QTimer>
#include "opmapcontrol.h"
class UASInterface;
......@@ -18,6 +19,10 @@ class QGCMapWidget : public mapcontrol::OPMapWidget
public:
explicit QGCMapWidget(QWidget *parent = 0);
~QGCMapWidget();
// /** @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);
signals:
void homePositionChanged(double latitude, double longitude, double altitude);
......@@ -30,6 +35,8 @@ public slots:
void addUAS(UASInterface* uas);
/** @brief Update the global position of a system */
void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
/** @brief Update the global position of all systems */
void updateGlobalPosition();
/** @brief Update the type, size, etc. of this system */
void updateSystemSpecs(int uas);
/** @brief Change current system in focus / editing */
......@@ -42,6 +49,8 @@ public slots:
void updateWaypointList(int uas);
/** @brief Update the home position on the map */
void updateHomePosition(double latitude, double longitude, double altitude);
/** @brief Set update rate limit */
void setUpdateRateLimit(float seconds);
protected slots:
/** @brief Convert a map edit into a QGC waypoint event */
......@@ -56,6 +65,8 @@ protected:
QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
QMap<mapcontrol::WayPointItem*, Waypoint*> iconsToWaypoints;
Waypoint* firingWaypointChange;
QTimer updateTimer;
float maxUpdateInterval;
// enum editMode {
// NONE,
// WAYPOINTS,
......
src/ui/map/Waypoint2DIcon.cc
View file @ 8c6c0741
#include "Waypoint2DIcon.h"
#include <QPainter>
#include "opmapcontrol.h"
Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QPen* pen)
: Point(x, y, name, alignment),
yaw(0.0f),
radius(radius)
Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name, QString description, int radius)
: mapcontrol::WayPointItem(internals::PointLatLng(latitude, longitude), altitude, description, map),
parent(parent),
waypoint(NULL),
radius(radius),
showAcceptanceRadius(true),
showOrbit(false),
color(Qt::red)
{
waypoint = NULL;
size = QSize(radius, radius);
drawIcon(pen);
SetHeading(0);
SetNumber(listindex);
if (mypen == NULL) mypen = new QPen(Qt::red);
// drawIcon(mypen);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
picture = QPixmap(radius+1, radius+1);
drawIcon();
}
Waypoint2DIcon::Waypoint2DIcon(Waypoint* wp, int listIndex, int radius, Alignment alignment, QPen* pen)
: Point(wp->getX(), wp->getY(), QString("%1").arg(listIndex), alignment)
Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, Waypoint* wp, const QColor& color, int listindex, int radius)
: mapcontrol::WayPointItem(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()), wp->getAltitude(), wp->getDescription(), map),
parent(parent),
waypoint(wp),
radius(radius),
showAcceptanceRadius(true),
showOrbit(false),
color(color)
{
waypoint = wp;
this->yaw = wp->getYaw();
size = QSize(radius, radius);
drawIcon(pen);
}
Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
: Point(x, y, name, alignment)
{
waypoint = NULL;
int radius = 20;
size = QSize(radius, radius);
drawIcon(pen);
SetHeading(wp->getYaw());
SetNumber(listindex);
if (mypen == NULL) mypen = new QPen(Qt::red);
// drawIcon(mypen);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
picture = QPixmap(radius+1, radius+1);
drawIcon();
}
Waypoint2DIcon::~Waypoint2DIcon()
{
delete mypixmap;
delete &picture;
}
void Waypoint2DIcon::setPen(QPen* pen)
{
mypen = pen;
drawIcon(pen);
// drawIcon(pen);
}
/**
* @param yaw in radians, 0 = north, positive = clockwise
*/
void Waypoint2DIcon::setYaw(float yaw)
void Waypoint2DIcon::SetHeading(float heading)
{
this->yaw = yaw;
drawIcon(mypen);
mapcontrol::WayPointItem::SetHeading(heading);
drawIcon();
}
void Waypoint2DIcon::updateWaypoint()
{
if (waypoint) {
if (waypoint->getYaw() != yaw) {
yaw = waypoint->getYaw();
drawIcon(mypen);
}
SetHeading(waypoint->getYaw());
SetCoord(internals::PointLatLng(waypoint->getLatitude(), waypoint->getLongitude()));
SetDescription(waypoint->getDescription());
SetAltitude(waypoint->getAltitude());
// FIXME Add SetNumber (currently needs a separate call)
drawIcon();
this->update();
qDebug() << "UPDATING WP";
}
}
QRectF Waypoint2DIcon::boundingRect() const
{
int loiter = 0;
int acceptance = 0;
internals::PointLatLng coord = (internals::PointLatLng)Coord();
if (waypoint && showAcceptanceRadius && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT))
{
acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), coord);
}
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)))
{
loiter = map->metersToPixels(waypoint->getLoiterOrbit(), coord);
}
int width = qMax(picture.width()/2, qMax(loiter, acceptance));
int height = qMax(picture.height()/2, qMax(loiter, acceptance));
return QRectF(-width,-height,2*width,2*height);
}
void Waypoint2DIcon::drawIcon(QPen* pen)
void Waypoint2DIcon::drawIcon()
{
mypixmap = new QPixmap(radius+1, radius+1);
mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
picture.fill(Qt::transparent);
QPainter painter(&picture);
// DRAW WAYPOINT
QPointF p(radius/2, radius/2);
QPointF p(picture.width()/2, picture.height()/2);
float waypointSize = radius;
QPolygonF poly(4);
// Top point
poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
poly.replace(0, QPointF(p.x(), p.y()-picture.height()/2.0f));
// Right point
poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
poly.replace(1, QPointF(p.x()+picture.width()/2.0f, p.y()));
// Bottom point
poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
poly.replace(2, QPointF(p.x(), p.y() + picture.height()/2.0f));
poly.replace(3, QPointF(p.x() - picture.width()/2.0f, p.y()));
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
......@@ -91,17 +119,91 @@ void Waypoint2DIcon::drawIcon(QPen* pen)
// }
//pen.setColor(color);
if (pen) {
pen->setWidthF(2);
painter.setPen(*pen);
} else {
QPen pen2(Qt::red);
// 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());
float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
painter.drawPolygon(poly);
// If this is not a waypoint (only the default representation)
// or it is a waypoint, but not one where direction has no meaning
// then draw the heading indicator
if (!waypoint || (waypoint && (
(waypoint->getAction() != (int)MAV_CMD_NAV_TAKEOFF) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_LAND) &&
(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.drawLine(p.x(), p.y(), p.x()+sin(Heading()) * rad, p.y()-cos(Heading()) * rad);
}
if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_TAKEOFF))
{
// Takeoff waypoint
int width = (picture.width()-1);
int height = (picture.height()-1);
painter.drawRect(0, 0, 2*width, 2*height);
painter.drawRect(width*0.2, height*0.2f, 2*width*0.6f, 2*height*0.6f);
}
else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND))
{
// Landing waypoint
int width = (picture.width()-1)/2;
int height = (picture.height()-1)/2;
painter.drawEllipse(p, width, height);
painter.drawEllipse(p, width*0.6f, height*0.6f);
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)))
{
// Loiter waypoint
int width = (picture.width()-1)/2;
int height = (picture.height()-1)/2;
painter.drawEllipse(p, width, height);
}
else
{
// Navigation waypoint
painter.drawPolygon(poly);
}
}
void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
painter->drawPixmap(-picture.width()/2,-picture.height()/2,picture);
if (this->isSelected())
{
painter->drawRect(QRectF(-picture.width()/2,-picture.height()/2,picture.width()-1,picture.height()-1));
}
QPen pen = painter->pen();
pen.setColor(color);
if ((waypoint) && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius)
{
QPen redPen = QPen(pen);
redPen.setColor(Qt::red);
painter->setPen(redPen);
const int acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), Coord());
if (waypoint) 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)))
{
painter->setPen(pen);
pen.setWidth(2);
const int loiter = map->metersToPixels(waypoint->getLoiterOrbit(), Coord());
if (waypoint) painter->drawEllipse(QPointF(0, 0), loiter, loiter);
}
}
src/ui/map/Waypoint2DIcon.h
View file @ 8c6c0741
......@@ -4,42 +4,25 @@
#include <QGraphicsItem>
#include "Waypoint.h"
#include "opmapcontrol.h"
class Waypoint2DIcon : public QGraphicsItem
class Waypoint2DIcon : public mapcontrol::WayPointItem
{
public:
/*!
*
* @param x longitude
* @param y latitude
* @param name name of the circle point
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
Waypoint2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
//!
/*!
/**
*
* @param x longitude
* @param y latitude
* @param radius the radius of the circle
* @param latitude
* @param longitude
* @param name name of the circle point
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
Waypoint2DIcon(qreal x, qreal y, int radius = 20, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), QString description = QString(), int radius=24);
/**
*
* @param wp Waypoint
* @param listIndex Index in the waypoint list
* @param radius the radius of the circle
* @param name name of the circle point
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
Waypoint2DIcon(Waypoint* wp, int listIndex, int radius = 20, Alignment alignment = Middle, QPen* pen=0);
Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, Waypoint* wp, const QColor& color, int listindex, int radius = 24);
virtual ~Waypoint2DIcon();
......@@ -51,17 +34,27 @@ public:
*/
virtual void setPen(QPen* pen);
void setYaw(float yaw);
void SetHeading(float heading);
void drawIcon(QPen* pen);
/** @brief Rectangle to be updated on changes */
QRectF boundingRect() const;
/** @brief Draw the icon in a double buffer */
void drawIcon();
/** @brief Draw the icon on a QPainter device (map) */
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
public slots:
public:
void updateWaypoint();
protected:
float yaw; ///< Yaw angle of the MAV
int radius; ///< Radius / diameter of the icon in pixels
mapcontrol::OPMapWidget* parent; ///< Parent widget
int radius; ///< Radius / diameter of the icon in pixels
Waypoint* waypoint; ///< Waypoint data container this icon represents
QPen* mypen;
QColor color;
bool showAcceptanceRadius;
bool showOrbit;
// QSize size;
};
......
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