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Unverified Commit c47886df authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #8961 from profff/master 

Distance sensors view in Map and vidéo view
parents dbcf8173 0d4a3116
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Showing with 290 additions and 5 deletions
qgroundcontrol.qrc
View file @ c47886df
......@@ -272,6 +272,8 @@
<file alias="VibrationPage.qml">src/AnalyzeView/VibrationPage.qml</file>
<file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
<file alias="VTOLLandingPatternEditor.qml">src/PlanView/VTOLLandingPatternEditor.qml</file>
<file alias="QGroundControl/FlightMap/ProximityRadarMapView.qml">src/FlightMap/MapItems/ProximityRadarMapView.qml</file>
<file alias="QGroundControl/FlightDisplay/ProximityRadarVideoView.qml">src/FlightDisplay/ProximityRadarVideoView.qml</file>
</qresource>
<qresource prefix="/FirstRunPromptDialogs">
<file alias="UnitsFirstRunPrompt.qml">src/FirstRunPromptDialogs/UnitsFirstRunPrompt.qml</file>
......
src/FlightDisplay/FlyViewMap.qml
View file @ c47886df
......@@ -253,7 +253,16 @@ FlightMap {
z: QGroundControl.zOrderVehicles
}
}
// Add distance sensor view
MapItemView{
model: QGroundControl.multiVehicleManager.vehicles
delegate: ProximityRadarMapView {
vehicle: object
coordinate: object.coordinate
map: _root
z: QGroundControl.zOrderVehicles
}
}
// Add ADSB vehicles to the map
MapItemView {
model: QGroundControl.adsbVehicleManager.adsbVehicles
......
src/FlightDisplay/FlyViewVideo.qml
View file @ c47886df
......@@ -9,8 +9,9 @@
import QtQuick 2.12
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Controllers 1.0
Item {
id: _root
......@@ -67,4 +68,9 @@ Item {
enabled: pipState.state === pipState.fullState
onDoubleClicked: QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
}
ProximityRadarVideoView{
anchors.fill: parent
vehicle: QGroundControl.multiVehicleManager.activeVehicle
}
}
src/FlightDisplay/ProximityRadarVideoView.qml 0 → 100644
View file @ c47886df
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.12
import QtLocation 5.3
import QtPositioning 5.3
import QtGraphicalEffects 1.0
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
//import QGroundControl.Controllers 1.0
/// Marker for displaying a vehicle location on the map
Item {
id: _root
anchors.fill: parent
property var vehicle /// Vehicle object, undefined for ADSB vehicle
property var range
property var _distanceSensor: vehicle?vehicle.distanceSensors:null
property var _range: range?range:6 // default 6m view
property var _rotationNone: _distanceSensor?_distanceSensor.rotationNone.value:0
property var _rotationYaw45: _distanceSensor?_distanceSensor.rotationYaw45.value:0
property var _rotationYaw90: _distanceSensor?_distanceSensor.rotationYaw90.value:0
property var _rotationYaw135: _distanceSensor?_distanceSensor.rotationYaw135.value:0
property var _rotationYaw180: _distanceSensor?_distanceSensor.rotationYaw180.value:0
property var _rotationYaw225: _distanceSensor?_distanceSensor.rotationYaw225.value:0
property var _rotationYaw270: _distanceSensor?_distanceSensor.rotationYaw270.value:0
property var _rotationYaw315: _distanceSensor?_distanceSensor.rotationYaw315.value:0
property var _rottab: [_rotationNone,_rotationYaw45,_rotationYaw90,_rotationYaw135,_rotationYaw180,_rotationYaw225,_rotationYaw270,_rotationYaw315]
// on_RottabChanged: _sectorViewEllipsoid.requestPaint()
on_RotationNoneChanged: _sectorViewEllipsoid.requestPaint()
on_RotationYaw45Changed: _sectorViewEllipsoid.requestPaint()
on_RotationYaw90Changed: _sectorViewEllipsoid.requestPaint()
on_RotationYaw135Changed: _sectorViewEllipsoid.requestPaint()
on_RotationYaw180Changed: _sectorViewEllipsoid.requestPaint()
on_RotationYaw225Changed: _sectorViewEllipsoid.requestPaint()
on_RotationYaw270Changed: _sectorViewEllipsoid.requestPaint()
on_RotationYaw315Changed: _sectorViewEllipsoid.requestPaint()
property var _minlength: Math.min(_root.width,_root.height)
property var _ratio: (_minlength/2)/_root._range
Canvas{
id:_sectorViewEllipsoid
anchors.fill: _root
opacity: 0.5
visible: _distanceSensor?true:false
onPaint: {
if(_distanceSensor) {
var ctx = getContext("2d");
ctx.reset();
ctx.translate(width/2,height/2)
ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
ctx.lineWidth = width/100;
ctx.scale(_root.width / _minlength,_root.height / _minlength);
ctx.rotate(-Math.PI/2-Math.PI/8);
for(var i=0; i< _rottab.length; i++)
{
var a=Math.PI/4*i;
ctx.beginPath();
ctx.arc(0,0,_rottab[i]*_ratio,0+a+Math.PI/50,Math.PI/4+a-Math.PI/50,false);
ctx.stroke();
}
}
}
}
Item{
anchors.fill: parent
visible: _distanceSensor?true:false
Repeater{
model: _rottab
QGCLabel{
x: _sectorViewEllipsoid.width / 2-width/2
y: _sectorViewEllipsoid.height / 2-height/2
text: modelData
font.family: ScreenTools.demiboldFontFamily
transform: Translate {
x: Math.cos(-Math.PI/2+Math.PI/4*index)*(modelData*_ratio)
y: Math.sin(-Math.PI/2+Math.PI/4*index)*(modelData*_ratio)
}
}
}
transform: Scale {
origin.x: _sectorViewEllipsoid.width / 2
origin.y: _sectorViewEllipsoid.height / 2
xScale: _root.width / _minlength
yScale: _root.height / _minlength
}
}
}
src/FlightMap/MapItems/ProximityRadarMapView.qml 0 → 100644
View file @ c47886df
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.12
import QtLocation 5.3
import QtPositioning 5.3
import QtGraphicalEffects 1.0
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
/// Marker for displaying a vehicle location on the map
MapQuickItem {
id: _root
property var vehicle /// Vehicle object, undefined for ADSB vehicle
property var map
property double heading: vehicle ? vehicle.heading.value : Number.NaN ///< Vehicle heading, NAN for none
anchorPoint.x: vehicleItem.width / 2
anchorPoint.y: vehicleItem.height / 2
visible: coordinate.isValid
property bool _adsbVehicle: vehicle ? false : true
property real _uavSize: ScreenTools.defaultFontPixelHeight * 5
property real _adsbSize: ScreenTools.defaultFontPixelHeight * 2.5
property var _map: map
property bool _multiVehicle: QGroundControl.multiVehicleManager.vehicles.count > 1
property real _ratio: 1
property var _distanceSensor: vehicle?vehicle.distanceSensors:null
property var _maxSensor: _distanceSensor?_distanceSensor.maxDistance.value:1 //need to change in cc
property var _rotationNone: _distanceSensor?_distanceSensor.rotationNone.value:0
property var _rotationYaw45: _distanceSensor?_distanceSensor.rotationYaw45.value:0
property var _rotationYaw90: _distanceSensor?_distanceSensor.rotationYaw90.value:0
property var _rotationYaw135: _distanceSensor?_distanceSensor.rotationYaw135.value:0
property var _rotationYaw180: _distanceSensor?_distanceSensor.rotationYaw180.value:0
property var _rotationYaw225: _distanceSensor?_distanceSensor.rotationYaw225.value:0
property var _rotationYaw270: _distanceSensor?_distanceSensor.rotationYaw270.value:0
property var _rotationYaw315: _distanceSensor?_distanceSensor.rotationYaw315.value:0
property var _rottab: [_rotationNone,_rotationYaw45,_rotationYaw90,_rotationYaw135,_rotationYaw180,_rotationYaw225,_rotationYaw270,_rotationYaw315]
function calcSize(){
if(_map) {
var scaleLinePixelLength = 100
var leftCoord = _map.toCoordinate(Qt.point(0, 0), false /* clipToViewPort */)
var rightCoord = _map.toCoordinate(Qt.point(scaleLinePixelLength, 0), false /* clipToViewPort */)
var scaleLineMeters = Math.round(leftCoord.distanceTo(rightCoord))
}
_ratio=scaleLinePixelLength/scaleLineMeters;
}
on_RotationNoneChanged: vehicleSensors.requestPaint()
on_RotationYaw45Changed: vehicleSensors.requestPaint()
on_RotationYaw90Changed: vehicleSensors.requestPaint()
on_RotationYaw135Changed: vehicleSensors.requestPaint()
on_RotationYaw180Changed: vehicleSensors.requestPaint()
on_RotationYaw225Changed: vehicleSensors.requestPaint()
on_RotationYaw270Changed: vehicleSensors.requestPaint()
on_RotationYaw315Changed: vehicleSensors.requestPaint()
Connections {
target: map
onWidthChanged: scaleTimer.restart()
onHeightChanged: scaleTimer.restart()
onZoomLevelChanged: scaleTimer.restart()
}
Timer {
id: scaleTimer
interval: 100
running: false
repeat: false
onTriggered: calcSize()
}
sourceItem: Item {
id: vehicleItem
width: detectionLimitCircle.width
height: detectionLimitCircle.height
opacity: 0.5
Canvas{
id: vehicleSensors
anchors.fill: detectionLimitCircle
transform: Rotation {
origin.x: detectionLimitCircle.width / 2
origin.y: detectionLimitCircle.height / 2
angle: isNaN(heading) ? 0 : heading
}
function deg2rad(degrees)
{
var pi = Math.PI;
return degrees * (pi/180);
}
onPaint: {
if(_distanceSensor)
{
var ctx = getContext("2d");
ctx.reset();
ctx.translate(width/2,height/2)
ctx.rotate(-Math.PI/2);
ctx.lineWidth = 5;
ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
for(var i=0; i<_rottab.length;i++){
var a=deg2rad(360-22.5)+Math.PI/4*i;
ctx.beginPath();
ctx.arc(0,0,_rottab[i]*_ratio, a,a+Math.PI/4,false);
ctx.stroke();
}
}
}
}
Rectangle {
id: detectionLimitCircle
width: _maxSensor*2*_ratio
height: _maxSensor*2*_ratio
anchors.fill: detectionLimitCircle
color: Qt.rgba(1,1,1,0)
border.color: Qt.rgba(1,1,1,1)
border.width: 5
radius: width*0.5
transform: Rotation {
origin.x: detectionLimitCircle.width / 2
origin.y: detectionLimitCircle.height / 2
angle: isNaN(heading) ? 0 : heading
}
}
Component.onCompleted: {
calcSize();
}
}
}
src/QmlControls/QGroundControl/FlightDisplay/qmldir
View file @ c47886df
......@@ -28,6 +28,7 @@ PreFlightGPSCheck 1.0 PreFlightGPSCheck.qml
PreFlightRCCheck 1.0 PreFlightRCCheck.qml
PreFlightSensorsHealthCheck 1.0 PreFlightSensorsHealthCheck.qml
PreFlightSoundCheck 1.0 PreFlightSoundCheck.qml
ProximityRadarVideoView 1.0 ProximityRadarVideoView.qml
TerrainProgress 1.0 TerrainProgress.qml
TelemetryValuesBar 1.0 TelemetryValuesBar.qml
VehicleWarnings 1.0 VehicleWarnings.qml
src/QmlControls/QGroundControl/FlightMap/qmldir
View file @ c47886df
......@@ -28,5 +28,6 @@ MissionItemView 1.0 MissionItemView.qml
MissionLineView 1.0 MissionLineView.qml
PlanMapItems 1.0 PlanMapItems.qml
PolygonEditor 1.0 PolygonEditor.qml
ProximityRadarMapView 1.0 ProximityRadarMapView.qml
SplitIndicator 1.0 SplitIndicator.qml
VehicleMapItem 1.0 VehicleMapItem.qml
src/Vehicle/Vehicle.cc
View file @ c47886df
......@@ -1139,6 +1139,7 @@ void Vehicle::_handleDistanceSensor(mavlink_message_t& message)
if (orientation2Fact.orientation == distanceSensor.orientation) {
orientation2Fact.fact->setRawValue(distanceSensor.current_distance / 100.0); // cm to meters
}
_distanceSensorFactGroup.maxDistance()->setRawValue(distanceSensor.max_distance/100.0);
}
}
......@@ -4483,6 +4484,7 @@ const char* VehicleDistanceSensorFactGroup::_rotationYaw270FactName = "rotatio
const char* VehicleDistanceSensorFactGroup::_rotationYaw315FactName = "rotationYaw315";
const char* VehicleDistanceSensorFactGroup::_rotationPitch90FactName = "rotationPitch90";
const char* VehicleDistanceSensorFactGroup::_rotationPitch270FactName = "rotationPitch270";
const char* VehicleDistanceSensorFactGroup::_maxDistanceFactName = "maxDistance";
VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
: FactGroup (1000, ":/json/Vehicle/DistanceSensorFact.json", parent)
......@@ -4496,6 +4498,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
, _rotationYaw315Fact (0, _rotationYaw315FactName, FactMetaData::valueTypeDouble)
, _rotationPitch90Fact (0, _rotationPitch90FactName, FactMetaData::valueTypeDouble)
, _rotationPitch270Fact (0, _rotationPitch270FactName, FactMetaData::valueTypeDouble)
, _maxDistanceFact (0, _maxDistanceFactName, FactMetaData::valueTypeDouble)
{
_addFact(&_rotationNoneFact, _rotationNoneFactName);
_addFact(&_rotationYaw45Fact, _rotationYaw45FactName);
......@@ -4507,6 +4510,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
_addFact(&_rotationYaw315Fact, _rotationYaw315FactName);
_addFact(&_rotationPitch90Fact, _rotationPitch90FactName);
_addFact(&_rotationPitch270Fact, _rotationPitch270FactName);
_addFact(&_maxDistanceFact, _maxDistanceFactName);
// Start out as not available "--.--"
_rotationNoneFact.setRawValue(qQNaN());
......@@ -4518,6 +4522,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
_rotationYaw270Fact.setRawValue(qQNaN());
_rotationPitch90Fact.setRawValue(qQNaN());
_rotationPitch270Fact.setRawValue(qQNaN());
_maxDistanceFact.setRawValue(qQNaN());
}
const char* VehicleEstimatorStatusFactGroup::_goodAttitudeEstimateFactName = "goodAttitudeEsimate";
......
src/Vehicle/Vehicle.h
View file @ c47886df
......@@ -73,17 +73,19 @@ public:
Q_PROPERTY(Fact* rotationYaw315 READ rotationYaw315 CONSTANT)
Q_PROPERTY(Fact* rotationPitch90 READ rotationPitch90 CONSTANT)
Q_PROPERTY(Fact* rotationPitch270 READ rotationPitch270 CONSTANT)
Q_PROPERTY(Fact* maxDistance READ maxDistance CONSTANT)
Fact* rotationNone () { return &_rotationNoneFact; }
Fact* rotationYaw45 () { return &_rotationYaw45Fact; }
Fact* rotationYaw90 () { return &_rotationYaw90Fact; }
Fact* rotationYaw135 () { return &_rotationYaw90Fact; }
Fact* rotationYaw135 () { return &_rotationYaw135Fact; }
Fact* rotationYaw180 () { return &_rotationYaw180Fact; }
Fact* rotationYaw225 () { return &_rotationYaw180Fact; }
Fact* rotationYaw225 () { return &_rotationYaw225Fact; }
Fact* rotationYaw270 () { return &_rotationYaw270Fact; }
Fact* rotationYaw315 () { return &_rotationYaw315Fact; }
Fact* rotationPitch90 () { return &_rotationPitch90Fact; }
Fact* rotationPitch270 () { return &_rotationPitch270Fact; }
Fact* maxDistance () { return &_maxDistanceFact; }
static const char* _rotationNoneFactName;
static const char* _rotationYaw45FactName;
......@@ -95,6 +97,7 @@ public:
static const char* _rotationYaw315FactName;
static const char* _rotationPitch90FactName;
static const char* _rotationPitch270FactName;
static const char* _maxDistanceFactName;
private:
Fact _rotationNoneFact;
......@@ -107,6 +110,7 @@ private:
Fact _rotationYaw315Fact;
Fact _rotationPitch90Fact;
Fact _rotationPitch270Fact;
Fact _maxDistanceFact;
};
class VehicleSetpointFactGroup : public FactGroup
......@@ -698,6 +702,7 @@ public:
Q_PROPERTY(FactGroup* setpoint READ setpointFactGroup CONSTANT)
Q_PROPERTY(FactGroup* estimatorStatus READ estimatorStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* terrain READ terrainFactGroup CONSTANT)
Q_PROPERTY(FactGroup* distanceSensors READ distanceSensorFactGroup CONSTANT)
Q_PROPERTY(int firmwareMajorVersion READ firmwareMajorVersion NOTIFY firmwareVersionChanged)
Q_PROPERTY(int firmwareMinorVersion READ firmwareMinorVersion NOTIFY firmwareVersionChanged)
......
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