diff --git a/qgcresources.qrc b/qgcresources.qrc index ceb5b84449fc5ccf784f17186b93e8d84a888246..ab45927ff935a07ce0046e67ef6211f677c9e1cc 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -46,6 +46,7 @@ src/AutoPilotPlugins/Common/Images/HelicopterCoaxial.svg src/AutoPilotPlugins/Common/Images/wifi.svg src/QmlControls/arrow-down.png + resources/camera.svg src/QmlControls/check.png src/VehicleSetup/FirmwareUpgradeIcon.png src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index 62267c300b3111862fea1c8f27fb3d6131b09c8e..4e9f6343d8bebc0786e3872521de3d69df520fe2 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -135,6 +135,7 @@ src/FlightDisplay/GuidedAltitudeSlider.qml src/FlightDisplay/MultiVehicleList.qml src/FlightDisplay/qmldir + src/FlightMap/MapItems/CameraTriggerIndicator.qml src/FlightMap/Widgets/CenterMapDropButton.qml src/FlightMap/Widgets/CenterMapDropPanel.qml src/FlightMap/Widgets/CompassRing.qml diff --git a/resources/camera.svg b/resources/camera.svg new file mode 100644 index 0000000000000000000000000000000000000000..5a640fb993d9371e4658050c01e8f58b772c3f49 --- /dev/null +++ b/resources/camera.svg @@ -0,0 +1,20 @@ + + + + + + + + + diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml index 7e5a9911e784d8d8cffdb2174b9bb85e6b6d3554..1ccd3ae4dd37b10caa214d38188420029409d172 100644 --- a/src/FlightDisplay/FlightDisplayViewMap.qml +++ b/src/FlightDisplay/FlightDisplayViewMap.qml @@ -241,6 +241,16 @@ FlightMap { } } + // Camera points + MapItemView { + model: missionController.cameraPoints + + delegate: CameraTriggerIndicator { + coordinate: object.coordinate + z: QGroundControl.zOrderTopMost + } + } + // Handle guided mode clicks MouseArea { anchors.fill: parent diff --git a/src/FlightMap/MapItems/CameraTriggerIndicator.qml b/src/FlightMap/MapItems/CameraTriggerIndicator.qml new file mode 100644 index 0000000000000000000000000000000000000000..124808d8ac1be63b65979e191fad56c926862f0a --- /dev/null +++ b/src/FlightMap/MapItems/CameraTriggerIndicator.qml @@ -0,0 +1,41 @@ +/**************************************************************************** + * + * (c) 2009-2016 QGROUNDCONTROL PROJECT + * + * QGroundControl is licensed according to the terms in the file + * COPYING.md in the root of the source code directory. + * + ****************************************************************************/ + +import QtQuick 2.3 +import QtLocation 5.3 +import QtQuick.Controls 1.2 + +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.Vehicle 1.0 + +/// Marker for displaying a camera trigger on the map +MapQuickItem { + anchorPoint.x: sourceItem.width / 2 + anchorPoint.y: sourceItem.height / 2 + + sourceItem: Rectangle { + width: _radius * 2 + height: _radius * 2 + radius: _radius + color: "black" + opacity: 0.4 + + readonly property real _radius: ScreenTools.defaultFontPixelHeight * 0.6 + + QGCColoredImage { + anchors.margins: 3 + anchors.fill: parent + color: "white" + mipmap: true + fillMode: Image.PreserveAspectFit + source: "/qmlimages/camera.svg" + } + } +} diff --git a/src/FlightMap/qmldir b/src/FlightMap/qmldir index b507ba25e5361b2a15e6e8dae2153e0620ede032..9afe7d25f264f96ba86619235822be5661b9a941 100644 --- a/src/FlightMap/qmldir +++ b/src/FlightMap/qmldir @@ -22,6 +22,7 @@ VehicleHealthWidget 1.0 VehicleHealthWidget.qml VibrationWidget 1.0 VibrationWidget.qml # Map items +CameraTriggerIndicator 1.0 CameraTriggerIndicator.qml MissionItemIndicator 1.0 MissionItemIndicator.qml MissionItemIndicatorDrag 1.0 MissionItemIndicatorDrag.qml MissionItemView 1.0 MissionItemView.qml diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc index df7d6ca78eb6096f1d592ea833cf38630e6c4f8a..f14d72d8250b84439a7299d1d34cb642ad67b294 100644 --- a/src/MissionManager/MissionController.cc +++ b/src/MissionManager/MissionController.cc @@ -23,6 +23,7 @@ #include "SettingsManager.h" #include "AppSettings.h" #include "MissionSettingsItem.h" +#include "QGCQGeoCoordinate.h" #ifndef __mobile__ #include "MainWindow.h" @@ -1330,6 +1331,7 @@ void MissionController::_activeVehicleBeingRemoved(void) disconnect(missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged); disconnect(missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged); disconnect(missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady); + disconnect(missionManager, &MissionManager::cameraFeedback, this, &MissionController::_cameraFeedback); disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); // We always remove all items on vehicle change. This leaves a user model hole: @@ -1350,6 +1352,7 @@ void MissionController::_activeVehicleSet(void) connect(missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged); connect(missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged); connect(missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady); + connect(missionManager, &MissionManager::cameraFeedback, this, &MissionController::_cameraFeedback); connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); connect(_activeVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus); connect(_activeVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus); @@ -1614,3 +1617,16 @@ void MissionController::applyDefaultMissionAltitude(void) item->applyNewAltitude(defaultAltitude); } } + +void MissionController::_cameraFeedback(QGeoCoordinate imageCoordinate, int index) +{ + Q_UNUSED(index); + if (!_editMode) { + _cameraPoints.append(new QGCQGeoCoordinate(imageCoordinate, this)); + } +} + +void MissionController::clearCameraPoints(void) +{ + _cameraPoints.clearAndDeleteContents(); +} diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h index 125bbe3fdd472998845976780d94811499081722..a0aa71d559c8a2aed0292278fcc6a4e27232122e 100644 --- a/src/MissionManager/MissionController.h +++ b/src/MissionManager/MissionController.h @@ -62,6 +62,7 @@ public: Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged) Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) + Q_PROPERTY(QmlObjectListModel* cameraPoints READ cameraPoints CONSTANT) Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged) Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged) @@ -107,6 +108,8 @@ public: /// Sends the mission items to the specified vehicle static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems); + Q_INVOKABLE void clearCameraPoints(void); + // Overrides from PlanElementController void start (bool editMode) final; void startStaticActiveVehicle (Vehicle* vehicle) final; @@ -127,6 +130,7 @@ public: QmlObjectListModel* visualItems (void) { return _visualItems; } QmlObjectListModel* waypointLines (void) { return &_waypointLines; } + QmlObjectListModel* cameraPoints (void) { return &_cameraPoints; } QStringList complexMissionItemNames (void) const; QGeoCoordinate plannedHomePosition (void) const; @@ -171,6 +175,7 @@ private slots: void _recalcWaypointLines(void); void _recalcMissionFlightStatus(void); void _updateContainsItems(void); + void _cameraFeedback(QGeoCoordinate imageCoordinate, int index); private: void _init(void); @@ -209,6 +214,7 @@ private: QmlObjectListModel* _visualItems; MissionSettingsItem* _settingsItem; QmlObjectListModel _waypointLines; + QmlObjectListModel _cameraPoints; CoordVectHashTable _linesTable; bool _firstItemsFromVehicle; bool _missionItemsRequested; diff --git a/src/MissionManager/MissionManager.cc b/src/MissionManager/MissionManager.cc index 9f85c02980684c63e778b19e1d80a86a8915f954..358b1c7d2a0479308d413359723d990339838eeb 100644 --- a/src/MissionManager/MissionManager.cc +++ b/src/MissionManager/MissionManager.cc @@ -666,6 +666,30 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message) } } +void MissionManager::_handleCameraFeedback(const mavlink_message_t& message) +{ + mavlink_camera_feedback_t feedback; + + mavlink_msg_camera_feedback_decode(&message, &feedback); + + QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl); + qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx; + emit cameraFeedback(imageCoordinate, feedback.img_idx); +} + +void MissionManager::_handleCameraImageCaptured(const mavlink_message_t& message) +{ + mavlink_camera_image_captured_t feedback; + + mavlink_msg_camera_image_captured_decode(&message, &feedback); + + QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt); + qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result; + if (feedback.capture_result == 1) { + emit cameraFeedback(imageCoordinate, feedback.image_index); + } +} + /// Called when a new mavlink message for out vehicle is received void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message) { @@ -701,6 +725,14 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message) case MAVLINK_MSG_ID_MISSION_CURRENT: _handleMissionCurrent(message); break; + + case MAVLINK_MSG_ID_CAMERA_FEEDBACK: + _handleCameraFeedback(message); + break; + + case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED: + _handleCameraImageCaptured(message); + break; } } diff --git a/src/MissionManager/MissionManager.h b/src/MissionManager/MissionManager.h index 9a235cfd6b1f9712f16957a877c5f7e0101028b9..b15ad967e9b06aa898ac15718c9b7734033b6498 100644 --- a/src/MissionManager/MissionManager.h +++ b/src/MissionManager/MissionManager.h @@ -84,6 +84,7 @@ signals: void currentIndexChanged(int currentIndex); void lastCurrentIndexChanged(int lastCurrentIndex); void resumeMissionReady(void); + void cameraFeedback(QGeoCoordinate imageCoordinate, int index); private slots: void _mavlinkMessageReceived(const mavlink_message_t& message); @@ -114,6 +115,8 @@ private: void _handleMissionRequest(const mavlink_message_t& message, bool missionItemInt); void _handleMissionAck(const mavlink_message_t& message); void _handleMissionCurrent(const mavlink_message_t& message); + void _handleCameraFeedback(const mavlink_message_t& message); + void _handleCameraImageCaptured(const mavlink_message_t& message); void _requestNextMissionItem(void); void _clearMissionItems(void); void _sendError(ErrorCode_t errorCode, const QString& errorMsg); diff --git a/src/QGCQGeoCoordinate.cc b/src/QGCQGeoCoordinate.cc index c19e2af10f08303594c64d2f17f8e838e83dacb0..90bb9ae4c530551fd693b290dddbde6def245d49 100644 --- a/src/QGCQGeoCoordinate.cc +++ b/src/QGCQGeoCoordinate.cc @@ -9,11 +9,13 @@ #include "QGCQGeoCoordinate.h" +#include + QGCQGeoCoordinate::QGCQGeoCoordinate(const QGeoCoordinate& coord, QObject* parent) : QObject(parent) , _coordinate(coord) { - + QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership); } void QGCQGeoCoordinate::setCoordinate(const QGeoCoordinate& coordinate)