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Commit f182d292 authored by lm's avatar lm
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YEEHAY! First working version of Google Earth direct interface -... 

YEEHAY! First working version of Google Earth direct interface - initialization is not perfect yet, current the user first has to ignore a number of script errors.
parent 1f2b0334
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images/earth.html
View file @ f182d292
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html>
<head>
......@@ -7,8 +7,8 @@
<!-- QGroundControl -->
<title>QGroundControl Google Earth View</title>
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
<script type="text/javascript">
<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
<script type="text/javascript">
google.load("earth", "1", { 'language': 'en'});
var ge = null;
......@@ -56,7 +56,8 @@ function isInitialized()
}
function init() {
function init()
{
google.earth.createInstance("map3d", initCallback, failureCallback);
}
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ f182d292
......@@ -17,6 +17,7 @@
#ifdef _MSC_VER
#include <QAxObject>
#include <QUuid>
#include <mshtml.h>
#endif
#include "QGC.h"
......@@ -33,6 +34,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
followCamera(true),
trailEnabled(true),
webViewInitialized(false),
jScriptInitialized(false),
gEarthInitialized(false),
#if (defined Q_OS_MAC)
webViewMac(new QWebView(this)),
......@@ -49,7 +51,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
#ifdef _MSC_VER
// Create layout and attach webViewWin
/*
QFile file("doc.html");
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
qDebug() << __FILE__ << __LINE__ << "Could not open log file";
......@@ -58,7 +60,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
out << webViewWin->generateDocumentation();
out.flush();
file.flush();
file.close();*/
file.close();
#else
......@@ -105,16 +107,10 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
void QGCGoogleEarthView::addUAS(UASInterface* uas)
{
#ifdef Q_OS_MAC
// uasid, type, color (in aarrbbgg format)
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
#endif
#ifdef _MSC_VER
//if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
#endif
// Automatically receive further position updates
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
// Automatically receive further position updates
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
}
void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
......@@ -122,30 +118,16 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
if (uas)
{
mav = uas;
#ifdef Q_OS_MAC
if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
{
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setCurrAircraft(%1);").arg(uas->getUASID()));
}
#endif
#ifdef _MSC_VER
//if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
#endif
javaScript(QString("setCurrAircraft(%1);").arg(uas->getUASID()));
}
}
void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
{
Q_UNUSED(usec);
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
//qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15);
#endif
#ifdef _MSC_VER
//if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
#endif
}
void QGCGoogleEarthView::showTrail(bool state)
......@@ -170,22 +152,12 @@ void QGCGoogleEarthView::goHome()
follow(false);
updateState();
// Go to home location
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript("goHome();");
#endif
#ifdef _MSC_VER
webViewWin->dynamicCall("InvokeScript(\"goHome\");");
#endif
javaScript("goHome();");
}
void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
{
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
#endif
#ifdef _MSC_VER
webViewWin->dynamicCall((QString("InvokeScript(\"setGCSHome\", %1, %2, %3)").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15)).toStdString().c_str());
#endif
javaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
}
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
......@@ -211,31 +183,6 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
#ifdef _MSC_VER
//webViewWin->dynamicCall("GoHome()");
webViewWin->dynamicCall("Navigate(const QString&)", QApplication::applicationDirPath() + "/earth.html");
/*
Sleep(4000);
QAxObject* doc = webViewWin->querySubObject("Document()");
IUnknown* winDoc = NULL;
doc->queryInterface(QUuid("{25336920-03F9-11CF-8FD0-00AA00686F13}"), (void**)(&winDoc));
//if (winDoc)
{
doc = new QAxObject(winDoc, webViewWin);
}
QFile file("ie-doc.html");
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
qDebug() << __FILE__ << __LINE__ << "Could not open log file";
QTextStream out(&file);
out << doc->generateDocumentation();
out.flush();
file.flush();
file.close();
while(1);
*/
#endif
webViewInitialized = true;
......@@ -248,6 +195,33 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
}
}
void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3)
{
qDebug() << no << str1 << str2 << str3;
}
QVariant QGCGoogleEarthView::javaScript(QString javaScript)
{
#ifdef Q_OS_MAC
return webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript);
#endif
#ifdef _MSC_VER
if(!jScriptInitialized)
{
// Inititalize and drop call
initializeGoogleEarth();
return QVariant(false);
}
else
{
QVariantList params;
params.append(javaScript);
params.append("JScript");
return jScriptWin->dynamicCall("execScript(QString, QString)", params);
}
#endif
}
void QGCGoogleEarthView::initializeGoogleEarth()
{
if (!gEarthInitialized)
......@@ -256,13 +230,44 @@ void QGCGoogleEarthView::initializeGoogleEarth()
if (!webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
#endif
#ifdef _MSC_VER
if (!webViewWin->dynamicCall("InvokeScript(const QString&)", QString("isInitialized")).toBool())
static bool first = true;
if (first)
#endif
{
QTimer::singleShot(200, this, SLOT(initializeGoogleEarth()));
QTimer::singleShot(500, this, SLOT(initializeGoogleEarth()));
first = false;
}
else
{
#ifdef _MSC_VER
QAxObject* doc = webViewWin->querySubObject("Document()");
IDispatch* Disp;
IDispatch* winDoc = NULL;
//332C4425-26CB-11D0-B483-00C04FD90119 IHTMLDocument2
//25336920-03F9-11CF-8FD0-00AA00686F13 HTMLDocument
doc->queryInterface(QUuid("{332C4425-26CB-11D0-B483-00C04FD90119}"), (void**)(&winDoc));
if (winDoc)
{
// Security:
// CoInternetSetFeatureEnabled
// (FEATURE_LOCALMACHINE_LOCKDOWN, SET_FEATURE_ON_PROCESS, TRUE);
//
IHTMLDocument2* document = NULL;
winDoc->QueryInterface( IID_IHTMLDocument2, (void**)&document );
IHTMLWindow2 *window = NULL;
document->get_parentWindow( &window );
jScriptWin = new QAxObject(window, webViewWin);
connect(jScriptWin, SIGNAL(exception(int,QString,QString,QString)), this, SLOT(printWinException(int,QString,QString,QString)));
jScriptInitialized = true;
}
else
{
qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting";
}
#endif
// Set home location
setHome(47.3769, 8.549444, 500);
......@@ -315,8 +320,7 @@ void QGCGoogleEarthView::updateState()
pitch = mav->getPitch();
yaw = mav->getYaw();
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat)
.arg(lon)
......@@ -324,27 +328,11 @@ void QGCGoogleEarthView::updateState()
.arg(roll)
.arg(pitch)
.arg(yaw));
#endif
#ifdef _MSC_VER
webViewWin->dynamicCall((QString("InvokeScript(\"setAircraftPositionAttitude\", %1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat)
.arg(lon)
.arg(alt+500)
.arg(roll)
.arg(pitch)
.arg(yaw)).toStdString().c_str());
#endif
}
if (followCamera)
{
#ifdef Q_OS_MAC
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
#endif
#ifdef _MSC_VER
webViewWin->dynamicCall("InvokeScript(\"updateFollowAircraft\");");
#endif
javaScript(QString("updateFollowAircraft()"));
}
}
}
......
src/ui/map3D/QGCGoogleEarthView.h
View file @ f182d292
......@@ -19,28 +19,33 @@ class QGCWebAxWidget : public QAxWidget
public:
//Q_OBJECT
QGCWebAxWidget(QWidget* parent = 0, Qt::WindowFlags f = 0)
: QAxWidget(parent, f),
_document(NULL)
: QAxWidget(parent, f)/*,
_document(NULL)*/
{
// Set web browser control
setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}");
// WARNING: Makes it impossible to actually debug javascript. But useful in production mode
setProperty("ScriptErrorsSuppressed", true);
// see: http://www.codeproject.com/KB/cpp/ExtendedWebBrowser.aspx?fid=285594&df=90&mpp=25&noise=3&sort=Position&view=Quick&fr=151#GoalScriptError
//this->dynamicCall("setProperty(const QString&,
//QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&)));
}
/*
QAxObject* document()
{
return _document;
}
}*/
protected:
protected:
/*
void setDocument(IDispatch* dispatch, QVariant& variant)
{
_document = this->querySubObject("Document()");
}
protected:
QAxObject* _document;
QAxObject* _document;*/
virtual bool translateKeyEvent(int message, int keycode) const
{
if (message >= WM_KEYFIRST && message <= WM_KEYLAST)
......@@ -89,6 +94,12 @@ public slots:
void setHome(double lat, double lon, double alt);
/** @brief Initialize Google Earth */
void initializeGoogleEarth();
/** @brief Print a Windows exception */
void printWinException(int no, QString str1, QString str2, QString str3);
public:
/** @brief Execute java script inside the Google Earth window */
QVariant javaScript(QString javascript);
protected:
void changeEvent(QEvent *e);
......@@ -98,9 +109,11 @@ protected:
bool followCamera;
bool trailEnabled;
bool webViewInitialized;
bool jScriptInitialized;
bool gEarthInitialized;
#ifdef _MSC_VER
QGCWebAxWidget* webViewWin;
QAxObject* jScriptWin;
#endif
#if (defined Q_OS_MAC)
QWebView* webViewMac;
......
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