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qgroundcontrol
Commit f9a43531 authored by Lorenz Meier's avatar Lorenz Meier
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Merge branch 'master' of github.com:mavlink/qgroundcontrol

parents 160e0014 b0103c8f
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src/ui/map3D/QGCGoogleEarthView.cc
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#include <QApplication>
#include <QDir>
#include <QShowEvent>
#include <QSettings>
#include <QInputDialog>
#include <QDebug>
#include <QFile>
#include <QTextStream>
#include "UASManager.h"
#ifdef Q_OS_MAC
#include <QWebFrame>
#include <QWebPage>
#include <QWebElement>
#include "QGCWebPage.h"
#endif
#ifdef _MSC_VER
#include <QAxObject>
#include <QUuid>
#include <mshtml.h>
#include <comdef.h>
#include <qaxtypes.h>
#endif
#include "QGC.h"
#include "ui_QGCGoogleEarthView.h"
#include "QGCGoogleEarthView.h"
#include "UASWaypointManager.h"
#define QGCGOOGLEEARTHVIEWSETTINGS QString("GoogleEarthViewSettings_")
QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
QWidget(parent),
updateTimer(new QTimer(this)),
refreshRateMs(100),
mav(NULL),
followCamera(true),
trailEnabled(true),
webViewInitialized(false),
jScriptInitialized(false),
gEarthInitialized(false),
currentViewMode(QGCGoogleEarthView::VIEW_MODE_SIDE),
#if (defined Q_OS_MAC)
webViewMac(new QWebView(this)),
#endif
#ifdef _MSC_VER
webViewWin(new QGCWebAxWidget(this)),
documentWin(NULL),
#endif
ui(new Ui::QGCGoogleEarthView)
{
#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";
// QTextStream out(&file);
// out << webViewWin->generateDocumentation();
// out.flush();
// file.flush();
// file.close();
#else
#endif
// Load settings
QSettings settings;
followCamera = settings.value(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera).toBool();
trailEnabled = settings.value(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled).toBool();
ui->setupUi(this);
#if (defined Q_OS_MAC)
ui->webViewLayout->addWidget(webViewMac);
//connect(webViewMac, SIGNAL(loadFinished(bool)), this, SLOT(initializeGoogleEarth(bool)));
#endif
#ifdef _MSC_VER
ui->webViewLayout->addWidget(webViewWin);
#endif
connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
connect(ui->resetButton, SIGNAL(clicked()), this, SLOT(reloadHTML()));
connect(ui->changeViewButton, SIGNAL(clicked()), this, SLOT(toggleViewMode()));
connect(ui->clearTrailsButton, SIGNAL(clicked()), this, SLOT(clearTrails()));
connect(ui->atmosphereCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableAtmosphere(bool)));
connect(ui->daylightCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableDaylight(bool)));
connect(UASManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(setHome(double,double,double)));
}
QGCGoogleEarthView::~QGCGoogleEarthView()
{
QSettings settings;
settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera);
settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled);
settings.sync();
#if (defined Q_OS_MAC)
delete webViewMac;
#endif
#ifdef _MSC_VER
delete webViewWin;
#endif
delete ui;
}
/**
* @param range in centimeters
*/
void QGCGoogleEarthView::setViewRangeScaledInt(int range)
{
setViewRange(range/100.0f);
}
void QGCGoogleEarthView::reloadHTML()
{
hide();
webViewInitialized = false;
jScriptInitialized = false;
gEarthInitialized = false;
show();
}
void QGCGoogleEarthView::enableEditMode(bool mode)
{
javaScript(QString("setDraggingAllowed(%1);").arg(mode));
}
void QGCGoogleEarthView::enableDaylight(bool enable)
{
javaScript(QString("enableDaylight(%1);").arg(enable));
}
void QGCGoogleEarthView::enableAtmosphere(bool enable)
{
javaScript(QString("enableAtmosphere(%1);").arg(enable));
}
/**
* @param range in meters (SI-units)
*/
void QGCGoogleEarthView::setViewRange(float range)
{
javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5));
}
void QGCGoogleEarthView::setDistanceMode(int mode)
{
javaScript(QString("setDistanceMode(%1);").arg(mode));
}
void QGCGoogleEarthView::toggleViewMode()
{
switch (currentViewMode) {
case VIEW_MODE_MAP:
setViewMode(VIEW_MODE_SIDE);
break;
case VIEW_MODE_SIDE:
setViewMode(VIEW_MODE_MAP);
break;
case VIEW_MODE_CHASE_LOCKED:
setViewMode(VIEW_MODE_CHASE_FREE);
break;
case VIEW_MODE_CHASE_FREE:
setViewMode(VIEW_MODE_CHASE_LOCKED);
break;
}
}
void QGCGoogleEarthView::setViewMode(QGCGoogleEarthView::VIEW_MODE mode)
{
switch (mode) {
case VIEW_MODE_MAP:
ui->changeViewButton->setText("Free View");
break;
case VIEW_MODE_SIDE:
ui->changeViewButton->setText("Map View");
break;
case VIEW_MODE_CHASE_LOCKED:
ui->changeViewButton->setText("Free Chase");
break;
case VIEW_MODE_CHASE_FREE:
ui->changeViewButton->setText("Fixed Chase");
break;
}
currentViewMode = mode;
javaScript(QString("setViewMode(%1);").arg(mode));
}
void QGCGoogleEarthView::addUAS(UASInterface* uas)
{
// uasid, type, color (in #rrbbgg format)
QString uasColor = uas->getColor().name().remove(0, 1);
// Convert to bbggrr format
QString rChannel = uasColor.mid(0, 2);
uasColor.remove(0, 2);
uasColor.prepend(rChannel);
// Set alpha value to 0x66, append JavaScript quotes ('')
uasColor.prepend("'66").append("'");
javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uasColor));
if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID()));
// Automatically receive further position updates
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
// Receive waypoint updates
// Connect the waypoint manager / data storage to the UI
connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
//connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypointEditable(Waypoint*)));
// TODO Update waypoint list on UI changes here
}
void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
{
if (uas)
{
mav = uas;
javaScript(QString("setCurrAircraft(%1);").arg(uas->getUASID()));
updateWaypointList(uas->getUASID());
}
}
/**
* This function is called if a a single waypoint is updated and
* also if the whole list changes.
*/
void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp)
{
// Only accept waypoints in global coordinate frame
if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
{
// We're good, this is a global waypoint
// Get the index of this waypoint
// note the call to getGlobalFrameAndNavTypeIndexOf()
// as we're only handling global waypoints
int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
// If not found, return (this should never happen, but helps safety)
if (wpindex == -1)
{
return;
}
else
{
javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 22).arg(wp->getLongitude(), 0, 'f', 22).arg(wp->getAltitude(), 0, 'f', 22).arg(wp->getAction()));
//qDebug() << QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction());
}
}
}
/**
* Update the whole list of waypoints. This is e.g. necessary if the list order changed.
* The UAS manager will emit the appropriate signal whenever updating the list
* is necessary.
*/
void QGCGoogleEarthView::updateWaypointList(int uas)
{
// Get already existing waypoints
UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
if (uasInstance)
{
// Get all waypoints, including non-global waypoints
QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
// Trim internal list to number of global waypoints in the waypoint manager list
javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()));
qDebug() << QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count());
// Load all existing waypoints into map view
foreach (Waypoint* wp, wpList)
{
updateWaypoint(uas, wp);
}
}
}
void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
{
Q_UNUSED(usec);
javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 22).arg(lon, 0, 'f', 22).arg(alt, 0, 'f', 22));
}
void QGCGoogleEarthView::clearTrails()
{
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
foreach (UASInterface* currMav, mavs)
{
javaScript(QString("clearTrail(%1);").arg(currMav->getUASID()));
}
}
void QGCGoogleEarthView::showTrail(bool state)
{
// Check if the current trail has to be hidden
if (trailEnabled && !state)
{
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
foreach (UASInterface* currMav, mavs)
{
javaScript(QString("hideTrail(%1);").arg(currMav->getUASID()));
}
}
// Check if the current trail has to be shown
if (!trailEnabled && state)
{
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
foreach (UASInterface* currMav, mavs)
{
javaScript(QString("showTrail(%1);").arg(currMav->getUASID()));
}
}
trailEnabled = state;
ui->trailCheckbox->setChecked(state);
}
void QGCGoogleEarthView::showWaypoints(bool state)
{
waypointsEnabled = state;
}
void QGCGoogleEarthView::follow(bool follow)
{
ui->followAirplaneCheckbox->setChecked(follow);
if (follow != followCamera)
{
if (follow)
{
setViewMode(VIEW_MODE_CHASE_LOCKED);
}
else
{
setViewMode(VIEW_MODE_SIDE);
}
}
followCamera = follow;
javaScript(QString("setFollowEnabled(%1)").arg(follow));
}
void QGCGoogleEarthView::goHome()
{
// Disable follow and update
follow(false);
updateState();
// Go to home location
javaScript("goHome();");
}
void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
{
qDebug() << "SETTING GCS HOME IN GOOGLE MAPS" << lat << lon << alt;
javaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
}
void QGCGoogleEarthView::setHome()
{
javaScript(QString("enableSetHomeMode();"));
}
void QGCGoogleEarthView::moveToPosition()
{
bool ok;
javaScript("sampleCurrentPosition();");
double latitude = documentElement("currentCameraLatitude").toDouble();
double longitude = documentElement("currentCameraLongitude").toDouble();
QString text = QInputDialog::getText(this, tr("Please enter coordinates"),
tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
QString("%1,%2").arg(latitude).arg(longitude), &ok);
if (ok && !text.isEmpty()) {
QStringList split = text.split(",");
if (split.length() == 2) {
bool convert;
double latitude = split.first().toDouble(&convert);
ok &= convert;
double longitude = split.last().toDouble(&convert);
ok &= convert;
if (ok) {
javaScript(QString("setLookAtLatLon(%1,%2);").arg(latitude, 0, 'f', 15).arg(longitude, 0, 'f', 15));
}
}
}
}
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
{
updateTimer->stop();
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
void QGCGoogleEarthView::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
QWidget::showEvent(event);
// Enable widget, initialize on first run
if (!webViewInitialized)
{
#if (defined Q_OS_MAC)
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
webViewMac->load(QUrl(QCoreApplication::applicationDirPath()+"/earth.html"));
#endif
#ifdef _MSC_VER
//webViewWin->dynamicCall("GoHome()");
webViewWin->dynamicCall("Navigate(const QString&)", QApplication::applicationDirPath() + "/earth.html");
#endif
webViewInitialized = true;
// Reloading the webpage, this resets Google Earth
gEarthInitialized = false;
QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
}
else
{
updateTimer->start(refreshRateMs);
}
emit visibilityChanged(true);
}
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
if (!jScriptInitialized) {
return QVariant(false);
} else {
return webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript);
}
#endif
#ifdef _MSC_VER
if(!jScriptInitialized) {
qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
return QVariant(false);
} else {
QVariantList params;
params.append(javaScript);
params.append("JScript");
QVariant result = jScriptWin->dynamicCall("execScript(QString, QString)", params);
return result;
}
#endif
}
QVariant QGCGoogleEarthView::documentElement(QString name)
{
#ifdef Q_OS_MAC
QString javaScript("getGlobal(%1)");
QVariant result = webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript.arg(name));
return result;
#endif
#ifdef _MSC_VER
if(!jScriptInitialized) {
qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
} else {
if (documentWin) {
QString resultString;
// Get HTMLElement object
QVariantList params;
IHTMLDocument3* doc;
documentWin->queryInterface( IID_IHTMLDocument3, (void**)&doc);
params.append(name);
IHTMLElement* element = NULL;
// Append alias
name.prepend("JScript_");
HRESULT res = doc->getElementById(QStringToBSTR(name), &element);
//BSTR elemString;
if (SUCCEEDED(res) && element) {
//element->get_innerHTML(&elemString);
VARIANT var;
var.vt = VT_BSTR;
HRESULT res = element->getAttribute(L"value", 0, &var);
if (SUCCEEDED(res) && (var.vt != VT_NULL)) {
QByteArray typeName;
QVariant qtValue = VARIANTToQVariant(var,typeName);
return qtValue;
} else {
qDebug() << __FILE__ << __LINE__ << "JAVASCRIPT ATTRIBUTE" << name << "NOT FOUND";
}
} else {
qDebug() << __FILE__ << __LINE__ << "DID NOT GET HTML ELEMENT" << name;
}
}
}
return QVariant(0);
#endif
}
void QGCGoogleEarthView::initializeGoogleEarth()
{
if (!jScriptInitialized) {
#ifdef Q_OS_MAC
jScriptInitialized = true;
#endif
#ifdef _MSC_VER
QAxObject* doc = webViewWin->querySubObject("Document()");
//IDispatch* Disp;
IDispatch* winDoc = NULL;
IHTMLDocument2* document = 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) {
document = NULL;
winDoc->QueryInterface( IID_IHTMLDocument2, (void**)&document );
IHTMLWindow2 *window = NULL;
document->get_parentWindow( &window );
documentWin = new QAxObject(document, webViewWin);
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
QTimer::singleShot(1500, this, SLOT(initializeGoogleEarth()));
return;
}
if (!gEarthInitialized) {
if (!documentElement("initialized").toBool()) {
QTimer::singleShot(300, this, SLOT(initializeGoogleEarth()));
qDebug() << "NOT INITIALIZED, WAITING";
} else {
gEarthInitialized = true;
// Set home location
setHome(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude());
// Add all MAVs
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
foreach (UASInterface* currMav, mavs) {
addUAS(currMav);
}
// Set current UAS
setActiveUAS(UASManager::instance()->getActiveUAS());
// Add any further MAV automatically
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)), Qt::UniqueConnection);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)), Qt::UniqueConnection);
// Connect UI signals/slots
// Follow checkbox
ui->followAirplaneCheckbox->setChecked(followCamera);
connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)), Qt::UniqueConnection);
// Trail checkbox
ui->trailCheckbox->setChecked(trailEnabled);
connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)), Qt::UniqueConnection);
// Go home
connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
// Set home
connect(ui->setHomeButton, SIGNAL(clicked()), this, SLOT(setHome()));
// Visibility of set home button
connect(ui->editButton, SIGNAL(clicked(bool)), ui->setHomeButton, SLOT(setVisible(bool)));
ui->setHomeButton->setVisible(ui->editButton->isChecked());
// To Lat/Lon button
connect(ui->toLatLonButton, SIGNAL(clicked()), this, SLOT(moveToPosition()));
// Cam distance slider
connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)), Qt::UniqueConnection);
setViewRangeScaledInt(ui->camDistanceSlider->value());
// Distance combo box
connect(ui->camDistanceComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setDistanceMode(int)), Qt::UniqueConnection);
// Edit mode button
connect(ui->editButton, SIGNAL(clicked(bool)), this, SLOT(enableEditMode(bool)), Qt::UniqueConnection);
// Update waypoint list
if (mav) updateWaypointList(mav->getUASID());
// Start update timer
updateTimer->start(refreshRateMs);
// Set current view mode
setViewMode(currentViewMode);
setDistanceMode(ui->camDistanceComboBox->currentIndex());
enableEditMode(ui->editButton->isChecked());
enableAtmosphere(ui->atmosphereCheckBox->isChecked());
enableDaylight(ui->daylightCheckBox->isChecked());
follow(this->followCamera);
// Move to home location
goHome();
}
}
}
void QGCGoogleEarthView::updateState()
{
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
if (gEarthInitialized)
{
int uasId = 0;
double lat = 47.3769;
double lon = 8.549444;
double alt = 470.0;
float roll = 0.0f;
float pitch = 0.0f;
float yaw = 0.0f;
// Update all MAVs
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
foreach (UASInterface* currMav, mavs)
{
// Only update if known
if (!currMav->globalPositionKnown()) continue;
uasId = currMav->getUASID();
lat = currMav->getLatitude();
lon = currMav->getLongitude();
alt = currMav->getAltitude();
roll = currMav->getRoll();
pitch = currMav->getPitch();
yaw = currMav->getYaw();
//qDebug() << "SETTING POSITION FOR" << uasId << lat << lon << alt << roll << pitch << yaw;
javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat, 0, 'f', 22)
.arg(lon, 0, 'f', 22)
.arg(alt, 0, 'f', 22)
.arg(roll, 0, 'f', 9)
.arg(pitch, 0, 'f', 9)
.arg(yaw, 0, 'f', 9));
}
// Read out new waypoint positions and waypoint create events
// this is polling (bad) but forced because of the crappy
// Microsoft API available in Qt - improvements wanted
// First check if a new WP should be created
bool newWaypointPending = documentElement("newWaypointPending").toBool();
if (newWaypointPending)
{
bool coordsOk = true;
bool ok;
double latitude = documentElement("newWaypointLatitude").toDouble(&ok);
coordsOk &= ok;
double longitude = documentElement("newWaypointLongitude").toDouble(&ok);
coordsOk &= ok;
double altitude = documentElement("newWaypointAltitude").toDouble(&ok);
coordsOk &= ok;
if (coordsOk)
{
// Add new waypoint
if (mav)
{
Waypoint* wp = mav->getWaypointManager()->createWaypoint();
wp->setFrame(MAV_FRAME_GLOBAL);
wp->setAction(MAV_CMD_NAV_WAYPOINT);
wp->setLatitude(latitude);
wp->setLongitude(longitude);
wp->setAltitude(altitude);
wp->setAcceptanceRadius(10.0); // 10 m
}
}
javaScript("setNewWaypointPending(false);");
}
// Check if a waypoint should be moved
bool dragWaypointPending = documentElement("dragWaypointPending").toBool();
if (dragWaypointPending)
{
bool coordsOk = true;
bool ok;
double latitude = documentElement("dragWaypointLatitude").toDouble(&ok);
coordsOk &= ok;
double longitude = documentElement("dragWaypointLongitude").toDouble(&ok);
coordsOk &= ok;
double altitude = documentElement("dragWaypointAltitude").toDouble(&ok);
coordsOk &= ok;