/*===================================================================== PIXHAWK Micro Air Vehicle Flying Robotics Toolkit (c) 2009, 2010 PIXHAWK PROJECT This file is part of the PIXHAWK project PIXHAWK is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. PIXHAWK is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with PIXHAWK. If not, see . ======================================================================*/ /** * @file * @brief Implementation of map view * * @author Lorenz Meier * */ #include "MapWidget.h" #include "ui_MapWidget.h" #include "UASInterface.h" #include "UASManager.h" #include "MG.h" MapWidget::MapWidget(QWidget *parent) : QWidget(parent), zoomLevel(0), uasIcons(), uasTrails(), m_ui(new Ui::MapWidget) { m_ui->setupUi(this); // Accept focus by clicking or keyboard this->setFocusPolicy(Qt::StrongFocus); // create MapControl mc = new MapControl(QSize(320, 240)); mc->showScale(true); mc->showCoord(true); mc->enablePersistentCache(); mc->setMouseTracking(true); // required to update the mouse position for diplay and capture // create MapAdapter to get maps from TileMapAdapter* osmAdapter = new TileMapAdapter("tile.openstreetmap.org", "/%1/%2/%3.png", 256, 0, 17); // create a layer with the mapadapter and type MapLayer osmLayer = new Layer("Custom Layer", osmAdapter, Layer::MapLayer); // add Layer to the MapControl mc->addLayer(osmLayer); mc->setZoom(3); // display the MapControl in the application QHBoxLayout* layout = new QHBoxLayout; layout->setMargin(0); layout->addWidget(mc); setLayout(layout); // create buttons to control the map (zoom, GPS tracking and WP capture) QPushButton* zoomin = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this); QPushButton* zoomout = new QPushButton(QIcon(":/images/actions/list-remove.svg"), "", this); createPath = new QPushButton(QIcon(":/images/actions/go-bottom.svg"), "", this); followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this); zoomin->setMaximumWidth(50); zoomout->setMaximumWidth(50); createPath->setMaximumWidth(50); followgps->setMaximumWidth(50); // Set checkable buttons // TODO: Currently checked buttons are are very difficult to distinguish when checked. // create a style and the slots to change the background so it is easier to distinguish followgps->setCheckable(true); createPath->setCheckable(true); // add buttons to control the map (zoom, GPS tracking and WP capture) QVBoxLayout* innerlayout = new QVBoxLayout; innerlayout->addWidget(zoomin); innerlayout->addWidget(zoomout); innerlayout->addWidget(followgps); innerlayout->addWidget(createPath); mc->setLayout(innerlayout); // Connect the required signals-slots connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)), this, SLOT(captureMapClick(const QMouseEvent*, const QPointF))); connect(createPath, SIGNAL(clicked(bool)), this, SLOT(createPathButtonClicked())); this->setVisible(false); // Attic (Code that was commented) // ============================== //uasIcons = QMap(); //QSize(480,640) // ImageManager::instance()->setProxy("www-cache", 8080); //GoogleSatMapAdapter* gSatAdapter = new GoogleSatMapAdapter(); //Layer* gSatLayer = new Layer("Custom Layer", gSatAdapter, Layer::MapLayer); //mc->addLayer(gSatLayer); // gpsposition = new QLabel(); //gpsposition->setFont(QFont("Arial", 10)); //GPS_Neo* gm = new GPS_Neo(); //connect(gm, SIGNAL(new_position(float, QPointF)), // this, SLOT(updatePosition(float, QPointF))); //gm->start(); } void MapWidget::createPathButtonClicked(){ this->setCursor(createPath->isChecked()? Qt::PointingHandCursor : Qt::ArrowCursor); } void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate){ if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked()){ qDebug()<< "Click Event"; qDebug()<< "Lat: " << coordinate.y(); qDebug()<< "Lon: " << coordinate.x(); } } MapWidget::~MapWidget() { delete m_ui; } /** * * @param uas the UAS/MAV to monitor/display with the HUD */ void MapWidget::addUAS(UASInterface* uas) { mav = uas; connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); } void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec) { Q_UNUSED(usec); Q_UNUSED(alt); // FIXME Use altitude quint64 currTime = MG::TIME::getGroundTimeNow(); if (currTime - lastUpdate > 90) { lastUpdate = currTime; // create a LineString //QList points; // Points with a circle // A QPen can be used to customize the //pointpen->setWidth(3); //points.append(new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen)); if (!uasIcons.contains(uas->getUASID())) { // Get the UAS color QColor uasColor = uas->getColor(); // Icon QPen* pointpen = new QPen(uasColor); CirclePoint* p = new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen); uasIcons.insert(uas->getUASID(), p); osmLayer->addGeometry(p); // Line // A QPen also can use transparency QList points; points.append(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon))); QPen* linepen = new QPen(uasColor.darker()); linepen->setWidth(2); // Add the Points and the QPen to a LineString LineString* ls = new LineString(points, uas->getUASName(), linepen); uasTrails.insert(uas->getUASID(), ls); // Add the LineString to the layer osmLayer->addGeometry(ls); } else { CirclePoint* p = uasIcons.value(uas->getUASID()); p->setCoordinate(QPointF(lat, lon)); // Extend trail uasTrails.value(uas->getUASID())->addPoint(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon))); } // points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen)); // points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen)); // // "Blind" Points // points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne")); // points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße")); // Connect click events of the layer to this object // connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)), // this, SLOT(geometryClicked(Geometry*, QPoint))); // Sets the view to the interesting area //QList view; //view.append(QPointF(8.24764, 50.0319)); //view.append(QPointF(8.28412, 49.9998)); // mc->setView(view); updatePosition(0, lat, lon); } } void MapWidget::updatePosition(float time, double lat, double lon) { Q_UNUSED(time); //gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon)); if (followgps->isChecked()) { mc->setView(QPointF(lat, lon)); } } void MapWidget::wheelEvent(QWheelEvent *event) { int numDegrees = event->delta() / 8; int numSteps = numDegrees / 15; // Calculate new zoom level int newZoom = mc->currentZoom()+numSteps; // Set new zoom level, level is bounded by map control mc->setZoom(newZoom); // Detail zoom level is the number of steps zoomed in further // after the bounding has taken effect detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom)); } void MapWidget::keyPressEvent(QKeyEvent *event) { switch (event->key()) { case Qt::Key_Plus: mc->zoomIn(); break; case Qt::Key_Minus: mc->zoomOut(); break; case Qt::Key_Left: mc->scrollLeft(this->width()/scrollStep); break; case Qt::Key_Right: mc->scrollRight(this->width()/scrollStep); break; case Qt::Key_Down: mc->scrollDown(this->width()/scrollStep); break; case Qt::Key_Up: mc->scrollUp(this->width()/scrollStep); break; default: QWidget::keyPressEvent(event); } } void MapWidget::resizeEvent(QResizeEvent* event ) { Q_UNUSED(event); mc->resize(this->size()); } void MapWidget::changeEvent(QEvent *e) { QWidget::changeEvent(e); switch (e->type()) { case QEvent::LanguageChange: m_ui->retranslateUi(this); break; default: break; } }