/**
******************************************************************************
*
* @file uavitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A graphicsItem representing a UAV
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
* @{
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "../internals/pureprojection.h"
#include "uavitem.h"
namespace mapcontrol
{
UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent,QString uavPic):map(map),mapwidget(parent),showtrail(true),showtrailline(true),trailtime(5),traildistance(20),autosetreached(true)
,autosetdistance(100)
{
//QDir dir(":/uavs/images/");
//QStringList list=dir.entryList();
pic.load(uavPic);
// Don't scale but trust the image we are given
// pic=pic.scaled(50,33,Qt::IgnoreAspectRatio);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
trail=new QGraphicsItemGroup();
trail->setParentItem(map);
trailLine=new QGraphicsItemGroup();
trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
mapfollowtype=UAVMapFollowType::None;
trailtype=UAVTrailType::ByDistance;
timer.start();
}
UAVItem::~UAVItem()
{
delete trail;
}
void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
Q_UNUSED(option);
Q_UNUSED(widget);
// painter->rotate(-90);
QPainter::RenderHints oldhints = painter->renderHints();
painter->setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
painter->setRenderHints(oldhints);
// painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
}
QRectF UAVItem::boundingRect()const
{
return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
}
void UAVItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude, const QColor &color)
{
if(coord.IsEmpty())
lastcoord=coord;
if(coord!=position)
{
if(trailtype==UAVTrailType::ByTimeElapsed)
{
if(timer.elapsed()>trailtime*1000)
{
trail->addToGroup(new TrailItem(position,altitude,color,this));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,color,map)));
lasttrailline=position;
timer.restart();
}
}
else if(trailtype==UAVTrailType::ByDistance)
{
if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
{
trail->addToGroup(new TrailItem(position,altitude,color,this));
if(!lasttrailline.IsEmpty())
trailLine->addToGroup((new TrailLineItem(lasttrailline,position,color,map)));
lasttrailline=position;
lastcoord=position;
}
}
coord=position;
this->altitude=altitude;
RefreshPos();
if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap||mapfollowtype==UAVMapFollowType::CenterMap)
{
mapwidget->SetCurrentPosition(coord);
}
this->update();
if(autosetreached)
{
foreach(QGraphicsItem* i,map->childItems())
{
WayPointItem* wp=qgraphicsitem_cast<WayPointItem*>(i);
if(wp)
{
if(Distance3D(wp->Coord(),wp->Altitude())<autosetdistance)
{
wp->SetReached(true);
emit UAVReachedWayPoint(wp->Number(),wp);
}
}
}
}
if(mapwidget->Home!=0)
{
//verify if the UAV is inside the safety bouble
if(Distance3D(mapwidget->Home->Coord(),mapwidget->Home->Altitude())>mapwidget->Home->SafeArea())
{
if(mapwidget->Home->safe!=false)
{
mapwidget->Home->safe=false;
mapwidget->Home->update();
emit UAVLeftSafetyBouble(this->coord);
}
}
else
{
if(mapwidget->Home->safe!=true)
{
mapwidget->Home->safe=true;
mapwidget->Home->update();
}
}
}
}
}
/**
* Rotate the UAV Icon on the map, or rotate the map
* depending on the display mode
*/
void UAVItem::SetUAVHeading(const qreal &value)
{
if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap)
{
mapwidget->SetRotate(-value);
}
else {
if (this->rotation() != value)
this->setRotation(value);
}
}
int UAVItem::type()const
{
return Type;
}
void UAVItem::RefreshPos()
{
localposition=map->FromLatLngToLocal(coord);
this->setPos(localposition.X(),localposition.Y());
foreach(QGraphicsItem* i,trail->childItems())
{
TrailItem* w=qgraphicsitem_cast<TrailItem*>(i);
if(w)
w->setPos(map->FromLatLngToLocal(w->coord).X(),map->FromLatLngToLocal(w->coord).Y());
}
foreach(QGraphicsItem* i,trailLine->childItems())
{
TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
if(ww)
ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
}
}
void UAVItem::SetTrailType(const UAVTrailType::Types &value)
{
trailtype=value;
if(trailtype==UAVTrailType::ByTimeElapsed)
timer.restart();
}
void UAVItem::SetShowTrail(const bool &value)
{
showtrail=value;
trail->setVisible(value);
}
void UAVItem::SetShowTrailLine(const bool &value)
{
showtrailline=value;
trailLine->setVisible(value);
}
void UAVItem::DeleteTrail()const
{
foreach(QGraphicsItem* i,trail->childItems())
delete i;
foreach(QGraphicsItem* i,trailLine->childItems())
delete i;
}
double UAVItem::Distance3D(const internals::PointLatLng &coord, const int &altitude)
{
return sqrt(pow(internals::PureProjection::DistanceBetweenLatLng(this->coord,coord)*1000,2)+
pow(static_cast<float>(this->altitude-altitude),2));
}
void UAVItem::SetUavPic(QString UAVPic)
{
pic.load(":/uavs/images/"+UAVPic);
}
}