/*================================================================== ======================================================================*/ /** * @file * @brief Implementation of MapWidget * * @author Lorenz Meier * @author Mariano Lizarraga * */ #include #include #include #include "MapWidget.h" #include "ui_MapWidget.h" #include "UASInterface.h" #include "UASManager.h" #include "MAV2DIcon.h" #include "Waypoint2DIcon.h" #include "MG.h" MapWidget::MapWidget(QWidget *parent) : QWidget(parent), zoomLevel(0), uasIcons(), uasTrails(), mav(NULL), m_ui(new Ui::MapWidget) { m_ui->setupUi(this); waypointIsDrag = false; // Accept focus by clicking or keyboard this->setFocusPolicy(Qt::StrongFocus); // create MapControl mc = new qmapcontrol::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); qmapcontrol::MapAdapter* mapadapter_overlay = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1"); // MAP BACKGROUND mapadapter = new qmapcontrol::GoogleSatMapAdapter(); l = new qmapcontrol::MapLayer("Google Satellite", mapadapter); mc->addLayer(l); // STREET OVERLAY overlay = new qmapcontrol::MapLayer("Overlay", mapadapter_overlay); overlay->setVisible(false); mc->addLayer(overlay); // WAYPOINT LAYER // create a layer with the mapadapter and type GeometryLayer (for waypoints) geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter); mc->addLayer(geomLayer); // // Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer); // mc->addLayer(gsatLayer); // SET INITIAL POSITION AND ZOOM // Set default zoom level mc->setZoom(16); // Zurich, ETH mc->setView(QPointF(8.548056,47.376389)); // Veracruz Mexico //mc->setView(QPointF(-96.105208,19.138955)); // Add controls to select map provider ///////////////////////////////////////////////// QActionGroup* mapproviderGroup = new QActionGroup(this); osmAction = new QAction(QIcon(":/images/mapproviders/openstreetmap.png"), tr("OpenStreetMap"), mapproviderGroup); yahooActionMap = new QAction(QIcon(":/images/mapproviders/yahoo.png"), tr("Yahoo: Map"), mapproviderGroup); yahooActionSatellite = new QAction(QIcon(":/images/mapproviders/yahoo.png"), tr("Yahoo: Satellite"), mapproviderGroup); googleActionMap = new QAction(QIcon(":/images/mapproviders/google.png"), tr("Google: Map"), mapproviderGroup); googleSatAction = new QAction(QIcon(":/images/mapproviders/google.png"), tr("Google: Sat"), mapproviderGroup); osmAction->setCheckable(true); yahooActionMap->setCheckable(true); yahooActionSatellite->setCheckable(true); googleActionMap->setCheckable(true); googleSatAction->setCheckable(true); googleSatAction->setChecked(true); connect(mapproviderGroup, SIGNAL(triggered(QAction*)), this, SLOT(mapproviderSelected(QAction*))); // Overlay seems currently broken // yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this); // yahooActionOverlay->setCheckable(true); // yahooActionOverlay->setChecked(overlay->isVisible()); // connect(yahooActionOverlay, SIGNAL(toggled(bool)), // overlay, SLOT(setVisible(bool))); // mapproviderGroup->addAction(googleSatAction); // mapproviderGroup->addAction(osmAction); // mapproviderGroup->addAction(yahooActionOverlay); // mapproviderGroup->addAction(googleActionMap); // mapproviderGroup->addAction(yahooActionMap); // mapproviderGroup->addAction(yahooActionSatellite); // Create map provider selection menu mapMenu = new QMenu(this); mapMenu->addActions(mapproviderGroup->actions()); mapMenu->addSeparator(); // mapMenu->addAction(yahooActionOverlay); mapButton = new QPushButton(this); mapButton->setText("Map Source"); mapButton->setMenu(mapMenu); // display the MapControl in the application QGridLayout* layout = new QGridLayout(this); layout->setMargin(0); layout->setSpacing(2); layout->addWidget(mc, 0, 0, 1, 2); layout->addWidget(mapButton, 1, 0); layout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 1); layout->setRowStretch(0, 100); layout->setRowStretch(1, 1); layout->setColumnStretch(0, 1); layout->setColumnStretch(1, 50); 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) QGridLayout* innerlayout = new QGridLayout(mc); innerlayout->setMargin(5); innerlayout->setSpacing(5); innerlayout->addWidget(zoomin, 0, 0); innerlayout->addWidget(zoomout, 1, 0); innerlayout->addWidget(followgps, 2, 0); innerlayout->addWidget(createPath, 3, 0); // Add spacers to compress buttons on the top left innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 4, 0); innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 0, 1, 0, 5); innerlayout->setRowStretch(0, 1); innerlayout->setRowStretch(1, 100); mc->setLayout(innerlayout); // Connect the required signals-slots connect(zoomin, SIGNAL(clicked(bool)), mc, SLOT(zoomIn())); connect(zoomout, SIGNAL(clicked(bool)), mc, SLOT(zoomOut())); QList systems = UASManager::instance()->getUASList(); foreach(UASInterface* system, systems) { addUAS(system); } connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); activeUASSet(UASManager::instance()->getActiveUAS()); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*))); connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)), this, SLOT(captureMapClick(const QMouseEvent*, const QPointF))); connect(createPath, SIGNAL(clicked(bool)), this, SLOT(createPathButtonClicked(bool))); connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)), this, SLOT(captureGeometryClick(Geometry*, QPoint))); connect(geomLayer, SIGNAL(geometryDragged(Geometry*, QPointF)), this, SLOT(captureGeometryDrag(Geometry*, QPointF))); connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)), this, SLOT(captureGeometryEndDrag(Geometry*, QPointF))); // Configure the WP Path's pen pointPen = new QPen(QColor(0, 255,0)); pointPen->setWidth(3); path = new qmapcontrol::LineString (wps, "UAV Path", pointPen); mc->layer("Waypoints")->addGeometry(path); //Camera Control // CAMERA INDICATOR LAYER // create a layer with the mapadapter and type GeometryLayer (for camera indicator) camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter); mc->addLayer(camLayer); //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen); drawCamBorder = false; radioCamera = 10; } void MapWidget::mapproviderSelected(QAction* action) { //delete mapadapter; mapButton->setText(action->text()); if (action == osmAction) { int zoom = mapadapter->adaptedZoom(); mc->setZoom(0); mapadapter = new qmapcontrol::OSMMapAdapter(); l->setMapAdapter(mapadapter); geomLayer->setMapAdapter(mapadapter); mc->updateRequestNew(); mc->setZoom(zoom); // yahooActionOverlay->setEnabled(false); overlay->setVisible(false); // yahooActionOverlay->setChecked(false); } else if (action == yahooActionMap) { int zoom = mapadapter->adaptedZoom(); mc->setZoom(0); mapadapter = new qmapcontrol::YahooMapAdapter(); l->setMapAdapter(mapadapter); geomLayer->setMapAdapter(mapadapter); mc->updateRequestNew(); mc->setZoom(zoom); // yahooActionOverlay->setEnabled(false); overlay->setVisible(false); // yahooActionOverlay->setChecked(false); } else if (action == yahooActionSatellite) { int zoom = mapadapter->adaptedZoom(); QPointF a = mc->currentCoordinate(); mc->setZoom(0); mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1"); l->setMapAdapter(mapadapter); mc->updateRequestNew(); mc->setZoom(zoom); // yahooActionOverlay->setEnabled(true); } else if (action == googleActionMap) { int zoom = mapadapter->adaptedZoom(); mc->setZoom(0); mapadapter = new qmapcontrol::GoogleMapAdapter(); l->setMapAdapter(mapadapter); geomLayer->setMapAdapter(mapadapter); mc->updateRequestNew(); mc->setZoom(zoom); // yahooActionOverlay->setEnabled(false); overlay->setVisible(false); // yahooActionOverlay->setChecked(false); } else if (action == googleSatAction) { int zoom = mapadapter->adaptedZoom(); mc->setZoom(0); mapadapter = new qmapcontrol::GoogleSatMapAdapter(); l->setMapAdapter(mapadapter); geomLayer->setMapAdapter(mapadapter); mc->updateRequestNew(); mc->setZoom(zoom); // yahooActionOverlay->setEnabled(false); overlay->setVisible(false); // yahooActionOverlay->setChecked(false); } else { mapButton->setText("Select.."); } } void MapWidget::createPathButtonClicked(bool checked) { Q_UNUSED(checked); if (createPath->isChecked()) { // change the cursor shape this->setCursor(Qt::PointingHandCursor); mc->setMouseMode(qmapcontrol::MapControl::None); // emit signal start to create a Waypoint global emit createGlobalWP(true, mc->currentCoordinate()); // // Clear the previous WP track // // TODO: Move this to an actual clear track button and add a warning dialog // mc->layer("Waypoints")->clearGeometries(); // wps.clear(); // path->setPoints(wps); // mc->layer("Waypoints")->addGeometry(path); // wpIndex.clear(); } else { this->setCursor(Qt::ArrowCursor); mc->setMouseMode(qmapcontrol::MapControl::Panning); } } /** * Captures a click on the map and if in create WP path mode, it adds the WP on MouseButtonRelease * * @param event The mouse event * @param coordinate The coordinate in which it occured the mouse event * @note This slot is connected to the mouseEventCoordinate of the QMapControl object */ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate) { qDebug() << mc->mouseMode(); if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked()) { // Create waypoint name QString str; str = QString("%1").arg(path->numberOfPoints()); // create the WP and set everything in the LineString to display the path Waypoint2DIcon* tempCirclePoint; if (mav) { tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor())); } else { tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle); } mc->layer("Waypoints")->addGeometry(tempCirclePoint); qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str); wps.append(tempPoint); path->addPoint(tempPoint); wpIndex.insert(str,tempPoint); // Refresh the screen mc->updateRequestNew(); // emit signal mouse was clicked emit captureMapCoordinateClick(coordinate); } } void MapWidget::createWaypointGraphAtMap(const QPointF coordinate) { if (!wpExists(coordinate)){ // Create waypoint name QString str; str = QString("%1").arg(path->numberOfPoints()); // create the WP and set everything in the LineString to display the path //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str); Waypoint2DIcon* tempCirclePoint; if (mav) { tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor())); } else { tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle); } mc->layer("Waypoints")->addGeometry(tempCirclePoint); Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str); wps.append(tempPoint); path->addPoint(tempPoint); wpIndex.insert(str,tempPoint); qDebug()<<"Funcion createWaypointGraphAtMap WP= "< x= "<latitude()<<" y= "<longitude(); // Refresh the screen mc->updateRequestNew(); } //// // emit signal mouse was clicked // emit captureMapCoordinateClick(coordinate); } int MapWidget::wpExists(const QPointF coordinate){ for (int i = 0; i < wps.size(); i++){ if (wps.at(i)->latitude() == coordinate.y() && wps.at(i)->longitude()== coordinate.x()){ return 1; } } return 0; } void MapWidget::captureGeometryClick(Geometry* geom, QPoint point) { Q_UNUSED(geom); Q_UNUSED(point); mc->setMouseMode(qmapcontrol::MapControl::None); } void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate) { waypointIsDrag = true; // Refresh the screen mc->updateRequestNew(); int temp = 0; qmapcontrol::Point* point2Find; point2Find = wpIndex[geom->name()]; if (point2Find) { point2Find->setCoordinate(coordinate); point2Find = dynamic_cast (geom); if (point2Find) { point2Find->setCoordinate(coordinate); // qDebug() << geom->name(); temp = geom->get_myIndex(); //qDebug() << temp; emit sendGeometryEndDrag(coordinate,temp); } } } void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate) { Q_UNUSED(geom); Q_UNUSED(coordinate); // TODO: Investigate why when creating the waypoint path this slot is being called // Only change the mouse mode back to panning when not creating a WP path if (!createPath->isChecked()) { waypointIsDrag = false; mc->setMouseMode(qmapcontrol::MapControl::Panning); } } MapWidget::~MapWidget() { delete m_ui; } /** * * @param uas the UAS/MAV to monitor/display with the HUD */ void MapWidget::addUAS(UASInterface* uas) { if(mav != NULL) { disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); } connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); } void MapWidget::activeUASSet(UASInterface* uas) { if (uas) { mav = uas; path->setPen(new QPen(mav->getColor())); } } /** * Updates the global position of one MAV and append the last movement to the trail * * @param uas The unmanned air system * @param lat Latitude in WGS84 ellipsoid * @param lon Longitutde in WGS84 ellipsoid * @param alt Altitude over mean sea level * @param usec Timestamp of the position message in milliseconds FIXME will move to microseconds */ 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); qDebug() << uas->getUASName(); MAV2DIcon* p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen); uasIcons.insert(uas->getUASID(), p); geomLayer->addGeometry(p); // Line // A QPen also can use transparency QList points; points.append(new qmapcontrol::Point(lat, lon, "")); QPen* linepen = new QPen(uasColor.darker()); linepen->setWidth(2); // Add the Points and the QPen to a LineString qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, uas->getUASName(), linepen); uasTrails.insert(uas->getUASID(), ls); // Add the LineString to the layer geomLayer->addGeometry(ls); } else { MAV2DIcon* p = dynamic_cast(uasIcons.value(uas->getUASID())); if (p) { p->setCoordinate(QPointF(lat, lon)); p->setYaw(uas->getYaw()); } // Extend trail uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, "")); } // 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 updatePosition(0, lat, lon); } } /** * Center the view on this position */ 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() && isVisible()) { 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)); // visual field of camera updateCameraPosition(20*newZoom,0,"no"); } 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::showEvent(QShowEvent* event) { Q_UNUSED(event); } void MapWidget::hideEvent(QHideEvent* event) { Q_UNUSED(event); } void MapWidget::changeEvent(QEvent *e) { QWidget::changeEvent(e); switch (e->type()) { case QEvent::LanguageChange: m_ui->retranslateUi(this); break; default: break; } } void MapWidget::clearPath() { // Clear the previous WP track mc->layer("Waypoints")->clearGeometries(); wps.clear(); path->setPoints(wps); mc->layer("Waypoints")->addGeometry(path); wpIndex.clear(); mc->updateRequestNew(); if(createPath->isChecked()) { createPath->click(); } } void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon) { if(!waypointIsDrag) { qDebug() <<"indice WP= "<setCoordinate(coordinate); point2Find = dynamic_cast (mc->layer("Waypoints")->get_Geometry(index)); point2Find->setCoordinate(coordinate); // Refresh the screen mc->updateRequestNew(); } } void MapWidget::updateCameraPosition(double radio, double bearing, QString dir) { // FIXME Mariano //camPoints.clear(); QPointF currentPos = mc->currentCoordinate(); // QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance); // qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle); // qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle); // camPoints.append(tempPoint1); // camPoints.append(tempPoint2); // camLine->setPoints(camPoints); QPen* camBorderPen = new QPen(QColor(255,0,0)); camBorderPen->setWidth(2); //radio = mc->currentZoom() if(drawCamBorder) { //clear camera borders mc->layer("Camera")->clearGeometries(); //create a camera borders qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen); //camBorder->setCoordinate(currentPos); mc->layer("Camera")->addGeometry(camBorder); // mc->layer("Camera")->addGeometry(camLine); mc->updateRequestNew(); } else { //clear camera borders mc->layer("Camera")->clearGeometries(); mc->updateRequestNew(); } } void MapWidget::drawBorderCamAtMap(bool status) { drawCamBorder = status; updateCameraPosition(20,0,"no"); } QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance) { QPointF temp; double rad = M_PI/180; bearing = bearing*rad; temp.setX((lon1 + ((distance/60) * (sin(bearing))))); temp.setY((lat1 + ((distance/60) * (cos(bearing))))); return temp; }