merge

opmap/mapwidget/waypointitem.cpp

@@ -1,4 +1,4 @@
-/**
+/**
  ******************************************************************************
  *
  * @file       waypointitem.cpp
@@ -28,54 +28,277 @@
 #include "homeitem.h"
 #include <QGraphicsSceneMouseEvent>
 
+#include "QJsonArray"
+#include "QJsonDocument"
+#include "QJsonObject"
+#include "QJsonParseError"
+
+
 namespace mapcontrol {
-WayPointItem::WayPointItem(double  const &lat, double  const &lng, float const &alt, MapGraphicItem *map) : isDragging(true), map(map)
+WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(""), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
 {
-
-    parpertys.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;//默认为航点
-    parpertys.x = lat;
-    parpertys.y = lng;
-    parpertys.z = alt;
-
-
+    numberI = 0;
+    isEdit = true;
+    isMagic = false;
+    property.seq  = WayPointItem::snumber;
+    ++WayPointItem::snumber;
     this->setFlag(QGraphicsItem::ItemIsMovable, true);
     this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
     this->setFlag(QGraphicsItem::ItemIsSelectable, true);
-
+    SetShowNumber(shownumber);
     RefreshPos();
 
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+
+    myHome = NULL;
+    QList<QGraphicsItem *> list = map->childItems();
+    foreach(QGraphicsItem * obj, list) {
+        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
+
+        if (h) {
+            myHome = h;
+        }
+    }
+
+    if (myHome) {
+        map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
+        relativeCoord.altitudeRelative = Altitude() - myHome->Altitude();
+        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
+    }
+    connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
+    emit manualCoordChange(this);
+    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
+    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
+
+    this->setZValue(3);
+
+}
+
+WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint) : reached(false), description(""), shownumber(true), isDragging(false), altitude(0), map(map)
+{
+    isEdit = true;
+    relativeCoord.bearing  = 0;
+    relativeCoord.distance = 0;
+    relativeCoord.altitudeRelative = 0;
+    myType = relative;
+    if (magicwaypoint) {
+        isMagic = true;
+        property.seq  = -1;
+    } else {
+        isMagic = false;
+        property.seq  = WayPointItem::snumber;
+        ++WayPointItem::snumber;
+    }
+    numberI = 0;
+    this->setFlag(QGraphicsItem::ItemIsMovable, true);
+    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
+    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
+    SetShowNumber(shownumber);
+    RefreshPos();
+
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+
+    myHome = NULL;
+    QList<QGraphicsItem *> list = map->childItems();
+    foreach(QGraphicsItem * obj, list) {
+        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
+
+        if (h) {
+            myHome = h;
+        }
+    }
+
+    if (myHome) {
+        coord = map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing);
+        SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
+        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
+    }
+    connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
+    emit manualCoordChange(this);
+    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
+    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
+
+    this->setZValue(3);
+}
+WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude, const QString &description, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(description), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
+{
+    isEdit = true;
+    numberI = 0;
+    isMagic = false;
+    //picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+    property.seq  = WayPointItem::snumber;
+    ++WayPointItem::snumber;
+    this->setFlag(QGraphicsItem::ItemIsMovable, true);
+    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
+    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
+    SetShowNumber(shownumber);
+    RefreshPos();
+
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+
+    myHome = NULL;
+    QList<QGraphicsItem *> list = map->childItems();
+    foreach(QGraphicsItem * obj, list) {
+        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
+
+        if (h) {
+            myHome = h;
+        }
+    }
+    if (myHome) {
+        map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
+        relativeCoord.altitudeRelative = Altitude() - myHome->Altitude();
+        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
+    }
+    connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
+    emit manualCoordChange(this);
+    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
+    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
+
+    this->setZValue(3);
+}
+
+WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate, const QString &description, MapGraphicItem *map) : relativeCoord(relativeCoordenate), reached(false), description(description), shownumber(true), isDragging(false), map(map)
+{
+    isEdit = true;
+    myHome = NULL;
+    QList<QGraphicsItem *> list = map->childItems();
+    foreach(QGraphicsItem * obj, list) {
+        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
+
+        if (h) {
+            myHome = h;
+        }
+    }
+    if (myHome) {
+        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
+        coord = map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing);
+        SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
+    }
+    myType  = relative;
+    numberI = 0;
+    isMagic = false;
+    property.seq  = WayPointItem::snumber;
+    ++WayPointItem::snumber;
+    this->setFlag(QGraphicsItem::ItemIsMovable, true);
+    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
+    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
+    SetShowNumber(shownumber);
+    RefreshPos();
+
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
 
     connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
     emit manualCoordChange(this);
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
+
+    this->setZValue(3);
 }
 
-
-
-QRectF WayPointItem::boundingRect() const
+void WayPointItem::setWPType(wptype type)
 {
-    return QRectF(-10,-10,20,20);
+    myType = type;
+    emit WPValuesChanged(this);
+    RefreshPos();
+
+    this->update();
 }
+
+QRectF WayPointItem::boundingRect() const //鼠标可以操作的大小
+{
+
+    return QRectF(-10,-10,20,20);
+
+}
+
 void WayPointItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
 {
     Q_UNUSED(option);
     Q_UNUSED(widget);
-    //painter->drawPixmap(-picture.width() / 2, -picture.height(), picture);
-
-    painter->setPen(Qt::green);
-    painter->drawRect(-6,-6,12,12);
-    painter->drawLine(-6,-6,6,6);
-    painter->drawLine(-6,6,6,-6);
 
     if (this->isSelected()) {
-        painter->setPen(Qt::red);
-        painter->drawRect(QRectF(-10,-10,20,20));
+        this->setZValue(4);
+    }
+    else
+    {
+        this->setZValue(3);
+    }
+
+
+
+    if(isSimple == true)//简单显示
+    {
+        painter->setPen(Qt::green);
+        painter->drawRect(-6,-6,12,12);
+        painter->drawLine(-6,-6,6,6);
+        painter->drawLine(-6,6,6,-6);
+
+        if (this->isSelected()) {
+            painter->setPen(Qt::red);
+            painter->drawRect(QRectF(boundingRect()));
+        }
+    }
+    else
+    {
+        QPen ePen;
+        ePen.setWidth(1);
+
+
+        if(isEdit == true)//编辑界面
+        {
+            if (this->isSelected()) {//被选中才能是绿色
+                ePen.setColor(QColor("#008B00"));
+                painter->setBrush(QColor("#008B00"));
+            }
+            else {
+                ePen.setColor(QColor("#8B4500"));
+                painter->setBrush(QColor("#8B4500"));
+            }
+        }
+        else//飞行界面
+        {
+            if (isCurrent) {//选择作为当前才能显示绿色
+                ePen.setColor(QColor("#008B00"));
+                painter->setBrush(QColor("#008B00"));
+            }
+            else {
+                ePen.setColor(QColor("#8B4500"));
+                painter->setBrush(QColor("#8B4500"));
+            }
+        }
+
+
+
+
+        painter->setPen(ePen);
+        painter->drawEllipse(boundingRect());
+
+        ePen.setColor(QColor("#FFFFFF"));
+        painter->setPen(ePen);
+
+
+        QFont font;
+        font.setWeight(QFont::ExtraLight);
+        font.setFamily("Arial");//非衬线
+        font.setPixelSize(12);
+        painter->setFont(font);
+        painter->drawText(boundingRect(),Qt::AlignCenter,QString::number(property.seq));
+
+
+        font.setBold(true);
+        painter->setFont(font);
+        ePen.setColor(QColor("#FF4040"));
+        painter->setPen(ePen);
+        painter->drawText(QRect(12,-10,200,20),Qt::AlignLeft|Qt::AlignVCenter,QString::number(Elevation));
+
     }
 }
+
 void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
 {
     if (event->button() == Qt::LeftButton) {
+        //qInfo() << "DoubleClickEvent";
         emit waypointdoubleclick(this);
     }
 }
@@ -83,35 +306,107 @@ void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
 void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
 {
     if (event->button() == Qt::LeftButton) {
+        //qInfo() << "PressEvent";
         isDragging = true;
+        qDebug() << "PressEvent isEdit" <<isEdit;
+        //qDebug() << this->parent();
+
+
     }
     QGraphicsItem::mousePressEvent(event);
 }
 void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
 {
     if (event->button() == Qt::LeftButton) {
+        //qInfo() << "ReleaseEvent";
         isDragging = false;
 
-        emit manualCoordChange(this);
-        emit localPositionChanged(this->pos(), this);
-        emit WPValuesChanged(this);
 
-        coord = map->FromLocalToLatLng(this->pos().x(), this->pos().y());
-        emit WPChanged(this->Number(),Coord().Lat(),Coord().Lng());
+        //qDebug() << "isEdit" <<isEdit;
+        //qDebug() << "isFollowPrevious" <<isFollowPrevious;
+        if(isEdit == true)
+        {
+            if(isFollowPrevious == false)
+            {
+                emit manualCoordChange(this);
+                emit localPositionChanged(this->pos(), this);
+                emit WPValuesChanged(this);
+
+                coord = map->FromLocalToLatLng(this->pos().x(), this->pos().y());
+
+                SetLat(coord.Lat());
+                SetLng(coord.Lng());
+
+                emit WPChanged(this->Number(),Coord().Lat(),Coord().Lng());
+            }
+
+            ElevationTrig();
+            //发送航点的属性
+            emit WPProperty(property.param1,property.param2,property.param3,property.param4,
+                                  property.x,property.y,property.z,
+                                  property.seq,
+                                  property.group,
+                                  property.command,
+                                  property.target_system,
+                                  property.target_component,
+                                  property.frame,
+                                  property.current,
+                                  property.autocontinue,
+                                  property.mission_type);
+
+            emit setCurrentPoint(this->Number());
+        }
+        else//这时候是在飞行界面
+        {
+            //发出可以设置当前点的信号
+            emit SetCurrent(this->Number());
+        }
     }
     QGraphicsItem::mouseReleaseEvent(event);
 }
 void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
 {
     if (isDragging) {
-        coord = map->FromLocalToLatLng(this->pos().x(), this->pos().y());
-        emit localPositionChanged(this->pos(), this);
-        emit WPValuesChanged(this);
+        //qDebug() << "isFollowPrevious" <<isFollowPrevious;
+
+        if(isFollowPrevious == false)
+        {
+
+            //ElevationTrig();
+            emit localPositionChanged(this->pos(), this);
+            emit WPValuesChanged(this);
+        }
     }
     QGraphicsItem::mouseMoveEvent(event);
 }
+
+void WayPointItem::setPosition(QPointF p)
+{
+
+    coord = map->FromLocalToLatLng(p.x(),p.y());
+
+    SetLat(coord.Lat());
+    SetLng(coord.Lng());
+
+    this->setPos(p);
+
+    emit localPositionChanged(this->pos(), this);
+    emit WPValuesChanged(this);
+
+
+
+}
+
+
 void WayPointItem::SetAltitude(const float &value)
 {
+    if (altitude == value) {
+        return;
+    }
+    altitude = value;
+    if (myHome) {
+        relativeCoord.altitudeRelative = altitude - myHome->Altitude();
+    }
     emit WPValuesChanged(this);
     this->update();
 }
@@ -123,9 +418,11 @@ void WayPointItem::setRelativeCoord(distBearingAltitude value)
         return;
     }
     relativeCoord = value;
-
+    if (myHome) {
+        SetCoord(map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing));
+        SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
+    }
     RefreshPos();
-    RefreshToolTip();
     emit WPValuesChanged(this);
     this->update();
 }
@@ -137,86 +434,85 @@ void WayPointItem::SetCoord(const internals::PointLatLng &value)
     }
     coord = value;
     distBearingAltitude back = relativeCoord;
-
+    if (myHome) {
+        map->Projection()->offSetFromLatLngs(myHome->Coord(), Coord(), back.distance, back.bearing);
+    }
+    if (qAbs(back.bearing - relativeCoord.bearing) > 0.01 || qAbs(back.distance - relativeCoord.distance) > 0.1) {
+        relativeCoord = back;
+    }
     emit WPValuesChanged(this);
     RefreshPos();
-    RefreshToolTip();
     this->update();
 }
 void WayPointItem::SetDescription(const QString &value)
 {
-    //if (description == value) {
-     //   return;
-   // }
-    //description = value;
-    RefreshToolTip();
+    if (description == value) {
+        return;
+    }
+    description = value;
     emit WPValuesChanged(this);
     this->update();
 }
 void WayPointItem::SetNumber(const int &value)
 {
-    int oldnumber = number;
+    int oldnumber = property.seq;
+
+    property.seq = value;
+
+    if(isSimple == true)//简单显示
+    {
+        numberI->setText(QString::number(numberAdjusted()));
+    }
 
-    number = value;
-<<<<<<< HEAD
-    RefreshToolTip();
-    numberI->setText(QString::number(numberAdjusted()));
-=======
->>>>>>> refs/remotes/sh/master
     this->update();
-    emit WPNumberChanged(oldnumber, value, this);
+    //emit WPNumberChanged(oldnumber, value, this);
 }
 void WayPointItem::SetReached(const bool &value)
 {
     reached = value;
     emit WPValuesChanged(this);
-    if (value) {
-        picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png"));
-    } else {
-        if (!isMagic) {
-            if ((this->flags() & QGraphicsItem::ItemIsMovable) == QGraphicsItem::ItemIsMovable) {
-                picture.load(QString::fromUtf8(":/markers/images/marker.png"));
-            } else {
-                picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
-            }
-        } else {
-            picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
-        }
-    }
     this->update();
 }
+
+
+
+
 void WayPointItem::SetShowNumber(const bool &value)
 {
-    shownumber = value;
-<<<<<<< HEAD
-    if ((numberI == 0) && value) {
-        numberI   = new QGraphicsSimpleTextItem(this);
+    if(isSimple == true)//简单显示
+    {
+        shownumber = value;
+        if ((numberI == 0) && value) {
+            numberI   = new QGraphicsSimpleTextItem(this);
 
-        QFont font;
-        font.setWeight(QFont::ExtraLight);
-        font.setFamily("Arial");//非衬线
-        font.setPixelSize(12);
-        numberI->setFont(font);
-        numberI->setZValue(3);
+            QFont font;
+            font.setWeight(QFont::ExtraLight);
+            font.setFamily("Arial");//非衬线
+            font.setPixelSize(12);
+            numberI->setFont(font);
+            numberI->setZValue(3);
 
 
-        numberI->setPen(QPen(QColor("#FF00FF")));
-        numberI->setPos(10, -6);
-        numberI->setText(QString::number(numberAdjusted()));
-    } else if (!value && numberI) {
-        delete numberI;
+            numberI->setPen(QPen(QColor("#FF00FF")));
+            numberI->setPos(10, -6);
+            numberI->setText(QString::number(numberAdjusted()));
+        } else if (!value && numberI) {
+            delete numberI;
+        }
     }
-=======
->>>>>>> refs/remotes/sh/master
     this->update();
 }
 void WayPointItem::WPDeleted(const int &onumber, WayPointItem *waypoint)
 {
     Q_UNUSED(waypoint);
-    int n = number;
-    if (number > onumber) {
+
+    int n = property.seq;
+    if (n > onumber) {
         SetNumber(--n);
     }
+
+
+
 }
 void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
 {
@@ -225,27 +521,48 @@ void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
     }
 
     if (waypoint != this) {
-        if (onumber <= number) {
-            SetNumber(++number);
+
+        int n = property.seq;
+        if (onumber <= n) {
+            SetNumber(++n);
         }
     }
 }
 
 void WayPointItem::onHomePositionChanged(internals::PointLatLng homepos, float homeAltitude)
 {
-
+    if (myType == relative) {
+        coord = map->Projection()->translate(homepos, relativeCoord.distance, relativeCoord.bearing);
+        SetAltitude(relativeCoord.altitudeRelative + homeAltitude);
+        emit WPValuesChanged(this);
+        RefreshPos();
+        this->update();
+    } else {
+        if (myHome) {
+            map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
+            relativeCoord.altitudeRelative = Altitude() - homeAltitude;
+        }
+        emit WPValuesChanged(this);
+    }
 }
 
 void WayPointItem::WPRenumbered(const int &oldnumber, const int &newnumber, WayPointItem *waypoint)
 {
-    if (waypoint != this) {
-        if (((oldnumber > number) && (newnumber <= number))) {
-            SetNumber(++number);
-        } else if (((oldnumber < number) && (newnumber > number))) {
-            SetNumber(--number);
-        } else if (newnumber == number) {
-            SetNumber(++number);
+    if (waypoint != this) {//如果wp不是当前点，说明需要重新排序
+        if (((oldnumber > property.seq) && (newnumber <= property.seq)))
+        {
+            int n = property.seq;
+            SetNumber(++n);
+        } else if (((oldnumber < property.seq) && (newnumber > property.seq)))
+        {
+            int n = property.seq;
+            SetNumber(--n);
+        } else if (newnumber == property.seq)
+        {
+            int n = property.seq;
+            SetNumber(++n);
         }
+        qDebug() << "set property.seq" << property.seq;
     }
 }
 int WayPointItem::type() const
@@ -264,55 +581,304 @@ void WayPointItem::RefreshPos()
 {
     core::Point point = map->FromLatLngToLocal(coord);
 
+    SetLat(coord.Lat());
+    SetLng(coord.Lng());
+
     this->setPos(point.X(), point.Y());
+
+
+    //qDebug() << "RefreshPos";
+
     emit localPositionChanged(this->pos(), this);
+
+    //ElevationUpdate();
+    //ElevationTrig();
 }
 
 void WayPointItem::setOpacitySlot(qreal opacity)
 {
     setOpacity(opacity);
 }
-void WayPointItem::RefreshToolTip()
-{
 
-}
 
 void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
 {
-    /*
     if (isMagic) {
         QGraphicsItem::setFlag(flag, enabled);
         return;
     } else if (flag == QGraphicsItem::ItemIsMovable) {
         if (enabled) {
-            picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+            //picture.load(QString::fromUtf8(":/markers/images/marker.png"));
         } else {
-            picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
+            //picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
         }
     }
-    */
     QGraphicsItem::setFlag(flag, enabled);
 }
 
-int WayPointItem::snumber = 0;
+//=============属性设置=================
+
+void WayPointItem::setWPProperty(float param1,float param2,float param3,float param4,
+                                         int32_t x,int32_t y,float z,
+                                         uint16_t seq,
+                                         uint16_t group,
+                                         uint16_t command,
+                                         uint8_t target_system,
+                                         uint8_t target_component,
+                                         uint8_t frame,
+                                         uint8_t current,
+                                         uint8_t autocontinue,
+                                         uint8_t mission_type)
+{
+    if(seq == property.seq)
+    {
+        qDebug() << seq << "set property";
+
+
+
+        property.param1 = param1;
+        property.param2 = param2;
+        property.param3 = param3;
+        property.param4 = param4;
+        property.x = x;
+        property.y = y;
+        property.z = z;
+        property.seq = seq;
+        property.group = group;
+        property.command = command;
+        property.target_system = target_system;
+        property.target_component = target_component;
+        property.frame = frame;
+        property.current = current;
+        property.autocontinue = autocontinue;
+        property.mission_type = mission_type;
+
+        if(command > MAV_CMD::MAV_CMD_NAV_LAST)
+        {
+            qDebug() << "is cmd point";
+            isFollowPrevious = true;
+
+            this->setFlag(QGraphicsItem::ItemIsMovable, false);
+
+        }
+        else
+        {
+            isFollowPrevious = false;
+
+            this->setFlag(QGraphicsItem::ItemIsMovable, true);
+        }
+
+        qDebug() << this->Number();
+
+        emit WPFollowPrevious(isFollowPrevious,this);
+
+        ElevationTrig();
+
+
+
+    }
+}
+
+
+void WayPointItem::emitWPProperty(void)
+{
+    //发送航点的属性
+    qDebug() << property.seq << "emit property";
+
+    emit WPProperty(property.param1,property.param2,property.param3,property.param4,
+                          property.x,property.y,property.z,
+                          property.seq,
+                          property.group,
+                          property.command,
+                          property.target_system,
+                          property.target_component,
+                          property.frame,
+                          property.current,
+                          property.autocontinue,
+                          property.mission_type);
+
+
+}
+
+void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
+{
+    property.param1 = 100;
+    property.param2 = 50;
+    property.param3 = 50;
+    property.param4 = 0;
+    property.x = lat * 10e5;
+    property.y = lng * 10e5;
+    property.z = alt;
+    property.seq = seq;
+    property.group = 0;
+    property.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;
+    property.target_system = 0;
+    property.target_component = 0;
+    property.frame = MAV_FRAME::MAV_FRAME_GLOBAL;
+    property.current = 0;
+    property.autocontinue = 0;
+    property.mission_type = 0;
+
+    if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
+    {
+        qDebug() << "is cmd point";
+        isFollowPrevious = true;
+
+        this->setFlag(QGraphicsItem::ItemIsMovable, false);
+
+    }
+    else
+    {
+        isFollowPrevious = false;
+
+        this->setFlag(QGraphicsItem::ItemIsMovable, true);
+    }
+
+    emit WPFollowPrevious(isFollowPrevious,this);
+    ElevationTrig();
+    //emit AltitudeChanged(this->Number(),property.z);
+    //...
+}
+
+void WayPointItem::SetParam1(float value)
+{
+    property.param1 = value;
+}
+
+void WayPointItem::SetParam2(float value)
+{
+    property.param2 = value;
+}
+
+void WayPointItem::SetParam3(float value)
+{
+    property.param3 = value;
+}
+
+void WayPointItem::SetParam4(float value)
+{
+    property.param4 = value;
+}
+
+void WayPointItem::SetLat(double value)
+{
+    property.x = value * 10e5;
+}
+
+void WayPointItem::SetLng(double value)
+{
+    property.y = value * 10e5;
+}
+
+void WayPointItem::SetAlt(float value)
+{
+    property.z = value;
+
+    //emit AltitudeChanged(this->Number(),property.z);
+
+}
+
+void WayPointItem::SetSeq(uint16_t value)
+{
+    property.seq = value;
+}
+
+void WayPointItem::SetCommand(uint16_t value)
+{
+    property.command = value;
+
+    if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
+    {
+        qDebug() << "is cmd point";
+        isFollowPrevious = true;
+        this->setFlag(QGraphicsItem::ItemIsMovable, false);
+    }
+    else
+    {
+        isFollowPrevious = false;
+        this->setFlag(QGraphicsItem::ItemIsMovable, true);
+    }
+    emit WPFollowPrevious(isFollowPrevious,this);
+
+}
+
+void WayPointItem::SetGroup(uint16_t value)
+{
+    property.group = value;
+}
+
+void WayPointItem::ElevationTrig(void)
+{
+   if(isElevationLock)
+   {
+       isElevationRequest = true;
+   }
+   else
+   {
+       QNetworkAccessManager *networkManager = nullptr;
+       networkManager=new QNetworkAccessManager;
+
+       double lat = this->Coord().Lat();
+       double lng = this->Coord().Lng();
+
+       QString url = QString("https://api.airmap.com/elevation/v1/ele/?points=%1,%2").arg(lat).arg(lng);
+       QNetworkRequest request = QNetworkRequest(QUrl(url));
+
+       connect(networkManager,SIGNAL(finished(QNetworkReply*)),
+               this,SLOT(ElevationUpdate(QNetworkReply *)));
+
+       networkManager->get(request);
+       isElevationLock = true;
+       isElevationRequest = false;
+   }
+}
+
+
+void WayPointItem::ElevationUpdate(QNetworkReply *reply)
+{
+   QByteArray bytes = reply->readAll();
+
+   QJsonParseError jsonParseError;
+   QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
+   if (jsonParseError.error != QJsonParseError::NoError) {
+       return;
+   }
+
+   QJsonObject json = doc.object();
+
+   if(json.value("status").toString() == "success")
+   {
+       QJsonValue jsonValue = json.value("data");
+
+       if (!jsonValue.isArray()) {
+           return;
+       }
+
+       QJsonArray Array = jsonValue.toArray();
+
+       Elevation = Array.at(0).toInt();
+
+       qDebug() << "Seq:" << this->Number() << "Elevation" << Elevation;
+
+       emit ElevationChanged(this->Number(),Elevation);
+       emit AltitudeChanged(this->Number(),property.z);
+       update();
+   }
+
+   isElevationLock = false;
+
+   //结束之后检查一下是不是又触发了，是的话再查一次
+   if(isElevationRequest)
+   {
+       ElevationTrig();
+   }
+
+
 }
 
 
 
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+//==============全局计数===================
+int WayPointItem::snumber = 1;//从1开始
+}