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围栏可以从文件导入

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hm
2022-05-11 15:12:08 +08:00
parent a62d7e0b5a
commit 6f59d40b3d
17 changed files with 736 additions and 211 deletions
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opmap/mapwidget/opmapwidget.cpp
+264 -51
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@@ -242,6 +242,177 @@ void OPMapWidget::table_clicked(void)
}
*/
}
/*
void OPMapWidget::AddgeoPolygon(int type,int index,double lat,double lng,double alt,QColor color)
{
qDebug() << "AddVirtualMargin" << type << index;
internals::PointLatLng LatLng;
LatLng.SetLat(lat);
LatLng.SetLng(lng);
QMap<int,VirtualMargin *> virtualmarginmap = VirtualMarginPoints.value(type);
QMap<int,VirtualMarginLine *> virtualmarginlinemap = VirtualMarginlinemapLines.value(type);
VirtualMargin *vm = new VirtualMargin(index,LatLng,alt,color,map);
virtualmarginmap.insert(index,vm);
foreach (VirtualMarginLine *l, virtualmarginlinemap) {
if(l){
disconnect(l,nullptr,nullptr,nullptr);
delete l;
}
}
virtualmarginlinemap.clear();
for(QMap<int,VirtualMargin *>::iterator i = virtualmarginmap.begin();i != virtualmarginmap.end();++i)
{
VirtualMargin *v = i.value();
if(v)
{
if(v->number > 0)
{
VirtualMarginLine *l = new VirtualMarginLine(virtualmarginmap.value(v->number - 1),v,map,color);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap.insert(virtualmarginlinemap.size(),l);
}
}
}
if(virtualmarginmap.size() >= 2)
{
VirtualMargin *vm_first = virtualmarginmap.first();
VirtualMargin *vm_last = virtualmarginmap.last();
if((vm_first)&&(vm_last))
{
VirtualMarginLine *l = new VirtualMarginLine(vm_first,vm_last,map,color);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap.insert(virtualmarginlinemap.size(),l);
}
}
VirtualMarginPoints.insert(type,virtualmarginmap);
VirtualMarginlinemapLines.insert(type,virtualmarginlinemap);
//FlushVirtualMargin(type);
foreach (VirtualMargin *v, virtualmarginmap) {
qDebug() << "create a virtual point" << v->number;
}
}
void OPMapWidget::ClosegeoPolygon(int type)
{
if(type == 0)
{
if(virtualmarginmap_red.size() >= 2)
{
VirtualMargin *vm_first = virtualmarginmap_red.first();
VirtualMargin *vm_last = virtualmarginmap_red.last();
if((vm_first)&&(vm_last))
{
VirtualMarginLine *l = new VirtualMarginLine(vm_first,vm_last,map,WarningColor);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap_red.insert(virtualmarginlinemap_red.size(),l);
}
}
}
else if(type == 1)
{
if(virtualmarginmap_orange.size() >= 2)
{
VirtualMargin *vm_first = virtualmarginmap_orange.first();
VirtualMargin *vm_last = virtualmarginmap_orange.last();
if((vm_first)&&(vm_last))
{
VirtualMarginLine *l = new VirtualMarginLine(vm_first,vm_last,map,NoticeColor);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap_orange.insert(virtualmarginlinemap_orange.size(),l);
}
}
}
}
void OPMapWidget::RemovegeoPolygon(int type)
{
QMap<int,VirtualMargin*> virtualmarginmap = VirtualMarginPoints.value(type);
QMap<int,VirtualMarginLine *> virtualmarginlinemap = VirtualMarginlinemapLines.value(type);
//移除虚拟边界
foreach (VirtualMargin *vm, virtualmarginmap) {
if(vm)
{
qDebug() << "del vm" << vm->number << vm->coord.Lat() << vm->coord.Lng();
disconnect(vm,nullptr,nullptr,nullptr);
delete vm;
}
}
//从列表删除所有
virtualmarginmap.clear();
//移除虚拟边界
foreach (VirtualMarginLine *l, virtualmarginlinemap) {
if(l)
{
disconnect(l,nullptr,nullptr,nullptr);
delete l;
}
}
//从列表删除所有
virtualmarginlinemap.clear();
VirtualMarginPoints.remove(type);
VirtualMarginlinemapLines.remove(type);
}
void OPMapWidget::FlushgeoPolygon(int type)
{
if(type == 0)
{
for(QMap<int,VirtualMargin *>::iterator i = virtualmarginmap_red.begin();i != virtualmarginmap_red.end();++i)
{
VirtualMargin *vm = i.value();
if(vm)
{
qDebug() << "vm" << vm->number << vm->coord.Lat() << vm->coord.Lng();
}
}
}
else if(type == 1)
{
for(QMap<int,VirtualMargin *>::iterator i = virtualmarginmap_orange.begin();i != virtualmarginmap_orange.end();++i)
{
VirtualMargin *vm = i.value();
if(vm)
{
qDebug() << "vm" << vm->number << vm->coord.Lat() << vm->coord.Lng();
}
}
}
}
*/
@@ -819,6 +990,10 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
}
}
}
}
}
emit MouseDoubleClickEvent(event);
@@ -1337,9 +1512,11 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
item, SLOT(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
/*
connect(item, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
this, SLOT(find_PointNumber()),Qt::DirectConnection);
this, SLOT(find_PointNumber(int)),Qt::DirectConnection);
*/
/*
connect(item, SIGNAL(WPFollowPrevious(bool,WayPointItem*)),
@@ -1877,46 +2054,13 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
QJsonObject json = doc.object();
/*
"circles": [
{
"circle": {
"center": [
32.04290131170435,
118.81779757301473
],
"radius": 104.72920614551222
},
"inclusion": true,
"version": 1
},
{
"circle": {
"center": [
32.04275580264579,
118.8194498137916
],
"radius": 91.2720266761384
},
"inclusion": true,
"version": 1
}
],
*/
//安全区解码
//栅栏解码
QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
for(QJsonValue item: circlesArray) {
bool inclusion = item.toObject().value("inclusion").toBool();
bool inclusion = item.toObject().value("inclusion").toBool();
QJsonObject circle = item.toObject().value("circle").toObject();
int version = item.toObject().value("version").toInt();
QJsonArray center = circle.value("center").toArray();
@@ -1924,26 +2068,94 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
qreal lng = center.at(1).toDouble();
qreal radius = circle.value("radius").toDouble();
int version = item.toObject().value("version").toInt();
qDebug() << "circle" << inclusion << lat << lng << radius << version;
//生成一个⚪
geoFenceitem *centeritem = new geoFenceitem(0,1,1, inclusion ,internals::PointLatLng(lat,lng),QColor("#FF8000"),map);
geoFencecircle *c = new geoFencecircle(0,1,1,inclusion,centeritem,radius,QColor("#FF8000"),map);
}
QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
for(QJsonValue item: polygonsArray) {
//每个item是一个组
QList<internals::PointLatLng> points;
QList<geoFenceitem *> polyitems;
//获得边界
bool inclusion = item.toObject().value("inclusion").toBool();
QJsonArray polygon = item.toObject().value("polygon").toArray();
int version = item.toObject().value("version").toInt();
qreal lat_sum = 0;
qreal lng_sum = 0;
for (QJsonValue point: polygon) {
qreal lat = point.toArray().at(0).toDouble();
qreal lng = point.toArray().at(1).toDouble();
//生成一个多边形
points.push_back(internals::PointLatLng(lat,lng));
qDebug() << "polygon" << inclusion << version << lat << lng;
lat_sum += lat;
lng_sum += lng;
}
int version = item.toObject().value("version").toInt();
internals::PointLatLng center;
center.SetLat(lat_sum/polygon.size());
center.SetLng(lng_sum/polygon.size());
geoFenceitem *polyitem = new geoFenceitem(0,points.size(),0, inclusion ,center,QColor("#FF8000"),map);
polyitem->setPoints(points);
/*
int count = 0;
for(internals::PointLatLng p : points)
{
geoFenceitem *polyitem = new geoFenceitem(0,points.size(),count, inclusion ,p,QColor("#FF8000"),map);
count ++;
polyitems.push_back(polyitem);
}
geoFenceitem *last;
for(geoFenceitem *p : polyitems)
{
if(p == polyitems.first())
{
last = p;
}
else
{
if(p == polyitems.last())
{
geoFenceitemline *polyline = new geoFenceitemline(last, polyitems.first(),map,QColor("#FF8000"));
}
else
{
geoFenceitemline *polyline = new geoFenceitemline(last, p,map,QColor("#FF8000"));
last = p;
}
}
}
*/
qDebug() << "polygon" << inclusion << version << item.toObject();
}
@@ -2241,9 +2453,6 @@ void OPMapWidget::groupchanged(int value)
return;
}
//一下这里判断有问题，有bug
//将不是当前的全部变成灰色，当前的显示
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
@@ -2400,6 +2609,8 @@ void OPMapWidget::WPGroup(int value)
emit settableGroup(currentGroup);
find_PointNumber(currentGroup);
update();
}
@@ -2645,7 +2856,7 @@ void OPMapWidget::updateMessage(void)
emit TotalDistanceUpdate(totalDistance);
}
void OPMapWidget::find_PointNumber()
void OPMapWidget::find_PointNumber(int group)
{
QList<int> nums;
nums.clear();
@@ -2656,12 +2867,14 @@ void OPMapWidget::find_PointNumber()
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
number = w->Number();
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST)
if(w->MissionType() == group)//如果组别一样，那么就赋值
{
nums.append(number);
number = w->Number();
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST)
{
nums.append(number);
}
}
}
}