围栏可以从文件导入

App/CommandUI/CommandUI.cpp

@@ -42,6 +42,15 @@ CommandUI::CommandUI(QWidget *parent) :
     connect(DoubleClickTimer,SIGNAL(timeout()),
             this,SLOT(DoubleClickTimeout()));
 
+
+    ui->comboBox_group->addItem(tr("Group 1"),3);
+    ui->comboBox_group->addItem(tr("Group 2"),4);
+    ui->comboBox_group->addItem(tr("Group 3"),5);
+    ui->comboBox_group->addItem(tr("Group 4"),6);
+    ui->comboBox_group->setCurrentIndex(0);
+
+
+
 }
 
 CommandUI::~CommandUI()
@@ -689,16 +698,24 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
 
 void CommandUI::setCurrent(QVariant value)
 {
+    /*
     if(value.toBool() == true)
     {
         emit showMessage(tr("设置航点 %1").arg(m_currentSeq));
 
         emit SetCurrentPoint(m_currentSeq);
     }
+    */
 }
 
 void CommandUI::missionConfirm(int seq)
 {
+    if(isCofirmShow == true)
+    {
+
+    }
+    else
+    {
         m_currentSeq = seq;
 
         //根据这个comfirm 确定要输入的参数
@@ -708,10 +725,22 @@ void CommandUI::missionConfirm(int seq)
         //设置警告界面
         confirmor->setNotice(tr("click confirm to set Point %1 as current point").arg(seq));
 
-    connect(confirmor,SIGNAL(confirmValue(QVariant)),
-            this,SLOT(setCurrent(QVariant)));
+        connect(confirmor,&Confirm::confirmValue,[=](QVariant value){
+            if(value.toBool() == true)
+            {
+                emit showMessage(tr("设置航点 %1").arg(m_currentSeq));
+                emit SetCurrentPoint(m_currentSeq);
+            }
+            isCofirmShow = false;
+        });
+
+        connect(confirmor,&Confirm::destroyed,[=](){
+            isCofirmShow = false;
+        });
 
         confirmor->show();
+        isCofirmShow = true;
+    }
 }
 
 
@@ -747,7 +776,7 @@ void CommandUI::setPointCount(QList<int> nums)
 
     foreach (int i, nums)   
     {
-        ui->comboBox_seq->addItem(QString::number(i),i);
+        ui->comboBox_seq->addItem(tr("point:") + QString::number(i),i);
     }
     ui->comboBox_seq->setCurrentIndex(0);
 
@@ -805,3 +834,8 @@ void CommandUI::on_pushButton_setUAV_clicked()
     }
 }
 
+
+void CommandUI::on_comboBox_group_currentIndexChanged(int index)
+{
+    emit getAllPoint(ui->comboBox_group->currentData().toInt());
+}

App/CommandUI/CommandUI.h

@@ -104,6 +104,8 @@ signals:
     void searchallUav(void);
     */
 
+    void getAllPoint(int);
+
 private slots:
    void updateUI(void);
 
@@ -123,6 +125,8 @@ private slots:
 
    void on_pushButton_setUAV_clicked();
 
+   void on_comboBox_group_currentIndexChanged(int index);
+
 private:
 
    const char* _spacingJsonKey            = "spacing";
@@ -194,6 +198,10 @@ private:
     int m_currentSys = 1;
     int m_currentComp = 1;
 
+    bool isCofirmShow = false;
+
+
+
 };
 
 #endif // COMMANDUI_H

App/CommandUI/CommandUI.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>422</width>
+    <width>457</width>
     <height>348</height>
    </rect>
   </property>
@@ -31,21 +31,10 @@
    </property>
    <item row="0" column="0">
     <layout class="QGridLayout" name="gridLayout">
-     <item row="0" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <item>
-        <widget class="QLabel" name="label_2">
-         <property name="text">
-          <string>无人机</string>
-         </property>
-        </widget>
-       </item>
-       <item>
+     <item row="0" column="1">
       <widget class="QComboBox" name="comboBox_uav"/>
      </item>
-      </layout>
-     </item>
-     <item row="0" column="1">
+     <item row="0" column="2">
       <widget class="QPushButton" name="pushButton_setUAV">
        <property name="text">
         <string>切换无人机</string>
@@ -56,27 +45,19 @@
    </item>
    <item row="0" column="1">
     <layout class="QGridLayout" name="gridLayout_2">
-     <item row="0" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_2">
-       <item>
-        <widget class="QLabel" name="label">
-         <property name="text">
-          <string>航点</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QComboBox" name="comboBox_seq"/>
-       </item>
-      </layout>
-     </item>
-     <item row="0" column="1">
+     <item row="0" column="2">
       <widget class="QPushButton" name="pushButton_setSeq">
        <property name="text">
         <string>切换航点</string>
        </property>
       </widget>
      </item>
+     <item row="0" column="0">
+      <widget class="QComboBox" name="comboBox_group"/>
+     </item>
+     <item row="0" column="1">
+      <widget class="QComboBox" name="comboBox_seq"/>
+     </item>
     </layout>
    </item>
    <item row="1" column="0" colspan="2">

App/GCS_zh_CN.ts

@@ -499,15 +499,10 @@
         <translation>请不要操作过快，上一个指令未发送完成</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="694"/>
+        <location filename="CommandUI/CommandUI.cpp" line="727"/>
         <source>设置航点 %1</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <location filename="CommandUI/CommandUI.cpp" line="799"/>
-        <source>click confirm to set uav %1 as current</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>%1 accepted and executed</source>
         <translation type="vanished">%1 执行成功</translation>
@@ -533,7 +528,7 @@
         <translation type="vanished">%1 正在执行</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="709"/>
+        <location filename="CommandUI/CommandUI.cpp" line="717"/>
         <source>click confirm to set Point %1 as current point</source>
         <translation>点击设置航点%1为当前航点</translation>
     </message>
@@ -2746,68 +2741,68 @@
         <translation>界面</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="45"/>
+        <location filename="MissionUI/MissionUI.cpp" line="30"/>
         <source>save</source>
         <translation>保存</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="52"/>
+        <location filename="MissionUI/MissionUI.cpp" line="33"/>
         <source>insert</source>
         <translation>插入</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="59"/>
+        <location filename="MissionUI/MissionUI.cpp" line="31"/>
         <source>upload</source>
         <translation>上传</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="66"/>
+        <location filename="MissionUI/MissionUI.cpp" line="36"/>
         <source>add</source>
         <translation>增加</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="73"/>
+        <location filename="MissionUI/MissionUI.cpp" line="32"/>
         <source>download</source>
         <oldsource>downlload</oldsource>
         <translation>下载</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="80"/>
+        <location filename="MissionUI/MissionUI.cpp" line="29"/>
         <source>load</source>
         <translation>打开</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="87"/>
+        <location filename="MissionUI/MissionUI.cpp" line="34"/>
         <source>delete</source>
         <translation>删除</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="98"/>
+        <location filename="MissionUI/MissionUI.ui" line="27"/>
         <source>Rectangle</source>
         <translation>围栏</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="234"/>
+        <location filename="MissionUI/MissionUI.cpp" line="35"/>
         <source>clean</source>
         <translation>清空</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="124"/>
+        <location filename="MissionUI/MissionUI.ui" line="53"/>
         <source>Mission 1</source>
         <translation>航线1</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="153"/>
+        <location filename="MissionUI/MissionUI.ui" line="82"/>
         <source>Mssion 2</source>
         <translation>航线2</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="179"/>
+        <location filename="MissionUI/MissionUI.ui" line="108"/>
         <source>Mssion 3</source>
         <translation>航线3</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.ui" line="205"/>
+        <location filename="MissionUI/MissionUI.ui" line="134"/>
         <source>Mission 4</source>
         <translation>航线4</translation>
     </message>
@@ -2837,113 +2832,130 @@
         <translation type="vanished">起飞</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>number</source>
         <translation>航点</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>command</source>
         <translation>类型</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>par1</source>
         <translation>参数1</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>par2</source>
         <translation>参数2</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>par3</source>
         <translation>参数3</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>par4</source>
         <translation>参数4</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="264"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>lat</source>
         <translation>纬度</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="264"/>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>lng</source>
         <translation>经度</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="63"/>
+        <location filename="MissionUI/MissionUI.cpp" line="264"/>
+        <source>group</source>
+        <translation>组别</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="264"/>
+        <source>inclusion</source>
+        <translation>包含</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="264"/>
+        <source>par</source>
+        <translation>参数</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="307"/>
         <source>alt</source>
         <translation>海拔</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="141"/>
-        <location filename="MissionUI/MissionUI.cpp" line="583"/>
+        <location filename="MissionUI/MissionUI.cpp" line="380"/>
+        <location filename="MissionUI/MissionUI.cpp" line="653"/>
         <source>航点</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="144"/>
-        <location filename="MissionUI/MissionUI.cpp" line="584"/>
+        <location filename="MissionUI/MissionUI.cpp" line="383"/>
+        <location filename="MissionUI/MissionUI.cpp" line="654"/>
         <source>返航</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="147"/>
-        <location filename="MissionUI/MissionUI.cpp" line="585"/>
+        <location filename="MissionUI/MissionUI.cpp" line="386"/>
+        <location filename="MissionUI/MissionUI.cpp" line="655"/>
         <source>降落</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="150"/>
-        <location filename="MissionUI/MissionUI.cpp" line="586"/>
+        <location filename="MissionUI/MissionUI.cpp" line="389"/>
+        <location filename="MissionUI/MissionUI.cpp" line="656"/>
         <source>起飞</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="163"/>
-        <location filename="MissionUI/MissionUI.cpp" line="608"/>
+        <location filename="MissionUI/MissionUI.cpp" line="402"/>
+        <location filename="MissionUI/MissionUI.cpp" line="678"/>
         <source>保持</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="166"/>
-        <location filename="MissionUI/MissionUI.cpp" line="609"/>
+        <location filename="MissionUI/MissionUI.cpp" line="405"/>
+        <location filename="MissionUI/MissionUI.cpp" line="679"/>
         <source>表速</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="169"/>
-        <location filename="MissionUI/MissionUI.cpp" line="610"/>
+        <location filename="MissionUI/MissionUI.cpp" line="408"/>
+        <location filename="MissionUI/MissionUI.cpp" line="680"/>
         <source>快升</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="172"/>
-        <location filename="MissionUI/MissionUI.cpp" line="611"/>
+        <location filename="MissionUI/MissionUI.cpp" line="411"/>
+        <location filename="MissionUI/MissionUI.cpp" line="681"/>
         <source>开加力</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="175"/>
-        <location filename="MissionUI/MissionUI.cpp" line="612"/>
+        <location filename="MissionUI/MissionUI.cpp" line="414"/>
+        <location filename="MissionUI/MissionUI.cpp" line="682"/>
         <source>关加力</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="313"/>
-        <location filename="MissionUI/MissionUI.cpp" line="326"/>
+        <location filename="MissionUI/MissionUI.cpp" line="62"/>
+        <location filename="MissionUI/MissionUI.cpp" line="73"/>
         <source>Selete Way Point File...</source>
         <translation>选择载入文件...</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="315"/>
-        <location filename="MissionUI/MissionUI.cpp" line="328"/>
+        <location filename="MissionUI/MissionUI.cpp" line="64"/>
+        <location filename="MissionUI/MissionUI.cpp" line="75"/>
         <source>plan file (*.plan)</source>
         <translation>任务文件 (*.plan)</translation>
     </message>

App/MissionUI/MissionUI.cpp

@@ -243,7 +243,42 @@ MissionUI::MissionUI(QWidget *parent) :
          {
              if(tablelist.key(table) == 1)//围栏
              {
-                 continue;
+                 table->setColumnCount(5);                     //设置列数为7
+                 table->setGeometry(QRect(10,455,740,95));     //设置tableWidget的大小
+                 table->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选中模式为选中行
+                 table->setSelectionMode ( QAbstractItemView::SingleSelection); //设置选择模式，选择单行
+                 table->setAlternatingRowColors(true);
+                 table->setEditTriggers(QAbstractItemView::NoEditTriggers);//不能编辑
+                 table->setMouseTracking(true);
+                 table->setFocus();
+                 table->setFocusPolicy(Qt::StrongFocus);
+                 table->setStyleSheet("QTableWidget::item:selected { background-color: rgb(85, 255, 127); color: rgb(255, 255, 255); } ");
+
+                 table->setColumnWidth(0,200);                 //设置第1列的列宽(group)
+                 table->setColumnWidth(1,200);                 //设置第2列的列宽(par1)
+                 table->setColumnWidth(2,150);                 //设置第3列的列宽(par2)
+                 table->setColumnWidth(3,150);                 //设置第4列的列宽(lat)
+                 table->setColumnWidth(4,150);                 //设置第5列的列宽(lng)
+
+
+                 table->setHorizontalHeaderLabels(QStringList() <<tr("group")<<tr("inclusion")<<tr("par")<<tr("lat")<<tr("lng"));
+                 QHeaderView* V_headerView = table->verticalHeader();
+                 V_headerView->setHidden(true);                           //行名隐藏
+
+                 QHeaderView* H_headerView = table->horizontalHeader();
+                 H_headerView->setDefaultAlignment(Qt::AlignLeft);        //表头信息显示居中靠左
+                 H_headerView->setHighlightSections(false);               //不高亮选中内容的所在列标题
+                 H_headerView->setStretchLastSection(true);
+
+
+                 connect(table,&QTableWidget::itemSelectionChanged,
+                         this,&MissionUI::itemSelectionChanged);
+
+                 connect(table,&QTableWidget::itemDoubleClicked,
+                         this,&MissionUI::itemDoubleClicked);
+
+                 connect(table,&QTableWidget::itemClicked,
+                         this,&MissionUI::itemClicked);
              }
              else
              {

App/mainwindow.cpp

@@ -463,7 +463,8 @@ MainWindow::MainWindow(QWidget *parent)
     connect(commandUI,SIGNAL(SetCurrentPoint(int)),
             dlink->mavlinknode->Mission,SLOT(SetCurrentPoint(int)),Qt::DirectConnection);
 
-
+    connect(commandUI,SIGNAL(getAllPoint(int)),
+            map,SLOT(find_PointNumber(int)));
 
 
     connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)),

opmap/MAP_zh_CN.ts

@@ -83,17 +83,27 @@ Please first select the area of the map to rip with <CTRL>+Left mouse clic
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2147"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2170"/>
         <source>开始上传航点，总数%1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2337"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2385"/>
         <source>上传失败%1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2361"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2411"/>
+        <source>polygons</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="2414"/>
+        <source>circles</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mapwidget/opmapwidget.cpp" line="2422"/>
         <source>recieve way point group:%1 seq:%2</source>
         <translation>收到航点：第%1组，第%2点</translation>
     </message>
@@ -119,86 +129,89 @@ Please first select the area of the map to rip with &lt;CTRL&gt;+Left mouse clic
 <context>
     <name>mapcontrol::WayPointItem</name>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="373"/>
         <source>waypoint </source>
-        <translation>航点 </translation>
+        <translation type="vanished">航点 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="376"/>
+        <location filename="mapwidget/waypointitem.cpp" line="389"/>
         <source>return </source>
         <translation>返航 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="379"/>
+        <location filename="mapwidget/waypointitem.cpp" line="392"/>
         <source>landing </source>
         <translation>降落 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="382"/>
+        <location filename="mapwidget/waypointitem.cpp" line="395"/>
         <source>takeoff </source>
         <translation>起飞 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="385"/>
+        <location filename="mapwidget/waypointitem.cpp" line="398"/>
         <source>unknow </source>
         <translation>未知类型 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="393"/>
+        <location filename="mapwidget/waypointitem.cpp" line="406"/>
         <source>hold
 </source>
         <translation>保持
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="396"/>
+        <location filename="mapwidget/waypointitem.cpp" line="410"/>
         <source>cas
 </source>
         <translation>表速
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="399"/>
+        <location filename="mapwidget/waypointitem.cpp" line="414"/>
         <source>Vz
 </source>
         <translation>快升
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="402"/>
+        <location filename="mapwidget/waypointitem.cpp" line="418"/>
         <source>onAB
 </source>
         <translation>开加力
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="405"/>
+        <location filename="mapwidget/waypointitem.cpp" line="422"/>
         <source>offAB
 </source>
         <translation>关加力
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="408"/>
+        <location filename="mapwidget/waypointitem.cpp" line="426"/>
         <source>unknow
 </source>
         <translation>未知指令
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="414"/>
+        <location filename="mapwidget/waypointitem.cpp" line="433"/>
         <source>
 </source>
         <translation>
 </translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="417"/>
+        <location filename="mapwidget/waypointitem.cpp" line="411"/>
+        <location filename="mapwidget/waypointitem.cpp" line="415"/>
+        <location filename="mapwidget/waypointitem.cpp" line="419"/>
+        <location filename="mapwidget/waypointitem.cpp" line="423"/>
+        <location filename="mapwidget/waypointitem.cpp" line="427"/>
         <source>Speed: %1m/s</source>
         <translation>速度：%1m/s</translation>
     </message>
     <message>
-        <location filename="mapwidget/waypointitem.cpp" line="418"/>
+        <location filename="mapwidget/waypointitem.cpp" line="436"/>
         <source>Height: %1m
 %2</source>
         <translation>高度：%1m

opmap/mapwidget/geoFencecircle.cpp

@@ -0,0 +1,100 @@
+#include "geoFencecircle.h"
+#include <QDateTime>
+namespace mapcontrol {
+geoFencecircle::geoFencecircle(int g, int count, int index, bool inclusion, geoFenceitem *center, double radius, QBrush color, MapGraphicItem *map, bool dashed, int width) :
+    QGraphicsEllipseItem(map),m_center(center), coord(center->coord), m_brush(color), m_map(map),dashed(dashed),lineWidth(width)
+{
+
+    this->setZValue(3);
+
+    m_inclusion = inclusion;
+    m_radius    = radius;
+    m_group     = g;      //2
+    m_latitude  = coord.Lat();//5
+    m_longitide = coord.Lng();//6
+
+
+    connect(center, SIGNAL(localPositionChanged(QPointF, geoFenceitem *)), this, SLOT(refreshLocations()));
+    connect(center, SIGNAL(aboutToBeDeleted(geoFenceitem *)), this, SLOT(waypointdeleted()));
+    refreshLocations();
+    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
+}
+
+
+int geoFencecircle::type() const
+{
+    return Type;
+}
+
+void geoFencecircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
+{
+    Q_UNUSED(option);
+    Q_UNUSED(widget);
+
+    painter->setOpacity(0.4);
+
+    QPointF p1;
+    QPointF p2;
+    p1 = QPointF(line.p1().x(), line.p1().y() + line.length());
+    p2 = QPointF(line.p1().x(), line.p1().y() - line.length());
+    QPen myPen =  painter->pen();
+    myPen.setWidth(lineWidth);
+    myPen.setColor(m_brush.color());
+    painter->setPen(myPen);
+
+
+    if (dashed) {
+        QVector<qreal> dashes;
+        dashes << 4 << 8;
+        myPen.setDashPattern(dashes);
+    }
+
+
+    painter->translate(-line.length(), -line.length());
+
+
+    if(m_inclusion)
+    {
+         painter->setBrush(m_brush);
+    }
+    else
+    {
+         painter->setBrush(Qt::NoBrush);
+    }
+
+
+    painter->drawEllipse(this->rect());
+}
+
+void geoFencecircle::refreshLocations()
+{
+
+    //qDebug() << my_center->pos();
+
+    internals::PointLatLng C;
+    C = m_map->FromLocalToLatLng(m_center->x(),m_center->y());
+    C.SetLat(C.Lat() + m_radius/111133.3333f);
+
+
+
+    line = QLineF(m_center->pos().x(),m_center->pos().y(),m_center->pos().x(),m_map->FromLatLngToLocal(C).Y());
+    this->setRect(m_center->pos().x(), m_center->pos().y(), 2 * line.length(), 2 * line.length());
+    this->update();
+}
+
+void geoFencecircle::waypointdeleted()
+{
+    this->deleteLater();
+}
+
+void geoFencecircle::setOpacitySlot(qreal opacity)
+{
+    setOpacity(opacity);
+}
+
+
+
+}
+
+
+

opmap/mapwidget/geoFencecircle.h

@@ -0,0 +1,56 @@
+#ifndef GEOFENCECIRCLE_H
+#define GEOFENCECIRCLE_H
+
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QLabel>
+#include "pointlatlng.h"
+#include <QObject>
+#include "mapgraphicitem.h"
+#include "geoFenceitem.h"
+
+namespace mapcontrol {
+
+#ifdef QtopmapWidget
+#include <mapwidgetglobal.h>
+class OPMAPWIDGETSHARED_EXPORT geoFencecircle : public QObject, public QGraphicsEllipseItem {
+#else
+class geoFencecircle : public QObject, public QGraphicsEllipseItem {
+#endif
+
+    Q_OBJECT Q_INTERFACES(QGraphicsItem)
+public:
+    enum { Type = UserType + 11 };
+    geoFencecircle(int g, int count, int index, bool inclusion, geoFenceitem *center, double radius, QBrush color, MapGraphicItem *map, bool dashed = false, int width = 3);
+
+    int type() const;
+    internals::PointLatLng coord;
+    int number;
+private:
+    QBrush m_brush;
+    MapGraphicItem *m_map;
+
+    bool m_inclusion = true;
+    qreal m_radius    = 0;//1
+    int m_group = 0;      //2
+    qreal m_latitude  = 0;//5
+    qreal m_longitide = 0;//6
+
+    QLineF line;
+
+    geoFenceitem *m_center;
+
+
+    bool dashed;
+    int lineWidth;
+
+protected:
+    void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
+public slots:
+    void refreshLocations();
+    void waypointdeleted();
+    void setOpacitySlot(qreal opacity);
+
+};
+}
+#endif // GEOFENCECIRCLE_H

opmap/mapwidget/geoFenceitem.cpp

@@ -1,15 +1,20 @@
 #include "geoFenceitem.h"
 #include <QDateTime>
 namespace mapcontrol {
-geoFenceitem::geoFenceitem(int index, internals::PointLatLng const & coord, int const & altitude, QBrush color, MapGraphicItem *map) : QGraphicsItem(map), number(index) , coord(coord), m_brush(color), m_map(map)
+geoFenceitem::geoFenceitem(int g, int count, int index, bool inclusion, internals::PointLatLng const & coord, QBrush color, MapGraphicItem *map, bool dashed, int width) :
+    QGraphicsPolygonItem(map), number(index) , coord(coord), m_brush(color), m_map(map), dashed(dashed), lineWidth(width)
 {
-    //qDebug() << "geoFenceitem:" << index << coord.Lat() << coord.Lng();
-
     this->setZValue(3);
-
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
 
-    //qDebug() << this->pos();
+
+    m_inclusion = inclusion;
+    m_Vertex    = count;//1
+    m_group     = g;      //2
+    m_latitude  = coord.Lat();//5
+    m_longitide = coord.Lng();//6
+
+
     RefreshPos();
 }
 
@@ -18,12 +23,50 @@ void geoFenceitem::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti
     Q_UNUSED(option);
     Q_UNUSED(widget);
 
+    painter->setOpacity(0.4);
+
+    QPen myPen =  painter->pen();
+    myPen.setWidth(lineWidth);
+    myPen.setColor(m_brush.color());
+    painter->setPen(myPen);
+
+
+    if (dashed) {
+        QVector<qreal> dashes;
+        dashes << 4 << 8;
+        myPen.setDashPattern(dashes);
+    }
+
+    if(m_inclusion)
+    {
          painter->setBrush(m_brush);
-    painter->drawPoint(0,0);
-}
-QRectF geoFenceitem::boundingRect() const
-{
-    return QRectF(-2, -2, 4, 4);
+    }
+    else
+    {
+         painter->setBrush(Qt::NoBrush);
+    }
+
+    painter->drawPoint(0, 0);
+
+/*
+    QPolygonF polygon;
+    for(internals::PointLatLng p:points)
+    {
+        QPointF pf;
+        pf.setX(m_map->FromLatLngToLocal(p).X());
+        pf.setY(m_map->FromLatLngToLocal(p).Y());
+        polygon.push_back(pf);
+    }
+    */
+
+
+
+    painter->drawPolygon(polygon());
+
+
+    qDebug() << polygon();
+
+
 }
 
 int geoFenceitem::type() const
@@ -35,6 +78,19 @@ void geoFenceitem::setPosSLOT()
 {
     //qDebug() << "virtual set pos";
 
+    QPolygonF polygon;
+    for(internals::PointLatLng LatLng:points)
+    {
+        QPointF pf;
+        pf.setX(m_map->FromLatLngToLocal(LatLng).X() - m_map->FromLatLngToLocal(this->coord).X());
+        pf.setY(m_map->FromLatLngToLocal(LatLng).Y() - m_map->FromLatLngToLocal(this->coord).Y());
+
+        polygon.append(pf);
+    }
+    setPolygon(polygon);
+
+
+
     setPos(m_map->FromLatLngToLocal(this->coord).X(), m_map->FromLatLngToLocal(this->coord).Y());
     emit localPositionChanged(this->pos(),this);
 }
@@ -44,6 +100,29 @@ void geoFenceitem::RefreshPos()
     setPosSLOT();
 }
 
+void geoFenceitem::setPoints(QList<internals::PointLatLng> p)
+{
+    points = p;
+
+    //QPolygonF polygon;
+    /*
+    m_polygon.clear();
+    for(internals::PointLatLng LatLng:points)
+    {
+        QPointF pf;
+        pf.setX(m_map->FromLatLngToLocal(LatLng).X());
+        pf.setY(m_map->FromLatLngToLocal(LatLng).Y());
+
+        m_polygon.append(pf);
+    }
+    setPolygon(m_polygon);
+
+    qDebug() << m_polygon;
+    */
+
+    update();
+}
+
 
 
 }

opmap/mapwidget/geoFenceitem.h

@@ -12,24 +12,41 @@ namespace mapcontrol {
 
 #ifdef QtopmapWidget
 #include <mapwidgetglobal.h>
-class OPMAPWIDGETSHARED_EXPORT geoFenceitem : public QObject, public QGraphicsItem {
+class OPMAPWIDGETSHARED_EXPORT geoFenceitem : public QObject, public QGraphicsPolygonItem {
 #else
-class geoFenceitem : public QObject, public QGraphicsItem {
+class geoFenceitem : public QObject, public QGraphicsPolygonItem {
 #endif
 
     Q_OBJECT Q_INTERFACES(QGraphicsItem)
 public:
-    enum { Type = UserType + 11 };
-    geoFenceitem(int index,internals::PointLatLng const & coord, int const & altitude, QBrush color, MapGraphicItem *map);
+    enum { Type = UserType + 5 };
+    geoFenceitem(int g,int count,int index, bool inclusion,internals::PointLatLng const & coord, QBrush color, MapGraphicItem *map, bool dashed = false, int width = 3);
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,QWidget *widget);
-    QRectF boundingRect() const;
     int type() const;
     internals::PointLatLng coord;
     int number;
+
+
+    QList<internals::PointLatLng> points;
+
+    void setPoints(QList<internals::PointLatLng> p);
+
 private:
     QBrush m_brush;
     MapGraphicItem *m_map;
 
+
+    bool m_inclusion = true;
+    qreal m_Vertex    = 0;//1
+    int m_group = 0;      //2
+    qreal m_latitude  = 0;//5
+    qreal m_longitide = 0;//6
+
+    bool dashed;
+    int lineWidth;
+
+    QPolygonF m_polygon;
+
 public slots:
     void setPosSLOT();
 

opmap/mapwidget/geoFenceitemline.cpp

@@ -15,12 +15,6 @@ geoFenceitemline::geoFenceitemline(geoFenceitem *from, geoFenceitem *to, MapGrap
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 
     isEdit = true;
-
-    //qDebug() << "virtual line create";
-
-    //qDebug() << this->pos();
-
-    lineWidth = 5;
 }
 
 
@@ -41,47 +35,22 @@ void geoFenceitemline::paint(QPainter *painter, const QStyleOptionGraphicsItem *
     Q_UNUSED(option);
     Q_UNUSED(widget);
 
-    //qDebug() << "virtual line update";
-
     QPen myPen = pen();
-
-
     myPen.setColor(myColor);
-
-
-
-    //qreal arrowSize = 10;
     painter->setPen(myPen);
 
-    /*
-    if(isEdit == false)
-    {
-        painter->setBrush(myColor);
-    }
-    */
 
     double angle = ::acos(line().dx() / line().length());
     if (line().dy() >= 0) {
         angle = (M_PI * 2) - angle;
     }
 
-    /*
-    QPointF arrowP1 = line().pointAt(0.5) + QPointF(sin(angle + M_PI / 3) * arrowSize,
-                                                    cos(angle + M_PI / 3) * arrowSize);
-    QPointF arrowP2 = line().pointAt(0.5) + QPointF(sin(angle + M_PI - M_PI / 3) * arrowSize,
-                                                    cos(angle + M_PI - M_PI / 3) * arrowSize);
-    arrowHead.clear();
-    arrowHead << line().pointAt(0.5) << arrowP1 << arrowP2;
-    painter->drawPolygon(arrowHead);
-    */
-
     if (dashed) {
         QVector<qreal> dashes;
         dashes << 4 << 8;
         myPen.setDashPattern(dashes);
     }
 
-
     myPen.setWidth(lineWidth);
 
     painter->setPen(myPen);

opmap/mapwidget/geoFenceitemline.h

@@ -26,7 +26,7 @@ class geoFenceitemline : public QObject, public QGraphicsLineItem {
     Q_OBJECT Q_INTERFACES(QGraphicsItem)
 public:
     enum { Type = UserType + 12 };
-    geoFenceitemline(geoFenceitem *from, geoFenceitem *to, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = 2);
+    geoFenceitemline(geoFenceitem *from, geoFenceitem *to, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = 3);
     int type() const;
     QPainterPath shape() const;
     void setColor(const QColor &color)

opmap/mapwidget/mapwidget.pro

@@ -51,6 +51,7 @@ SOURCES +=  $$PWD/mapgraphicitem.cpp \
             $$PWD/AltitudeItem.cpp \
             $$PWD/waypointbutton.cpp \
             $$PWD/waypointsetting.cpp \
+            geoFencecircle.cpp \
             geoFenceitem.cpp \
             geoFenceitemline.cpp \
             measureline.cpp
@@ -74,6 +75,7 @@ HEADERS +=  $$PWD/mapgraphicitem.h \
             $$PWD/AltitudeItem.h \
             $$PWD/waypointbutton.h \
             $$PWD/waypointsetting.h \
+            geoFencecircle.h \
             geoFenceitem.h \
             geoFenceitemline.h \
             measureline.h

opmap/mapwidget/opmapwidget.cpp

@@ -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();
         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();
@@ -2656,7 +2867,8 @@ void OPMapWidget::find_PointNumber()
         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
         if (w)
         {
-
+            if(w->MissionType() == group)//如果组别一样，那么就赋值
+            {
                 number = w->Number();
 
                 if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST)
@@ -2665,6 +2877,7 @@ void OPMapWidget::find_PointNumber()
                 }
             }
         }
+    }
 
     qDebug() << "nums" << nums;
 

opmap/mapwidget/opmapwidget.h

@@ -62,6 +62,11 @@
 
 #include "measureline.h"
 
+#include "geoFencecircle.h"
+#include "geoFenceitem.h"
+#include "geoFenceitemline.h"
+
+
 
 namespace mapcontrol {
 
@@ -647,7 +652,7 @@ public slots:
     void groupchanged(int value);
 
 
-    void find_PointNumber();
+    void find_PointNumber(int group);
 
     void updateMessage(void);