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添加了围栏的删除功能

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This commit is contained in:
hm
2022-05-17 15:06:08 +08:00
parent f0db6f26d3
commit 778b540b02
12 changed files with 456 additions and 87 deletions
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App/MissionUI/MissionUI.cpp
+96 -47
View File
@@ -20,23 +20,31 @@ MissionUI::MissionUI(QWidget *parent) :
//围栏编辑
CustomButton *btn_addCircle = new CustomButton(this);
CustomButton *btn_addPolygon = new CustomButton(this);
CustomButton *btn_deleteCircle = new CustomButton(this);
CustomButton *btn_deletePolygon = new CustomButton(this);
btn_addCircle->setText(tr("addCircle"));
btn_addPolygon->setText(tr("addPolygon"));
btn_deleteCircle->setText(tr("delCircle"));
btn_deletePolygon->setText(tr("delPolygon"));
btn_addCircle->setText(tr("Circle"));
btn_addPolygon->setText(tr("Polygon"));
btn_addCircle->setFixedSize(100,40);
btn_addPolygon->setFixedSize(100,40);
btn_deleteCircle->setFixedSize(100,40);
btn_deletePolygon->setFixedSize(100,40);
btn_addCircle->hide();
btn_addPolygon->hide();
btn_deleteCircle->hide();
btn_deletePolygon->hide();
connect(btn_addCircle,&CustomButton::clicked,[=](){
emit addCircle();
});
connect(btn_addPolygon,&CustomButton::clicked,[=](){
emit addPolygon();
});
//航线编辑
CustomButton *btn_load = new CustomButton(this);
@@ -78,9 +86,7 @@ MissionUI::MissionUI(QWidget *parent) :
ui->gridLayout_btn->addWidget(btn_add, btn_Count++,0,1,1);
ui->gridLayout_btn->addWidget(btn_addCircle, btn_Count++,0,1,1);
ui->gridLayout_btn->addWidget(btn_deleteCircle, btn_Count++,0,1,1);
ui->gridLayout_btn->addWidget(btn_addPolygon, btn_Count++,0,1,1);
ui->gridLayout_btn->addWidget(btn_deletePolygon, btn_Count++,0,1,1);
ui->gridLayout_btn->setRowStretch(btn_Count++,1);
@@ -134,9 +140,16 @@ MissionUI::MissionUI(QWidget *parent) :
break;
}
while (widget->rowCount() > 0) {
widget->removeRow(widget->currentRow());
for(int row = 0;row < widget->rowCount();row++)
{
widget->removeRow(0);
}
for(int row = widget->rowCount() - 1;row >= 0; row--)
{
widget->removeRow(row);
}
emit WPDownload();
});
@@ -174,31 +187,57 @@ MissionUI::MissionUI(QWidget *parent) :
QTableWidget *widget;
//根据tabwidget
int tab_idx =ui->tabWidget->currentIndex();
switch (tab_idx) {
case 0:
if(tab_idx == 0)
{
widget = tablelist.value(1);
break;
case 1:
widget = tablelist.value(3);
break;
case 2:
widget = tablelist.value(4);
break;
case 3:
widget = tablelist.value(5);
break;
case 4:
widget = tablelist.value(6);
break;
default:
break;
int row_id = widget->currentRow();
if(row_id >= 0)
{
int group = widget->item(row_id,0)->data(Qt::DisplayRole).toInt();//得到group
qDebug() << "group" << group << row_id;
emit delFence(group);
for(int row = 0;row < widget->rowCount();row++)
{
if(group == widget->item(row,0)->data(Qt::DisplayRole).toInt())
widget->removeRow(row);
}
for(int row = widget->rowCount() - 1;row >= 0; row--)
{
if(group == widget->item(row,0)->data(Qt::DisplayRole).toInt())
widget->removeRow(row);
}
}
}
else
{
switch (tab_idx) {
case 0:
widget = tablelist.value(1);
break;
case 1:
widget = tablelist.value(3);
break;
case 2:
widget = tablelist.value(4);
break;
case 3:
widget = tablelist.value(5);
break;
case 4:
widget = tablelist.value(6);
break;
default:
break;
}
int idx = widget->currentRow();
widget->removeRow(idx);
emit WPDelete();
//删除完成后，刷新一次所有航点
emit getAllPoints(tablelist.key(widget));
}
int idx = widget->currentRow();
widget->removeRow(idx);
emit WPDelete();
//删除完成后，刷新一次所有航点
emit getAllPoints(tablelist.key(widget));
});
connect(btn_clean,&CustomButton::clicked,[=](){
@@ -206,6 +245,7 @@ MissionUI::MissionUI(QWidget *parent) :
//根据tabwidget
int tab_idx =ui->tabWidget->currentIndex();
switch (tab_idx) {
case 0:
widget = tablelist.value(1);
@@ -225,16 +265,28 @@ MissionUI::MissionUI(QWidget *parent) :
default:
break;
}
while (widget->rowCount() > 0) {
widget->removeRow(widget->currentRow());
for(int row = 0;row < widget->rowCount();row++)
{
widget->removeRow(0);
}
for(int row = widget->rowCount() - 1;row >= 0; row--)
{
widget->removeRow(row);
}
emit WPDeleteAll();
});
connect(btn_add,&CustomButton::clicked,[=](){
emit WPAdd();
int group = 3;
int tab_idx =ui->tabWidget->currentIndex();
emit WPAdd();
int group = 3;
switch (tab_idx) {
case 0:
group = 1;
@@ -255,6 +307,7 @@ MissionUI::MissionUI(QWidget *parent) :
break;
}
emit getAllPoints(group);
});
@@ -383,15 +436,13 @@ MissionUI::MissionUI(QWidget *parent) :
{
btn_addCircle->show();
btn_addPolygon->show();
btn_deleteCircle->show();
btn_deletePolygon->show();
btn_load->hide();
btn_save->hide();
//btn_upload->hide();
//btn_download->hide();
btn_insert->hide();
btn_delete->hide();
//btn_delete->hide();
btn_clean->hide();
btn_add->hide();
}
@@ -399,15 +450,13 @@ MissionUI::MissionUI(QWidget *parent) :
{
btn_addCircle->hide();
btn_addPolygon->hide();
btn_deleteCircle->hide();
btn_deletePolygon->hide();
btn_load->show();
btn_save->show();
//btn_upload->show();
//btn_download->show();
btn_insert->show();
btn_delete->show();
//btn_delete->show();
btn_clean->show();
btn_add->show();
}
App/MissionUI/MissionUI.h
+3 -2
View File
@@ -98,8 +98,9 @@ signals:
void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
void addCircle();
void addPolygon();
void delFence(int group);
private:
Ui::MissionUI *ui;
App/MissionUI/propertyui.cpp
+8
View File
@@ -181,6 +181,14 @@ propertyui::propertyui(QWidget *parent) :
this,&propertyui::setFencePolygon);
connect(table,&MissionUI::addCircle,
this,&propertyui::addCircle);
connect(table,&MissionUI::addPolygon,
this,&propertyui::addPolygon);
connect(table,&MissionUI::delFence,
this,&propertyui::delFence);
//初始化参数
setWayPointProperty(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3);
App/MissionUI/propertyui.h
+4
View File
@@ -269,6 +269,10 @@ Q_SIGNALS:
void setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
void addCircle();
void addPolygon();
void delFence(int group);
private slots:
void GroupChanged(int value);
App/mainwindow.cpp
+12
View File
@@ -440,6 +440,14 @@ MainWindow::MainWindow(QWidget *parent)
connect(missionUI,SIGNAL(setFencePolygon(int,qreal,bool,QList<QPointF>)),
map,SLOT(setFencePolygon(int,qreal,bool,QList<QPointF>)));
connect(missionUI,SIGNAL(addCircle()),
map,SLOT(addCircle()));
connect(missionUI,SIGNAL(addPolygon()),
map,SLOT(addPolygon()));
connect(missionUI,SIGNAL(delFence(int)),
map,SLOT(delFence(int)));
//dlink ----- map
connect(map,SIGNAL(signal_WPDownload(uint8_t,uint8_t,int)),
@@ -470,6 +478,10 @@ MainWindow::MainWindow(QWidget *parent)
connect(dlink->mavlinknode->Mission,SIGNAL(sendItemOK(uint16_t,bool)),
map,SLOT(WPSendItemOK(uint16_t,bool)));
connect(map,SIGNAL(sendFence(qreal,qreal,qreal,qreal,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t)),
dlink->mavlinknode->Mission,SLOT(sendFence(qreal,qreal,qreal,qreal,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t)),Qt::DirectConnection);
//航点确认窗口
connect(map,SIGNAL(setCurrent(int)),
commandUI,SLOT(missionConfirm(int)));
MavLinkNode/missionprocess.cpp
+44
View File
@@ -88,6 +88,50 @@ void MissionProcess::SetCurrentPoint(int seq)
}
}
void MissionProcess::sendFence(qreal Vertex,
qreal group,
qreal Lat,
qreal Lng,
uint16_t FecneSeq,
uint16_t command,
uint16_t sysid,
uint16_t compid,
uint16_t mission_type)
{
mapcontrol::WayPointItem::_property item;
qDebug() << Vertex
<< group
<< Lat
<< Lng
<< FecneSeq
<< command
<< sysid
<< compid
<< mission_type;
item.param1 = Vertex;
item.param2 = group;
item.param3 = 0;
item.param4 = 0;
item.x = Lat * 10e6;
item.y = Lng * 10e6;
item.z = 0;
item.seq = FecneSeq;
item.group = 0;
item.command = command;
item.target_system = sysid;
item.target_component = compid;
item.frame = 0;
item.current = 0;
item.autocontinue = 0;
item.mission_type = mission_type;
items.insert(item.seq,item);
}
void MissionProcess::transmitPoint(float param1,float param2,float param3,float param4,
int32_t x,int32_t y,float z,
MavLinkNode/missionprocess.h
+11
View File
@@ -94,6 +94,15 @@ public slots:
uint8_t autocontinue,
uint8_t mission_type);
void sendFence(qreal Vertex,
qreal group,
qreal Lat,
qreal Lng,
uint16_t FecneSeq,
uint16_t command,
uint16_t sysid,
uint16_t compid,
uint16_t mission_type);
private slots:
//线程私有接口
@@ -182,6 +191,8 @@ private:
QMap<int,mapcontrol::WayPointItem::_property> items;
QMap<int,mapcontrol::WayPointItem::_property> FenceItems;
};
#endif // MISSIONPROCESS_H
opmap/mapwidget/geoFencecircle.cpp
+13 -1
View File
@@ -66,10 +66,22 @@ void geoFencecircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
painter->setBrush(m_brush);
}
painter->drawPoint(0, 0);
//painter->drawEllipse(QPointF(0,0),line.length(),line.length());
painter->drawEllipse(rectangle);
QFont font;
font.setWeight(QFont::ExtraBold);
font.setFamily("Arial");//非衬线
font.setPixelSize(40);
painter->setFont(font);
myPen.setWidth(lineWidth);
myPen.setColor(QColor("#FFFFFF"));
painter->setPen(myPen);
painter->drawText(rectangle,Qt::AlignCenter,QString::number(m_group));
}
void geoFencecircle::refreshLocations()
opmap/mapwidget/geoFenceitem.cpp
+13
View File
@@ -52,6 +52,19 @@ void geoFenceitem::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti
painter->drawPoint(0, 0);
painter->drawPolygon(polygon());
QFont font;
font.setWeight(QFont::ExtraBold);
font.setFamily("Arial");//非衬线
font.setPixelSize(40);
painter->setFont(font);
myPen.setWidth(lineWidth);
myPen.setColor(QColor("#FFFFFF"));
painter->setPen(myPen);
painter->drawText(boundingRect(),Qt::AlignCenter,QString::number(m_group));
}
int geoFenceitem::type() const
opmap/mapwidget/geoFenceitem.h
+5
View File
@@ -30,6 +30,11 @@ public:
QList<internals::PointLatLng> points;
void setPoints(QList<internals::PointLatLng> p);
QList<internals::PointLatLng> Points(void)
{
return points;
}
int Group(void)
{
opmap/mapwidget/opmapwidget.cpp
+227 -37
View File
@@ -1447,6 +1447,26 @@ void OPMapWidget::WPDeleteAll()
}
}
}
if(currentGroup == 1)
{
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
delete w;
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
delete w;
}
}
}
}
bool OPMapWidget::WPPresent()
{
@@ -1529,9 +1549,6 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
connect(item,SIGNAL(SetCurrent(int)),
this,SIGNAL(setCurrent(int)), Qt::DirectConnection);
connect(item,SIGNAL(ElevationChanged(int,double)),
this,SLOT(ElevationChanged(int,double)), Qt::DirectConnection);
@@ -1786,9 +1803,6 @@ void OPMapWidget::WPSetCurrent(int seq)
}
void OPMapWidget::WPsearchall(void)
{
//重新排序一下
@@ -2062,12 +2076,96 @@ void OPMapWidget::setFencePolygon(int group,qreal vertex,bool inclusion,QList<QP
}
}
void OPMapWidget::addCircle()
{
bool inclusion = true;
int version = 1;
internals::PointLatLng center = GetFromLocalToLatLng(QPointF(this->pos().x() + this->width()/2,this->pos().y() + this->height()/2));
qreal lat = center.Lat();
qreal lng = center.Lng();
qreal radius = 10000;
//生成一个⚪
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
}
void OPMapWidget::addPolygon()
{
//找到地图中心,做4个点
bool inclusion = true;
int version = 1;
internals::PointLatLng center = GetFromLocalToLatLng(QPointF(this->pos().x() + this->width()/2,this->pos().y() + this->height()/2));
QList<QPointF> latlng;
QList<internals::PointLatLng> points;
latlng.clear();
points.clear();
qreal lat = center.Lat();
qreal lng = center.Lng();
//生成一个多边形
points.push_back(internals::PointLatLng(lat + 0.2,lng - 0.2));
points.push_back(internals::PointLatLng(lat + 0.2,lng + 0.2));
points.push_back(internals::PointLatLng(lat - 0.2,lng + 0.2));
points.push_back(internals::PointLatLng(lat - 0.2,lng - 0.2));
latlng.push_back(QPointF(points.value(0).Lat(),points.value(0).Lng()));
latlng.push_back(QPointF(points.value(1).Lat(),points.value(1).Lng()));
latlng.push_back(QPointF(points.value(2).Lat(),points.value(2).Lng()));
latlng.push_back(QPointF(points.value(3).Lat(),points.value(3).Lng()));
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
polyitem->setPoints(points);
emit createFencePolygon(fenceCount++,latlng.size(),inclusion,latlng);
}
void OPMapWidget::delFence(int group)
{
//找出编号为group的栅栏，删除
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
if(w->Group() == group)
{
w->deleteLater();
}
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
if(w->Group() == group)
{
w->deleteLater();
}
}
}
}
//先清除再读取
void OPMapWidget::WPLoad(QString path)//带文件目录参数
{
//清除所有
WPDeleteAll();//清除当前航线
//fenceCount = 0;
qDebug() << "WPLoad" << path;
//读取
QFile jsonFile(path);
@@ -2089,27 +2187,6 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
QJsonObject json = doc.object();
//栅栏解码
int fenceCount = 0;
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();
qreal lat = center.at(0).toDouble();
qreal lng = center.at(1).toDouble();
qreal radius = circle.value("radius").toDouble();
//生成一个⚪
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
}
QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
for(QJsonValue item: polygonsArray) {
@@ -2151,6 +2228,26 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
emit createFencePolygon(fenceCount++,points.size(),inclusion,latlng);
}
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();
qreal lat = center.at(0).toDouble();
qreal lng = center.at(1).toDouble();
qreal radius = circle.value("radius").toDouble();
//生成一个⚪
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
}
//任务解码
@@ -2362,6 +2459,11 @@ void OPMapWidget::WPDownload(void)
WPDeleteAll();
if(currentGroup == 1)
{
//fenceCount = 0;
}
int sysid = 0;
int compid = 0;
@@ -2383,7 +2485,98 @@ void OPMapWidget::WPUpload(void)
{
if(currentGroup == 1)//这是栅栏
{
int sysid = 0;
int compid = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
}
}
}
int FecneSeq = 0;
//查找所有的子类
bool FenceItemExit = false;
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
FenceItemExit = true;
QList<internals::PointLatLng> latlng = w->Points();
bool inclusion = w->Inclusion();
qreal Vertex = w->Vertex();
qreal group = w->Group();
for(internals::PointLatLng p:latlng)
{
emit sendFence(Vertex,
group,
p.Lat(),
p.Lng(),
FecneSeq++,
(inclusion)?(MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION):(MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) ,
sysid,
compid,
1);
qDebug() << "send fence to thread";
}
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
FenceItemExit = true;
internals::PointLatLng p = w->coord;
bool inclusion = w->Inclusion();
qreal Vertex = w->Radius();
qreal group = w->Group();
emit sendFence(Vertex,
group,
p.Lat(),
p.Lng(),
FecneSeq++,
(inclusion)?(MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION ):(MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION ),
sysid,
compid,
1);
}
}
if(FenceItemExit == false)
{
emit showMessage("请先载入围栏");
return;
}
emit showMessage(tr("开始上传围栏，总数%1").arg(FecneSeq));
//选择当前ID号
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
//如果有选中，那么就发送，选中几个就发几个
emit signal_WPUpload(sysid,compid,FecneSeq,1);//直接发送全部围栏到
}
}
}
}
else
{
@@ -2520,7 +2713,6 @@ void OPMapWidget::groupchanged(int value)
}
}
}
}
@@ -2665,7 +2857,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
if((mission_type - 2) == -1)
{
qDebug() << command << param1 << param2 << param3 << param4 << x << y;
qDebug() << command << seq << param1 << param2 << param3 << param4 << x << y;
if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION )
{
@@ -2675,10 +2867,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
PolygonCount ++;
bool inclusion = true;
PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
if(PolygonCount >= param1)
{
@@ -2701,11 +2891,11 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
center.SetLat(lat_sum/latlng.size());
center.SetLng(lng_sum/latlng.size());
geoFenceitem *polyitem = new geoFenceitem(PolygonCount,inclusion,0,center,QColor("#FF8000"),map);
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
polyitem->setPoints(PolygonPoints);
emit createFencePolygon(PolygonCount,PolygonPoints.size(),inclusion,latlng);
emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
PolygonCount = 0;
PolygonPoints.clear();
@@ -2745,11 +2935,11 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
center.SetLat(lat_sum/latlng.size());
center.SetLng(lng_sum/latlng.size());
geoFenceitem *polyitem = new geoFenceitem(PolygonCount,inclusion,0,center,QColor("#FF8000"),map);
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
polyitem->setPoints(PolygonPoints);
emit createFencePolygon(PolygonCount,PolygonPoints.size(),inclusion,latlng);
emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
PolygonCount = 0;
PolygonPoints.clear();
@@ -2760,7 +2950,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
bool inclusion = true;
qreal radius = param1;
geoFencecircle *c = new geoFencecircle(1,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
geoFencecircle *c = new geoFencecircle(fenceCount++,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
emit createFenceCircle(0,radius,inclusion,x * 10e-8,y * 10e-8);
}
@@ -2769,7 +2959,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
bool inclusion = false;
qreal radius = param1;
geoFencecircle *c = new geoFencecircle(1,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
geoFencecircle *c = new geoFencecircle(fenceCount++,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
emit createFenceCircle(0,radius,inclusion,x * 10e-8,y * 10e-8);
}
else if(command == MAV_CMD_NAV_RALLY_POINT )
opmap/mapwidget/opmapwidget.h
+20
View File
@@ -513,6 +513,7 @@ private:
bool isShowTip = false;
int fenceCount = 0;
private slots:
void diagRefresh();
@@ -622,6 +623,7 @@ signals:
void signal_WPDownload(uint8_t m_sysid, uint8_t m_compid,int missiontype);
void signal_WPUpload(uint8_t m_sysid, uint8_t m_compid, uint32_t count,int missiontype);
void signal_FenceUpload(uint8_t m_sysid, uint8_t m_compid, uint32_t count,int missiontype);
void transmitPoint(float param1,float param2,float param3,float param4,
int32_t x,int32_t y,float z,
@@ -649,6 +651,18 @@ signals:
void createFenceCircle(int group,qreal radius,bool inclusion,qreal lat,qreal lng);
void createFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
void sendFence(qreal Vertex,
qreal group,
qreal Lat,
qreal Lng,
uint16_t FecneSeq,
uint16_t command,
uint16_t sysid,
uint16_t compid,
uint16_t currentGroup);
public slots:
@@ -736,6 +750,12 @@ public slots:
void setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
void addCircle();
void addPolygon();
void delFence(int group);
};
}
#endif // OPMAPWIDGET_H