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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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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