航点传输完成，但不能跟随地图移动

opmap/mapwidget/opmapwidget.cpp

@@ -308,7 +308,7 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
             p = map->mapFromParent(p);
             internals::PointLatLng LatLng;
             LatLng = map->FromLocalToLatLng(p.x(), p.y());
-            WayPointItem *Item =  WPCreate(LatLng,0);
+            WayPointItem *Item =  WPCreate(LatLng,50);
 
             WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
             //qDebug() << "OPMapWidget" << Item->Number() <<QString::number(LatLng.Lat(),'f',8) << QString::number(LatLng.Lng(),'f',8);
@@ -875,29 +875,89 @@ void OPMapWidget::setWPCreate(bool const & value)
     isWPCreate = value;
 }
 
-void OPMapWidget::WPLoad(void)
+void OPMapWidget::WPLoad(void)//带文件目录参数
 {
-
+    qDebug() << "WPLoad";
 }
 
-void OPMapWidget::WPSave(void)
+void OPMapWidget::WPSave(void)//带文件目录参数
 {
-
+     qDebug() << "WPSave";
 }
 
 void OPMapWidget::WPDownload(void)
 {
      //请求读取航点
+     qDebug() << "WPDownload";
+
+     WPDeleteAll();
+
+     emit signal_WPDownload(1,0);
+
+
 }
 
 void OPMapWidget::WPUpload(void)
 {
       //发送第一个
+     QList<mapcontrol::WayPointItem *> list;
+
+     //QMap<int,QVector<QVariant>> list;
 
 
+     //先发送一个清空指令
+
+     foreach(QGraphicsItem * i, map->childItems()) {
+         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+         if (w) {
+             list.append(w);
+             w->emitWPProperty();
+         }
+     }
+
+     qDebug() << "WPUpload" << list.size();
+
+     emit signal_WPUpload(1,0,list.size());//直接发送全部航点到
 
 }
 
+void OPMapWidget::receivedPoint(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)
+{
 
+            qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8;
+
+            internals::PointLatLng LatLng;
+
+            LatLng.SetLat(x * 10e-8);
+            LatLng.SetLng(y * 10e-8);
+
+            WayPointItem *Item =  WPCreate(LatLng,z);
+
+            emit setWPProperty(param1,param2,param3,param4,
+                               x,y,z,
+                               seq,
+                               group,
+                               command,
+                               target_system,
+                               target_component,
+                               frame,
+                               current,
+                               autocontinue,
+                               mission_type);
+
+
+            WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
+
+}
 
 }

opmap/mapwidget/opmapwidget.h

@@ -524,9 +524,39 @@ signals:
 
 
 
+    void signal_WPDownload(uint8_t m_sysid, uint8_t m_compid);
+    void signal_WPUpload(uint8_t m_sysid, uint8_t m_compid, uint32_t count);
+
+
+    void transmitPoint(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);
+
+
 public slots:
 
 
+    void receivedPoint(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);
+
+
     void WPLineDelete(WayPointItem *from, WayPointItem *to);
     WayPointLine *WPLineFind(WayPointItem *from, WayPointItem *to);