支持多个飞机连接，指令发送，接收等

opmap/mapwidget/opmapwidget.cpp

@@ -469,6 +469,22 @@ void OPMapWidget::setUAVSpeed(int sysid,int compid,qreal Ma,qreal Speed)
     }
 }
 
+void OPMapWidget::setUAVCurrent(int sysid)
+{
+    foreach(QGraphicsItem * i, map->childItems()) {
+        UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+        if (u) {
+            if(u->SysID() == sysid)
+            {
+                u->setSelect(true);
+            }
+            else
+            {
+                u->setSelect(false);
+            }
+        }
+    }
+}
 
 
 int OPMapWidget::getUAVCurrent(void)
@@ -1656,7 +1672,7 @@ void OPMapWidget::userRipMap(bool start, qreal lat_l, qreal lng_l, qreal lat_r,
     if(start == true)
     {
 
-        //生成16个线程
+        //根据CPU数量分配线程，例如生成16个线程
 
 
         //每个线程分配不同的矩形
@@ -1859,25 +1875,32 @@ void OPMapWidget::setWPLock(bool const & lock)
 }
 
 
-void OPMapWidget::WPSetCurrent(int seq)
+void OPMapWidget::WPSetCurrent(int sysid,int seq)
 {
-    int group = seq /1000  + 3;
-    int num   = seq %1000;
 
-    groupchanged(group);
 
-    foreach(QGraphicsItem * i, map->childItems()) {
-        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
-        if (w) {
-            if(w->MissionType() == group)
-            {
-                if(w->Number() == num)
+    if(getUAVCurrent() == sysid)
+    {
+        int group = seq /1000  + 3;
+        int num   = seq %1000;
+
+        //qDebug() << "sysid opmap" << sysid << getUAVCurrent() << group << num;
+
+        groupchanged(group);
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+            if (w) {
+                if(w->MissionType() == group)
                 {
-                    w->WPSetCurrent(true);
-                }
-                else
-                {
-                    w->WPSetCurrent(false);
+                    if(w->Number() == num)
+                    {
+                        w->WPSetCurrent(true);
+                    }
+                    else
+                    {
+                        w->WPSetCurrent(false);
+                    }
                 }
             }
         }
@@ -3566,6 +3589,11 @@ void OPMapWidget::vehicleChanged(float param1,float param2,float param3,float pa
 
                         w->emitWPProperty();
 
+                        if(isWPCreate == false)
+                        {
+                            w->WPSetEdit(false);
+                        }
+
                     }
                 }
             }
@@ -3589,6 +3617,7 @@ void OPMapWidget::vehicleChanged(float param1,float param2,float param3,float pa
             emit WPCreated(position, Item);
             setOverlayOpacity(overlayOpacity);
 
+            setSelectedWP(Item);
 
             emit setWPProperty(param1,param2,param3,param4,
                                x,y,z,
@@ -3606,6 +3635,10 @@ void OPMapWidget::vehicleChanged(float param1,float param2,float param3,float pa
             Item->emitWPProperty();
             Item->setisShowTip(isShowTip);
 
+            if(isWPCreate == false)
+            {
+                Item->WPSetEdit(false);
+            }
             //===========连线
              WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
 

opmap/mapwidget/opmapwidget.h

@@ -463,6 +463,8 @@ public:
     void setUAVPos(int sysid,int compid,double x,double y,double z);
     void setUAVHeading(int sysid,int compid,float Heading);
     void setUAVSpeed(int sysid,int compid,qreal Ma,qreal Speed);
+
+
     void DeleteTrail(void);
 
 
@@ -672,7 +674,6 @@ signals:
     void measureState(bool);
 
 
-
     void createFenceCircle(int group,qreal radius,bool inclusion,qreal lat,qreal lng);
     void createFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
 
@@ -722,7 +723,7 @@ public slots:
 
     void addUAV(int sysid, int compid);
 
-
+    void setUAVCurrent(int sysid);
 
 
     void getMapTypes(void);
@@ -784,7 +785,7 @@ public slots:
 
     void WPFollowPrevious(bool flag,WayPointItem *waypoint);
 
-    void WPSetCurrent(int seq);
+    void WPSetCurrent(int sysid, int seq);
 
 
     void WPLoad(QString path);