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Company
2020-06-01 18:25:33 +08:00
parent 793f5cbfd4
commit 9c69cd6522
14 changed files with 187 additions and 46 deletions
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App/Setting/Index1/Index1.cpp
-1
View File
@@ -74,7 +74,6 @@ void Index1::setInstallWidget(QWidget *w)
paramInspector = w;
paramInspector->setParent(this);
qDebug() << w << paramInspector;
if(paramInspector)
{
App/ToolsUI/tools_Index0/tools_Index0.cpp
-1
View File
@@ -39,7 +39,6 @@ void Tools_Index0::setInstallWidget(QWidget *w)
Inspect = w;
Inspect->setParent(this);
qDebug() << w << Inspect;
if(Inspect)
{
App/mainwindow.cpp
+6 -5
View File
@@ -76,8 +76,8 @@ MainWindow::MainWindow(QWidget *parent)
internals::PointLatLng position;
position.SetLat(0);
position.SetLng(0);
map->UAV->SetUAVPos(position,10);
map->UAV->SetShowTrail(false);
//map->UAV->SetUAVPos(position,10);
//map->UAV->SetShowTrail(false);
map->setGeometry(0,
0,
@@ -182,7 +182,8 @@ MainWindow::MainWindow(QWidget *parent)
connect(map,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)),
dlink->mavlinknode->Mission,SLOT(transmitPoint(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(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
map,SLOT(addUAV(int,int)));
@@ -558,13 +559,13 @@ void MainWindow::updateUI()//事件驱动式更新数据
LatLng.SetLat((double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8));
LatLng.SetLng((double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8));
map->UAV->SetUAVPos(LatLng,dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);
//map->UAV->SetUAVPos(LatLng,dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);
//qDebug() << LatLng.Lat()
// << LatLng.Lng();
map->UAV->SetUAVHeading(dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
//map->UAV->SetUAVHeading(dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
update();
MavLinkNode/ParameterInspector/ParameterInspector.cpp
+7 -5
View File
@@ -61,18 +61,20 @@ void ParameterInspector::resizeEvent(QResizeEvent * event)
//添加一个设备，
void ParameterInspector::addVehicles(uint16_t id)
void ParameterInspector::addVehicles(uint16_t sysid, uint16_t compid)
{
if(!vehicles.keys().contains(id))
Q_UNUSED(compid)
if(!vehicles.keys().contains(sysid))
{
//如果还没有这个设备，就添加一个
QMap<int, mavlink_param_value_t> param;
vehicles.insert(id,param);
vehicles.insert(sysid,param);
//同时检查combox有没有，没有就添加
if(ui->systemComboBox->findText(tr("Vehicle %1").arg(id)) == (-1))
if(ui->systemComboBox->findText(tr("Vehicle %1").arg(sysid)) == (-1))
{
ui->systemComboBox->addItem(tr("Vehicle %1").arg(id), id);
ui->systemComboBox->addItem(tr("Vehicle %1").arg(sysid), sysid);
}
}
MavLinkNode/ParameterInspector/ParameterInspector.h
+1 -1
View File
@@ -120,7 +120,7 @@ signals:
public slots:
void addVehicles(uint16_t id);
void addVehicles(uint16_t sysid,uint16_t compid);
void appendParameter(mavlink_message_t msg);
MavLinkNode/mavlinknode.cpp
+16 -4
View File
@@ -306,9 +306,7 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
{
//用于给参数添加设备，便于读取
//qDebug() << "msg.sysid" <<msg.sysid << "msg.compid" << msg.compid;
Parameter->paramInspect->addVehicles(msg.sysid);
CheckVehicle(msg.sysid,msg.compid);
switch (msg.msgid) {
//状态
@@ -450,7 +448,21 @@ void MavLinkNode::CommandParse(mavlink_message_t msg)
}
void MavLinkNode::CheckVehicle(int sysid,int compid)
{
if(!vehicleList.contains(sysid))
{
vehicleList.insert(sysid,compid);
Parameter->paramInspect->addVehicles(sysid,compid);
emit addVehicles(sysid,compid);
for (QHash<int,int>::iterator i = vehicleList.begin();i!= vehicleList.end();++i)
{
qDebug() << "add vehicle" << i.key() << i.value();
}
}
}
MavLinkNode/mavlinknode.h
+12 -1
View File
@@ -77,6 +77,9 @@ public:
signals:
void addVehicles(int sysid,int compid);
void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
void recievemsg(mavlink_message_t msg);
@@ -110,6 +113,10 @@ private slots:
void CommandParse(mavlink_message_t msg);
//
//check for new vehicle
void CheckVehicle(int sysid, int compid);
protected:
enum SourceType{
@@ -118,7 +125,7 @@ protected:
};
uint8_t GCS_System_ID;
uint8_t GCS_System_ID;
bool running_flag = false;
quint32 running_frq = 200;//200Hz
@@ -129,6 +136,10 @@ protected:
QThread *Parameterthread;
QHash<int,int> vehicleList;
_buffdef serial_buff;
_buffdef client_buff;
};
opmap/core/placemark.cpp
+5
View File
@@ -25,3 +25,8 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "placemark.h"
opmap/mapwidget/AltitudeItem.cpp
+6 -6
View File
@@ -5,9 +5,9 @@ namespace mapcontrol {
AltitudeItem::AltitudeItem(MapGraphicItem *map, QColor background) : myMap(map), myColor(background)
{
this->setFlag(QGraphicsItem::ItemIsMovable, true);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
this->setFlag(QGraphicsItem::ItemIsMovable, false);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, false);
this->setFlag(QGraphicsItem::ItemIsSelectable, false);
connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
@@ -77,7 +77,7 @@ void AltitudeItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
qDebug() << event;
//QGraphicsItem::mousePressEvent(event);
QGraphicsItem::mousePressEvent(event);
}
void AltitudeItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
@@ -87,7 +87,7 @@ void AltitudeItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
if (event->button() == Qt::LeftButton) {
}
//QGraphicsItem::mouseReleaseEvent(event);
QGraphicsItem::mouseReleaseEvent(event);
}
void AltitudeItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
@@ -101,7 +101,7 @@ void AltitudeItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
if (isDragging) {
//this->setPos(event->pos());
}
//QGraphicsItem::mouseMoveEvent(event);
QGraphicsItem::mouseMoveEvent(event);
}
opmap/mapwidget/AltitudeItem.h
+2 -1
View File
@@ -13,7 +13,8 @@
namespace mapcontrol {
class WayPointItem;
class OPMapWidget;
#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
opmap/mapwidget/opmapwidget.cpp
+36 -15
View File
@@ -77,15 +77,18 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
QPixmapCache::setCacheLimit(1024 * 1024);//set 1M byte
altitudeitem = new AltitudeItem(map,Qt::red);
altitudeitem->setParentItem(map);
setOverlayOpacity(overlayOpacity);
}
void OPMapWidget::SetShowDiagnostics(bool const & value)
{
showDiag = value;
/*
if (!showDiag) {
if (diagGraphItem != 0) {
delete diagGraphItem;
@@ -112,6 +115,7 @@ void OPMapWidget::SetShowDiagnostics(bool const & value)
setOverlayOpacity(overlayOpacity);
}
}
*/
}
void OPMapWidget::SetUavPic(QString UAVPic)
{
@@ -123,6 +127,37 @@ void OPMapWidget::SetUavPic(QString UAVPic)
}
}
void OPMapWidget::SetShowUAV(const bool &value)
{
if (value && UAV == 0) {
UAV = new UAVItem(map, this);
UAV->setParentItem(map);
connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)), UAV, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)), UAV, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
UAV->setOpacity(overlayOpacity);
} else if (!value) {
if (UAV != 0) {
delete UAV;
UAV = NULL;
}
}
}
void OPMapWidget::addUAV(int sysid,int compid)
{
UAVItem *uavItem = new UAVItem(map, this);
uavItem->setParentItem(map);
connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)), uavItem, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)), uavItem, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
uavItem->setOpacity(overlayOpacity);
uavItem->setID(sysid,compid);
}
WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed, int width)
{
if (!from | !to) {
@@ -187,21 +222,7 @@ WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, double radius, boo
ret->setOpacity(overlayOpacity);
return ret;
}
void OPMapWidget::SetShowUAV(const bool &value)
{
if (value && UAV == 0) {
UAV = new UAVItem(map, this);
UAV->setParentItem(map);
connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)), UAV, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)), UAV, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
UAV->setOpacity(overlayOpacity);
} else if (!value) {
if (UAV != 0) {
delete UAV;
UAV = NULL;
}
}
}
void OPMapWidget::SetShowHome(const bool &value)
{
Home->setVisible(value);
opmap/mapwidget/opmapwidget.h
+2
View File
@@ -554,6 +554,8 @@ signals:
public slots:
void addUAV(int sysid, int compid);
void getMapTypes(void);
void setMapTypes(QVariant value);
opmap/mapwidget/uavitem.cpp
+76 -5
View File
@@ -31,12 +31,21 @@
namespace mapcontrol {
double UAVItem::groundspeed_mps_filt = 0;
UAVItem::UAVItem(MapGraphicItem *map, OPMapWidget *parent, QString uavPic) : map(map), mapwidget(parent), altitude(0), showtrail(true), showtrailline(true),
trailtime(100), traildistance(5), autosetreached(true), autosetdistance(100), showUAVInfo(false)
UAVItem::UAVItem(MapGraphicItem *map, OPMapWidget *parent, QString uavPic ,uint8_t sysid,uint8_t compid) : map(map), mapwidget(parent), altitude(0), showtrail(true), showtrailline(true),
trailtime(100), traildistance(5), autosetreached(true), autosetdistance(100), showUAVInfo(false),sysid(sysid),compid(compid)
{
pic.load(uavPic);
this->setFlag(QGraphicsItem::ItemIsMovable, false);
this->setFlag(QGraphicsItem::ItemIsSelectable, false);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
pic.load(uavPic);
//this->setFlag(QGraphicsItem::ItemIsMovable, false);
//this->setFlag(QGraphicsItem::ItemIsSelectable, false);
//this->setFlag(QGraphicsItem::ItemIsMovable, false);
//this->setFlag(QGraphicsItem::ItemIsSelectable, true);
localposition = map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(), localposition.Y());
this->setZValue(4);
@@ -44,7 +53,12 @@ UAVItem::UAVItem(MapGraphicItem *map, OPMapWidget *parent, QString uavPic) : map
trail->setParentItem(map);
trailLine = new QGraphicsItemGroup(this);
trailLine->setParentItem(map);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
//this->setFlag(QGraphicsItem::ItemIgnoresTransformations, false);
//this->setFlag(QGraphicsItem::ItemIsMovable, false);
//this->setFlag(QGraphicsItem::ItemIsSelectable, true);
setCacheMode(QGraphicsItem::ItemCoordinateCache);
mapfollowtype = UAVMapFollowType::None;
trailtype = UAVTrailType::ByDistance;
@@ -65,6 +79,15 @@ void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, Q
Q_UNUSED(option);
Q_UNUSED(widget);
qDebug() << "selected" << sysid << compid << this->isSelected();
if (this->isSelected()) {
qDebug() << "selected" << sysid << compid;
painter->setPen(Qt::red);
painter->drawRect(QRectF(boundingRect()));
}
// Draw plane
painter->drawPixmap(-pic.width() / 2, -pic.height() / 2, pic);
@@ -126,6 +149,54 @@ void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, Q
painter->drawPath(textPath);
}
void UAVItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
{
if (event->button() == Qt::LeftButton) {
}
}
void UAVItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if (event->button() == Qt::LeftButton) {
qDebug() << "UAV mousePressEvent";
//this->setSelected(true);
update();
}
//QGraphicsItem::mousePressEvent(event);
}
void UAVItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
if (event->button() == Qt::LeftButton) {
qDebug() << "UAV mouseReleaseEvent";
//this->setSelected(true);
emit selected(sysid,compid);
update();
}
//QGraphicsItem::mouseReleaseEvent(event);
}
void UAVItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{
if (event->button() == Qt::LeftButton) {
}
}
void UAVItem::setID(int sys,int comp)
{
sysid = sys;
compid = comp;
}
void UAVItem::updateTextOverlay()
{
QPainterPath temp;
opmap/mapwidget/uavitem.h
+18 -1
View File
@@ -61,7 +61,7 @@ class UAVItem : public QObject, public QGraphicsItem {
Q_OBJECT Q_INTERFACES(QGraphicsItem)
public:
enum { Type = UserType + 2 };
UAVItem(MapGraphicItem *map, OPMapWidget *parent, QString uavPic = QString::fromUtf8(":/uavs/images/mapquad.png"));
UAVItem(MapGraphicItem *map, OPMapWidget *parent, QString uavPic = QString::fromUtf8(":/uavs/images/mapquad.png"), uint8_t sysid = 0, uint8_t compid = 0);
~UAVItem();
/**
@@ -311,11 +311,28 @@ private:
QPainterPath textPath;
//bool isSelected = false;
uint8_t sysid;
uint8_t compid;
protected:
void mouseMoveEvent(QGraphicsSceneMouseEvent *event);
void mousePressEvent(QGraphicsSceneMouseEvent *event);
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
public slots:
void setID(int sys,int comp);
void RefreshPos();
void setOpacitySlot(qreal opacity);
void zoomChangedSlot();
signals:
void selected(uint8_t sys,uint8_t comp);
void UAVReachedWayPoint(int const & waypointnumber, WayPointItem *waypoint);
void UAVLeftSafetyBouble(internals::PointLatLng const & position);
void setChildPosition();