增加定点导航

App/mainwindow.cpp

@@ -1,4 +1,4 @@
-#include "mainwindow.h"
+#include "mainwindow.h"
 #include "QPushButton"
 #include "QAction"
 
@@ -191,6 +191,16 @@ MainWindow::MainWindow(QWidget *parent)
     map->SetZoom(4);
 
     map->SetCurrentPosition(internals::PointLatLng(33,106));
+//    connect(map,SIGNAL(cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation) ),
+//            commandUI, SLOT(cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation) ) );
+
+//    connect(map, SIGNAL(cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation) ),
+//            this, SLOT(cmd_longSlot(float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation)) );
+
+    connect(map, SIGNAL(cmd_long( float ,float ,float ,float ,float ,float ,float ,uint16_t ,uint8_t )),
+            commandUI, SIGNAL(cmd_long( float ,float ,float ,float ,float ,float ,float ,uint16_t ,uint8_t )) );
+    connect(map, SIGNAL(cmd_long( float ,float ,float ,float ,float ,float ,float ,uint16_t ,uint8_t )),
+            this, SLOT(cmd_longSlot( float ,float ,float ,float ,float ,float ,float ,uint16_t ,uint8_t )) );
     qDebug() << "map start";
 
 
@@ -982,6 +992,8 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
 
     if(index == 5)
     {
+        map->setCircleCreate(true);
+        map->setCircleEdit(true);
         if(statusui->isHidden())
         {
             copk->show();
@@ -1003,6 +1015,8 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
     }
     else
     {
+       map->setCircleEdit(false);
+       map->setCircleCreate(false);
        statusui->hide();
     }
 
@@ -1010,6 +1024,11 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
     resizeEvent(nullptr);
 }
 
+void MainWindow::cmd_longSlot(float param1, float param2, float param3, float param4, float param5, float param6, float param7, uint16_t command, uint8_t confirmation)
+{
+    qDebug() << "MainWindow: 半径" << param3 << "  纬度：" << param5 << " 经度：" << param6;
+}
+
 
 
 void MainWindow::showMessage(const QString &message, int TimeOut)

App/mainwindow.h

@@ -1,4 +1,4 @@
-#ifndef MAINWINDOW_H
+#ifndef MAINWINDOW_H
 #define MAINWINDOW_H
 
 #include <QMainWindow>
@@ -94,6 +94,7 @@ protected slots:
 
 private slots:
     void onTabIndexChanged(const int &index);
+    void cmd_longSlot(float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);
 
 
     void updateUI();

Cockpit/Cockpit.cpp

@@ -1,10 +1,11 @@
-#include "Cockpit.h"
+#include "Cockpit.h"
 #include <QPainter>
 #include <QtCore/qmath.h>
 #include "QThread"
 #include "QDebug"
 #include "QPicture"
 #include "QtMath"
+#include <QPainterPath>
 
 
 Cockpit::Cockpit(QWidget *parent): QWidget(parent)

opmap/mapwidget/circlepointitem.cpp

@@ -0,0 +1,166 @@
+#include "circlepointitem.h"
+#include "math.h"
+#include "qgraphicssceneevent.h"
+#include "qgraphicsview.h"
+
+#define _USE_MATH_DEFINES
+
+CirclePointItem::CirclePointItem(mapcontrol::MapGraphicItem *map, QPointF const &p) :
+    QGraphicsEllipseItem(map)
+{
+     this->setAcceptHoverEvents(true);
+    _parentMap = map;
+    setPos(p);
+
+    //参数框
+    paramItem = new WayPointParamDialog;
+    QPointF screenPos = this->screenPos(pos() );
+    paramItem->move(screenPos.x() + 10, screenPos.y() );
+
+    //外圆
+    outside = new QGraphicsEllipseItem(-25, -25, 50, 50, this);
+    QPen pen(QColor(255, 128, 0) );
+    pen.setWidth(2);
+    outside->setPen(pen);
+
+    setBrush(QColor(25, 251, 255) );
+    QPen pen1 = this->pen();
+    pen1.setColor(QColor(25, 251, 255) );
+    setPen(pen1);
+    setRect(-10, -10, 20, 20);
+
+//    setAcceptDrops(true);
+//    setEnabled(true);
+//    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
+//    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
+//    this->setFlag(QGraphicsItem::ItemIsMovable, true);
+
+    connect(paramItem, &WayPointParamDialog::ok, this, &CirclePointItem::acceptedSlot,  Qt::DirectConnection );
+    connect(paramItem, SIGNAL(ok() ), this, SIGNAL(accepted() ),  Qt::DirectConnection );
+    connect(paramItem, SIGNAL(cancel() ), this, SIGNAL(rejected() ), Qt::DirectConnection );
+    connect(paramItem, &WayPointParamDialog::remove,
+            this, [this](){ this->isRemove = true;}, Qt::DirectConnection );
+
+    connect(map, &mapcontrol::MapGraphicItem::childRefreshPosition, this,  &CirclePointItem::refreshPos);
+    connect(map, &mapcontrol::MapGraphicItem::childRefreshPosition, this, &CirclePointItem::refreshOutSideEllipse);
+
+
+}
+
+CirclePointItem::~CirclePointItem()
+{
+    delete paramItem;
+}
+
+void CirclePointItem::autoParamDialogExex() const
+{
+//    QScreen *screen = qApp->primaryScreen();
+    QScreen *screen = paramItem->screen();
+    QPointF wayScreenPos(screenPos(mapToParent(QPointF(0, 0) ) ) );
+    QPoint showPos(wayScreenPos.x(), wayScreenPos.y() );
+
+    if( ((int)showPos.y() +  this->paramItem->size().height() ) > screen->size().height() )
+    {
+        showPos.setY(showPos.y() - paramItem->size().height() - 30);
+    }
+
+
+
+    paramItem->move(showPos);
+    paramItem->exec();
+}
+
+QPointF CirclePointItem::screenPos(QPointF const &pos) const
+{
+    QGraphicsItem *map = parentItem();  //获取map
+    QPointF scenePos = map->mapToScene(pos ); //获取pos在scene中的位置
+    QList<QGraphicsView *> views = map->scene()->views();
+    QPointF viewPos = views[0]->mapFromScene(scenePos); //获取航点在view中的位置
+
+    return views[0]->mapToGlobal(QPoint(viewPos.x(), viewPos.y() ) ); //返回pos在屏幕中的位置
+}
+
+int CirclePointItem::radiusPixelLength(double angle) const
+{
+    double const arc = 6371393;
+
+    //根据角度计算加上距离之后的经纬度
+    internals::PointLatLng temp = latLng;
+    double a = outsideRadius * qSin(angle) / (arc * qCos(latLng.Lat() ) * 2 * M_PI / 360);
+    double b = outsideRadius * qCos(angle) / (arc * 2 * M_PI / 360);
+    temp.SetLng(temp.Lng() + a);
+    temp.SetLat(temp.Lat() + b);
+
+    //把经纬度转换成map中的坐标系
+    QPointF origin(_parentMap->FromLatLngToLocal(latLng).X(),  _parentMap->FromLatLngToLocal(latLng).Y() );
+    QPointF end(_parentMap->FromLatLngToLocal(temp).X(),  _parentMap->FromLatLngToLocal(temp).Y() );
+
+//    //把map坐标系转换成屏幕坐标系
+//    origin = screenPos(origin);   //错误，当外圆半径太大时，无法计算
+//    end = screenPos(end);
+
+    QLineF line(origin, end);
+
+    return line.length();
+}
+
+void CirclePointItem::refreshOutSideEllipse()
+{
+    int rad =  radiusPixelLength(0); //获取外圆的像素半径
+    outside->setRect(-rad, -rad, rad * 2, rad * 2); //重新调整大小
+    outside->update();  //重新绘制圆
+}
+
+void CirclePointItem::setCircleEdit(bool v)
+{
+    this->isCircleEdit = v;
+//    this->setFlag(QGraphicsItem::ItemIsSelectable, v);
+//    setFlag(QGraphicsItem::ItemIsMovable, v);
+
+}
+
+void CirclePointItem::setLngLat(double lng, double lat)
+{
+    this->latLng.SetLat(lat);
+    this->latLng.SetLng(lng);
+
+    paramItem->setlngLat(lng, lat);
+}
+
+void CirclePointItem::acceptedSlot()
+{
+    qDebug() << u8"circlePointItem: acceptedSlot";
+
+    height = paramItem->height; //获取高度
+    outsideRadius = paramItem->outsideRadius * 1000; //获取外圆半径
+    direction = paramItem->direction;   //获取方向
+    //获取经纬度
+    latLng.SetLat(paramItem->latitude);
+    latLng.SetLng(paramItem->longitude);
+    QPointF mapPos(_parentMap->FromLatLngToLocal(latLng).X(),  _parentMap->FromLatLngToLocal(latLng).Y() );   //把经纬度转换成在map中的位置
+    setPos(mapPos);
+
+    refreshOutSideEllipse();
+}
+
+void CirclePointItem::refreshPos()
+{
+    core::Point point = _parentMap->FromLatLngToLocal(this->latLng);
+    setPos(point.X(), point.Y() );
+}
+
+void CirclePointItem::contextMenuEvent(QGraphicsSceneContextMenuEvent *event)
+{
+    if(isCircleEdit)
+    {
+        autoParamDialogExex();
+    }
+}
+
+void CirclePointItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
+{
+    QGraphicsEllipseItem::paint(painter, option, widget);
+}
+
+
+

opmap/mapwidget/circlepointitem.h

@@ -0,0 +1,84 @@
+#ifndef CIRCLEPOINTITEM_H
+#define CIRCLEPOINTITEM_H
+
+#include "mapgraphicitem.h"
+#include "waypointparamdialog.h"
+#include <QGraphicsEllipseItem>
+#include <QObject>
+#include "qapplication.h"
+#include <QScreen>
+
+class CirclePointItem : public QObject, public QGraphicsEllipseItem
+{
+    Q_OBJECT
+public:
+    enum { Type = UserType + 13 };
+
+    CirclePointItem(mapcontrol::MapGraphicItem *map, QPointF const &p);
+    ~CirclePointItem();
+
+    virtual int type() const override
+    {
+        return Type;
+    }
+
+    void autoParamDialogExex() const;   //根据航点所在位置显示对话框
+
+    bool paramDialogExec() const //以模态的方式显示参数对话框
+    {
+        autoParamDialogExex();
+
+        return paramItem->isOk;
+    }
+
+    QPointF screenPos(QPointF const &pos) const;  //返回pos在屏幕中的位置,pos只能是map(地图图形项)中的局部坐标
+    int radiusPixelLength(double angle) const;  //计算外圆在地图上的像素半径
+    void setCircleEdit(bool v);
+    void setLngLat(double lng, double lat); //设置经纬度
+    bool getIsRemove() const
+    {
+        return isRemove;
+    }
+
+    double getHeight() const
+    {
+        return height;
+    }
+
+    internals::PointLatLng getLatLng() const
+    {
+        return latLng;
+    }
+
+    double getRadius() const
+    {
+        return outsideRadius * direction;
+    }
+
+public slots:
+    void acceptedSlot();
+    void refreshPos();
+    void refreshOutSideEllipse();   //刷新外圆
+
+signals:
+    void accepted();
+    void rejected();
+    void remove();
+
+protected:
+    void contextMenuEvent(QGraphicsSceneContextMenuEvent *event) override;  //在航点上右击显示参数对话框
+    void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = Q_NULLPTR) override;
+
+private:
+    bool isRemove = false;
+    bool isCircleEdit = true;
+    double height; //高度
+    double outsideRadius;//外圈半径,单位：米
+    int direction;  //方向，-1左盘旋，1右盘旋
+    internals::PointLatLng latLng;  //经纬度
+    mapcontrol::MapGraphicItem *_parentMap;  //行单所在的地图
+    QGraphicsEllipseItem *outside; //外圆
+    WayPointParamDialog *paramItem;   //航点参数框
+};
+
+#endif // CIRCLEPOINTITEM_H

opmap/mapwidget/mapgraphicitem.cpp

@@ -200,6 +200,10 @@ void MapGraphicItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
             selectionEnd   = internals::PointLatLng::Empty;
             selectionStart = FromLocalToLatLng(event->pos().x(), event->pos().y());
         }
+        else
+        {
+//            QGraphicsItem::mousePressEvent(event);
+        }
     }
 }
 void MapGraphicItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
@@ -297,6 +301,7 @@ void MapGraphicItem::wheelEvent(QGraphicsSceneWheelEvent *event)
 
         core->MouseWheelZooming = false;
     }
+
 }
 void MapGraphicItem::DrawMap2D(QPainter *painter)
 {

opmap/mapwidget/mapwidget.pro

@@ -51,10 +51,14 @@ SOURCES +=  $$PWD/mapgraphicitem.cpp \
             $$PWD/AltitudeItem.cpp \
             $$PWD/waypointbutton.cpp \
             $$PWD/waypointsetting.cpp \
+            circlepointitem.cpp \
             geoFencecircle.cpp \
             geoFenceitem.cpp \
             geoFenceitemline.cpp \
-            measureline.cpp
+            measureline.cpp \
+            waypointparamdialog.cpp \
+            waypointparamitem.cpp \
+            waypointparammenu.cpp
 
 HEADERS +=  $$PWD/mapgraphicitem.h \
             $$PWD/opmapwidget.h \
@@ -75,15 +79,21 @@ HEADERS +=  $$PWD/mapgraphicitem.h \
             $$PWD/AltitudeItem.h \
             $$PWD/waypointbutton.h \
             $$PWD/waypointsetting.h \
+            circlepointitem.h \
             geoFencecircle.h \
             geoFenceitem.h \
             geoFenceitemline.h \
-            measureline.h
+            measureline.h \
+            waypointparamdialog.h \
+            waypointparamitem.h \
+            waypointparammenu.h
 
 RESOURCES += mapresources.qrc
 
 FORMS += \
-    $$PWD/mapripform.ui
+    $$PWD/mapripform.ui \
+    waypointparamdialog.ui \
+    waypointparammenu.ui
 
 INCLUDEPATH += $$DESTDIR/include
 

opmap/mapwidget/opmapwidget.cpp

@@ -1,4 +1,4 @@
-/**
+/**
  ******************************************************************************
  *
  * @file       opmapwidget.cpp
@@ -163,8 +163,8 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
     point_begin.SetLat(0);
     point_begin.SetLng(0);
 
-    point_end.SetLat(1);
+    point_end.SetLat(100);
-    point_end.SetLng(1);
+    point_end.SetLng(100);
 
     measureline = new MeasureLine(point_begin, point_end, map, QColor("#FFFF00"));
     mscene.addItem(measureline);
@@ -634,6 +634,19 @@ OPMapWidget::~OPMapWidget()
         }
     }
 }
+
+void OPMapWidget::setCircleEdit(bool v)
+{
+    foreach(QGraphicsItem *item, map->childItems() )
+    {
+        CirclePointItem *i = qgraphicsitem_cast<CirclePointItem *>(item);
+        if(i)
+        {
+            i->setCircleEdit(v);
+        }
+    }
+}
+
 void OPMapWidget::closeEvent(QCloseEvent *event)
 {
     core->OnMapClose();
@@ -872,7 +885,58 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
 
 
 
+    if(isCircleCreate)      //生成盘旋点
+    {
+        if(event->button() == Qt::LeftButton)
+        {
+            QPointF p = event->pos();
+            p = map->mapFromParent(p);
 
+            internals::PointLatLng temp = map->FromLocalToLatLng(p.x(), p.y() );
+
+//            CirclePointItem *item = new CirclePointItem(map, p);
+            CirclePointItem *item = new CirclePointItem(map, p);
+
+            item->setLngLat(temp.Lng(), temp.Lat() );
+
+
+
+
+            bool isCircleRemove = !item->paramDialogExec();
+
+            if(isCircleRemove)
+            {
+                delete item;
+            }
+            else
+            {
+                connect(item, &CirclePointItem::rejected,
+                        this, [this]()
+                        {
+                            QObject *temp = sender();
+                            CirclePointItem *item = qobject_cast<CirclePointItem *>(temp);
+
+                            item->setParentItem(nullptr);
+                            item->setCircleEdit(false);
+                            connect(item, nullptr, nullptr, nullptr);
+                            item->deleteLater();
+                        });
+
+                connect(item, &CirclePointItem::accepted,
+                        this, [this, item]()
+                        {
+                             double radius = item->getRadius();
+                             internals::PointLatLng latLng = item->getLatLng();
+                             emit cmd_long( 0,0,radius,0, latLng.Lat(), latLng.Lng(),0,0,0);
+                        });
+            }
+
+
+
+
+
+        }
+    }
 
     isLNOP = false;
 
@@ -891,18 +955,33 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
                 WayPointItem *Item =  WPCreate(LatLng,50);
 
 
-                foreach(QGraphicsItem * i, map->childItems()) {
-                    WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
 
-                    if (w) {
+                qDebug() << "opmapwidget : isWayPointCreate:" << isWayPointCreate;
-                        if (w->MissionType() == Item->MissionType()) {
+
-                            if(w->Number() == (Item->Number() - 1))
+
+//                if(isWayPointCreate)
+//                {
+                    foreach(QGraphicsItem * i, map->childItems())
+                    {
+                        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+
+                        if (w)
+                        {
+                            if (w->MissionType() == Item->MissionType())
                             {
-                                 WPLineCreate(w,Item,Qt::green,false,2);
+                                if(w->Number() == (Item->Number() - 1))
+                                {
+                                    WPLineCreate(w,Item,Qt::green,false,2);
+                                }
                             }
                         }
                     }
-                }
+
+//                }
+//                else
+//                {
+//                    delete Item;
+//                }
             }
         }
     }
@@ -3708,4 +3787,5 @@ void OPMapWidget::WPShowTip(bool flag)
 }
 
 
+
 }

opmap/mapwidget/opmapwidget.h

@@ -1,4 +1,4 @@
-/**
+/**
  ******************************************************************************
  *
  * @file       opmapwidget.h
@@ -52,6 +52,7 @@
 #include "QTextStream"
 
 #include <QTranslator>
+#include "circlepointitem.h"
 
 
 #include "waypointbutton.h"
@@ -98,6 +99,8 @@ class Helper {
 
 
 public:
+
+
     static MapType::Types MapTypeFromString(QString const & value)
     {
         return MapType::TypeByStr(value);
@@ -234,6 +237,9 @@ public:
     OPMapWidget(QWidget *parent = 0, Configuration *config = new Configuration);
     ~OPMapWidget();
 
+    void setCircleEdit(bool v);
+
+    void refreshAllCirclePoint();   //刷新盘旋点外圆
 
     bool ShowTileGridLines() const
     {
@@ -469,6 +475,16 @@ public:
 
 
 
+    bool circleCreate() const
+    {
+        return isCircleCreate;
+    }
+
+    void setCircleCreate(bool v)
+    {
+        isCircleCreate = v;
+    }
+
 
 private:
     internals::Core *core;
@@ -489,6 +505,8 @@ private:
     bool showDiag;
     qreal overlayOpacity;
 
+    bool isCircleCreate = true; //是否创建盘旋点
+    bool isWayPointCreate = true;
     bool isWPCreate;
     bool isWPLock;
     bool isLNOP = false;
@@ -535,7 +553,7 @@ protected:
 
     // private slots:
 signals:
-
+    void cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);
     void cancelRequest();
     void percentageChanged(int const & perc);
     void numberOfTilesChanged(int const & total, int const & actual);

opmap/mapwidget/waypointitem.cpp

@@ -1,4 +1,4 @@
-/**
+/**
  ******************************************************************************
  *
  * @file       waypointitem.cpp
@@ -32,6 +32,8 @@
 #include "QJsonDocument"
 #include "QJsonObject"
 #include "QJsonParseError"
+#include <QMenu>
+#include <QPen>
 
 
 namespace mapcontrol {
@@ -72,6 +74,15 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 
+
+//    paramItem = new WayPointParamItem(this);
+//    paramItem->setPos(20, 20);
+
+
+
+
+
+
     this->setZValue(4);
 
 }
@@ -122,6 +133,9 @@ WayPointItem::WayPointItem(int seq,int missiontype, MapGraphicItem *map, bool ma
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 
+    setParentItem(map);
+
+
     this->setZValue(4);
 }
 WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq, int missiontype, const QString &description, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(description), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
@@ -162,6 +176,9 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 
+    setParentItem(map);
+
+
     this->setZValue(4);
 }
 
@@ -202,9 +219,23 @@ WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate,int seq
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 
+    setParentItem(map);
+
+
     this->setZValue(4);
 }
 
+//QPointF WayPointItem::screenPos() const
+//{
+//    QGraphicsItem *map = parentItem();  //获取map
+//    QPointF scenePos = map->mapToScene(pos() ); //获取航点在scene中的位置
+//    QList<QGraphicsView *> views = map->scene()->views();
+//    QPointF viewPos = views[0]->mapFromScene(scenePos); //获取航点在view中的位置
+
+//    return views[0]->mapToGlobal(QPoint(viewPos.x(), viewPos.y() ) ); //返回航点在屏幕中的位置
+
+//}
+
 void WayPointItem::setWPType(wptype type)
 {
     myType = type;
@@ -518,6 +549,8 @@ void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
         //qInfo() << "DoubleClickEvent";
         emit waypointdoubleclick(this);
     }
+
+    QGraphicsItem::mouseDoubleClickEvent(event);
 }
 
 void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
@@ -535,6 +568,8 @@ void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
 
     }
     QGraphicsItem::mousePressEvent(event);
+
+    qDebug() << "waypointitem: press";
     update();
 }
 void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
@@ -632,6 +667,28 @@ void WayPointItem::hoverLeaveEvent(QGraphicsSceneHoverEvent *event)
     update();
 }
 
+QVariant WayPointItem::itemChange(GraphicsItemChange change, const QVariant &value)
+{
+    if(change == ItemPositionChange)
+    {
+
+        qDebug() << "航点位置发生变化";
+    }
+
+    return QGraphicsItem::itemChange(change, value);
+}
+
+//void WayPointItem::contextMenuEvent(QGraphicsSceneContextMenuEvent *event)
+//{
+////    if(this->_isUseParamDialog)
+////    {
+////        paramItem->exec();
+//////        QPointF tempPos = this->screenPos();
+
+////        paramItem->move(QPoint(event->screenPos().x() + 10, event->screenPos().y() + 10) );
+////    }
+//}
+
 
 void WayPointItem::setPosition(QPointF p)
 {
@@ -827,6 +884,11 @@ int WayPointItem::type() const
 
 WayPointItem::~WayPointItem()
 {
+//    if(_isUseParamDialog)
+//    {
+//        delete paramItem;
+//    }
+
     emit aboutToBeDeleted(this);
 
     //--WayPointItem::snumber;

opmap/mapwidget/waypointitem.h

@@ -36,6 +36,8 @@
 #include <QPoint>
 #include "QDebug"
 #include "mavlink.h"
+#include "waypointparamitem.h"
+#include "waypointparamdialog.h"
 
 
 //#include "propertyui.h"
@@ -105,12 +107,19 @@ public:
     }_property;
 
 
-
+    WayPointItem( ) {}
     WayPointItem(internals::PointLatLng const & coord, int const & altitude,int seq, int missiontype, MapGraphicItem *map, wptype type = absolute);
     WayPointItem(int seq,int missiontype, MapGraphicItem *map, bool magicwaypoint);
     WayPointItem(internals::PointLatLng const & coord, int const & altitude, int seq,int missiontype, QString const & description, MapGraphicItem *map, wptype type = absolute);
     WayPointItem(distBearingAltitude const & relativeCoord,int seq, int missiontype, QString const & description, MapGraphicItem *map);
 
+//    void paramDialogExec() const //以模态的方式显示参数对话框
+//    {
+//        paramItem->exec();
+//    }
+
+//    QPointF screenPos() const;  //返回航点在屏幕中的位置
+
     QString Description()
     {
         return description;
@@ -316,6 +325,12 @@ public:
         return isFancy;
     }
 
+
+    MapGraphicItem* getMap() const
+    {
+        return this->map;
+    }
+
 protected:
     void mouseMoveEvent(QGraphicsSceneMouseEvent *event);
     void mousePressEvent(QGraphicsSceneMouseEvent *event);
@@ -323,8 +338,10 @@ protected:
     void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
     void hoverEnterEvent(QGraphicsSceneHoverEvent *event);
     void hoverLeaveEvent(QGraphicsSceneHoverEvent *event);
-private:
+    QVariant itemChange(GraphicsItemChange change, QVariant const &value) override;
+//    void contextMenuEvent(QGraphicsSceneContextMenuEvent *event) override;
 
+private:
     _property property;
 
     qreal TipOpacity = 0.5;
@@ -416,6 +433,8 @@ public slots:
     void ElevationUpdate(QNetworkReply *reply);
 
 signals:
+//    void accepted();
+//    void rejected();
 
     void currentMissiontype(int group);
     void SetCurrent(int group,int seq);

opmap/mapwidget/waypointparamdialog.cpp

@@ -0,0 +1,54 @@
+#include "waypointparamdialog.h"
+#include "ui_waypointparamdialog.h"
+#include <QDebug>
+#include <QPushButton>
+
+WayPointParamDialog::WayPointParamDialog(QWidget *parent, Qt::WindowFlags f) :
+    QDialog(parent, f),
+    ui(new Ui::WayPointParamDialog)
+{
+    ui->setupUi(this);
+
+    setWindowFlag(Qt::FramelessWindowHint);
+    setWindowFlag(Qt::SubWindow);
+
+//    connect(ui->buttonBox, &QDialogButtonBox::accepted, this, [=](){ emit ok(); }, Qt::DirectConnection );
+    connect(ui->buttonBox, &QDialogButtonBox::rejected, this, [=](){ isOk = false; emit cancel();  }, Qt::DirectConnection );
+    connect(ui->buttonBox, &QDialogButtonBox::accepted, this, &WayPointParamDialog::acceptedSlot);
+    connect(ui->buttonBox, &QDialogButtonBox::accepted, this, &WayPointParamDialog::setButtonString);
+}
+
+WayPointParamDialog::~WayPointParamDialog()
+{
+    delete ui;
+}
+
+void WayPointParamDialog::setlngLat(double lng, double lat)
+{
+    this->longitude = lng;
+    this->latitude = lat;
+    ui->dSpinLongitude->setValue(lng);
+    ui->dSpinLatitude->setValue(lat);
+}
+
+void WayPointParamDialog::setButtonString()
+{
+   QPushButton *btn = ui->buttonBox->button(QDialogButtonBox::Cancel);
+   btn->setText("delete");
+   disconnect(ui->buttonBox, &QDialogButtonBox::accepted, this, &WayPointParamDialog::setButtonString);
+   connect(ui->buttonBox, &QDialogButtonBox::rejected, this, [this](){ emit remove(); } );
+}
+
+void WayPointParamDialog::acceptedSlot()
+{
+    isOk = true;
+    this->height = ui->dSpinHeight->value();
+    outsideRadius = ui->dSpinRadius->value();
+    direction = ui->comBoxDirection->currentIndex() == 0 ? 1 : -1;  //方向，-1左盘旋，1右盘旋
+    longitude = ui->dSpinLongitude->value();  //经度
+    latitude = ui->dSpinLatitude->value();   //纬度
+
+    emit ok();
+}
+
+

opmap/mapwidget/waypointparamdialog.h

@@ -0,0 +1,39 @@
+#ifndef WAYPOINTPARAMDIALOG_H
+#define WAYPOINTPARAMDIALOG_H
+
+#include <QDialog>
+
+namespace Ui {
+class WayPointParamDialog;
+}
+
+struct WayPointParamDialog : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit WayPointParamDialog(QWidget *parent = nullptr, Qt::WindowFlags f = Qt::WindowFlags() );
+    ~WayPointParamDialog();
+    bool isOk = false;
+    double height; //高度
+    double outsideRadius;//外圈半径
+    double direction;  //方向，-1左盘旋，1右盘旋
+    double longitude;  //经度
+    double latitude;   //纬度
+
+    void setlngLat(double lng, double lat);   //设置经纬度，并且把对话框上面的值进行修改
+
+signals:
+    void ok();
+    void cancel();
+    void remove();
+
+private slots:
+    void acceptedSlot();
+    void setButtonString(); //把取消按钮设置成删除
+
+private:
+    Ui::WayPointParamDialog *ui;
+};
+
+#endif // WAYPOINTPARAMDIALOG_H

opmap/mapwidget/waypointparamdialog.ui

@@ -0,0 +1,204 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>WayPointParamDialog</class>
+ <widget class="QDialog" name="WayPointParamDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>248</width>
+    <height>174</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>5</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>5</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <item row="1" column="1">
+    <widget class="QDoubleSpinBox" name="dSpinLongitude">
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>6</number>
+     </property>
+     <property name="minimum">
+      <double>-100000000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="label_5">
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>方向：</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>半径：</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="maximumSize">
+      <size>
+       <width>40</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>高度</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="1">
+    <widget class="QDoubleSpinBox" name="dSpinRadius">
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="suffix">
+      <string>km</string>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QDoubleSpinBox" name="dSpinHeight">
+     <property name="suffix">
+      <string>m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>纬度</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <widget class="QDoubleSpinBox" name="dSpinLatitude">
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>6</number>
+     </property>
+     <property name="minimum">
+      <double>-10000000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>经度：</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <widget class="QComboBox" name="comBoxDirection">
+     <item>
+      <property name="text">
+       <string>右盘旋</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>左盘旋</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>WayPointParamDialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>WayPointParamDialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

opmap/mapwidget/waypointparamitem.cpp

@@ -0,0 +1,13 @@
+#include "waypointparamitem.h"
+#include <QIcon>
+
+WayPointParamItem::WayPointParamItem(QGraphicsItem *parent, Qt::WindowFlags wFlags) :
+    QGraphicsProxyWidget(parent, wFlags)
+{
+    dialog = new WayPointParamDialog();
+    setWidget(dialog);
+//    setWindowFlags(dialog->windowFlags() );
+//    this->setWindowTitle(u8"参数：");
+//    dialog->setWindowIcon(QIcon() );
+
+}

opmap/mapwidget/waypointparamitem.h

@@ -0,0 +1,19 @@
+#ifndef WAYPOINTPARAMITEM_H
+#define WAYPOINTPARAMITEM_H
+
+#include <QGraphicsProxyWidget>
+#include <QObject>
+#include "waypointparamdialog.h"
+
+class WayPointParamItem : public QGraphicsProxyWidget
+{
+public:
+    WayPointParamItem(QGraphicsItem *parent = Q_NULLPTR, Qt::WindowFlags wFlags = Qt::WindowFlags() );
+
+
+
+private:
+    WayPointParamDialog *dialog;
+};
+
+#endif // WAYPOINTPARAMITEM_H

opmap/mapwidget/waypointparammenu.cpp

@@ -0,0 +1,14 @@
+#include "waypointparammenu.h"
+#include "ui_waypointparammenu.h"
+
+WayPointParamMenu::WayPointParamMenu(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::WayPointParamMenu)
+{
+    ui->setupUi(this);
+}
+
+WayPointParamMenu::~WayPointParamMenu()
+{
+    delete ui;
+}

opmap/mapwidget/waypointparammenu.h

@@ -0,0 +1,22 @@
+#ifndef WAYPOINTPARAMMENU_H
+#define WAYPOINTPARAMMENU_H
+
+#include <QWidget>
+
+namespace Ui {
+class WayPointParamMenu;
+}
+
+class WayPointParamMenu : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit WayPointParamMenu(QWidget *parent = nullptr);
+    ~WayPointParamMenu();
+
+private:
+    Ui::WayPointParamMenu *ui;
+};
+
+#endif // WAYPOINTPARAMMENU_H

opmap/mapwidget/waypointparammenu.ui

@@ -0,0 +1,21 @@
+<ui version="4.0">
+ <author/>
+ <comment/>
+ <exportmacro/>
+ <class>WayPointParamMenu</class>
+ <widget class="QWidget" name="WayPointParamMenu">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+ </widget>
+ <pixmapfunction/>
+ <connections/>
+</ui>