b
This commit is contained in:
+391
-414
@@ -1,414 +1,391 @@
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/**
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******************************************************************************
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*
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* @file waypointitem.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief A graphicsItem representing a WayPoint
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* @see The GNU Public License (GPL) Version 3
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* @defgroup OPMapWidget
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
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||||
*
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||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
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||||
*
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||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef WAYPOINTITEM_H
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#define WAYPOINTITEM_H
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#include <QGraphicsItem>
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#include <QPainter>
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#include <QLabel>
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#include "pointlatlng.h"
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#include "mapgraphicitem.h"
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#include <QObject>
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#include <QPoint>
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#include "QDebug"
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#include "mavlink.h"
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//#include "propertyui.h"
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namespace mapcontrol {
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struct distBearingAltitude {
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double distance;
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double bearing;
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float altitudeRelative;
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double bearingToDegrees()
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{
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return bearing * 180 / M_PI;
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}
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void setBearingFromDegrees(double degrees)
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{
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bearing = degrees * M_PI / 180;
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}
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};
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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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class OPMAPWIDGETSHARED_EXPORT HomeItem;
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#else
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class HomeItem;
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#endif
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/**
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* @brief A QGraphicsItem representing a WayPoint
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*
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* @class WayPointItem waypointitem.h "waypointitem.h"
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*/
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#ifdef QtopmapWidget
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#include <mapwidgetglobal.h>
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class OPMAPWIDGETSHARED_EXPORT WayPointItem : public QObject, public QGraphicsItem {
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#else
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class WayPointItem : public QObject, public QGraphicsItem {
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#endif
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Q_OBJECT Q_INTERFACES(QGraphicsItem)
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//一个航点的属性
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typedef struct {
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float param1;
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float param2;
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float param3;
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float param4;
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int32_t x;
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int32_t y;
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float z;
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uint16_t seq;
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uint16_t group;//多组航线
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uint16_t command;
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||||
uint8_t target_system;
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uint8_t target_component;
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uint8_t frame;
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uint8_t current;
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uint8_t autocontinue;
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uint8_t mission_type;
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}_property;
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public:
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<<<<<<< HEAD
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enum { Type = UserType + 1 };
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enum wptype { absolute, relative };
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||||
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||||
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typedef struct{
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float param1;
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float param2;
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float param3;
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float param4;
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int32_t x;
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int32_t y;
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float z;
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uint16_t seq;
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uint16_t group;
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uint16_t command;
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uint8_t target_system;
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uint8_t target_component;
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uint8_t frame;
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uint8_t current;
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uint8_t autocontinue;
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uint8_t mission_type;
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}_property;
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WayPointItem(internals::PointLatLng const & coord, int const & altitude, MapGraphicItem *map, wptype type = absolute);
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WayPointItem(MapGraphicItem *map, bool magicwaypoint);
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WayPointItem(internals::PointLatLng const & coord, int const & altitude, QString const & description, MapGraphicItem *map, wptype type = absolute);
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WayPointItem(distBearingAltitude const & relativeCoord, QString const & description, MapGraphicItem *map);
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QString Description()
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{
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return description;
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}
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void SetDescription(QString const & value);
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WayPointItem(const double &lat, const double &lng, const float &alt, MapGraphicItem *map);
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bool Reached()
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{
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return reached;
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}
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void SetReached(bool const & value);
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int Number()
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{
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return property.seq;
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}
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int numberAdjusted()
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{
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return property.seq + 1;
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}
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void SetNumber(int const & value);
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internals::PointLatLng Coord()
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{
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return 0;//coord;
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}
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void SetCoord(internals::PointLatLng const & value);
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bool ShowNumber()
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{
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return shownumber;
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}
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||||
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void SetShowNumber(bool const & value);
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||||
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float Altitude()
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{
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return altitude;
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}
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void SetAltitude(const float &value);
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void setRelativeCoord(distBearingAltitude value);
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distBearingAltitude getRelativeCoord()
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{
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return relativeCoord;
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}
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int type() const;
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||||
QRectF boundingRect() const;
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void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
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QWidget *widget);
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QPixmap picture;
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void setFlag(GraphicsItemFlag flag, bool enabled);
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~WayPointItem();
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static int snumber;
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void setWPType(wptype type);
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wptype WPType()
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{
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return myType;
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}
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||||
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||||
//=============属性=================
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void SetDefault(double lat, double lng, float alt, uint16_t seq);//默认属性
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void SetParam1(float value);
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void SetParam2(float value);
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||||
void SetParam3(float value);
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||||
void SetParam4(float value);
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void SetLat(double value);
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void SetLng(double value);
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void SetAlt(float value);
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void SetSeq(uint16_t value);
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void SetCommand(uint16_t value);
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void SetGroup(uint16_t value);
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float Param1(void)
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{
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return property.param1;
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}
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float Param2(void)
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{
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return property.param2;
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||||
}
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||||
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float Param3(void)
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{
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return property.param3;
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}
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float Param4(void)
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{
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return property.param4;
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}
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int32_t Lat(void)
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{
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return property.x;
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}
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int32_t Lng(void)
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{
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return property.y;
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}
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float Alt(void)
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||||
{
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return property.z;
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||||
}
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uint16_t Seq(void)
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{
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return property.seq;
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}
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||||
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||||
uint16_t Command(void)
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{
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return property.command;
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}
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uint8_t Frame(void)
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||||
{
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return property.frame;
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}
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uint8_t AutoContinue(void)
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{
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return property.autocontinue;
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}
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||||
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uint16_t Group(void)
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||||
{
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return property.group;
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}
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bool FollowPrevious(void)
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||||
{
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return isFollowPrevious;
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||||
}
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||||
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double getElevation(void)
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{
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return Elevation;
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||||
}
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||||
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||||
protected:
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||||
void mouseMoveEvent(QGraphicsSceneMouseEvent *event);
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||||
void mousePressEvent(QGraphicsSceneMouseEvent *event);
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||||
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
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||||
void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
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||||
private:
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_property property;
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||||
bool isSimple = false;
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||||
bool isEdit = false;
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||||
bool isFollowPrevious = false;
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bool isCurrent = false;
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internals::PointLatLng coord; // coordinates of this WayPoint
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||||
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distBearingAltitude relativeCoord;
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bool reached;
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bool shownumber;
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||||
bool isDragging;
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MapGraphicItem *map;
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int number;
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QTransform transf;
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||||
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||||
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double Elevation = 0;
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bool isElevationRequest = false;
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bool isElevationLock = false;
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||||
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public slots:
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||||
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||||
//这个地方还需要好好思考
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void WPSetEdit(bool value)
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{
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||||
this->setFlag(QGraphicsItem::ItemIsMovable, value);
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isEdit = value;
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||||
}
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||||
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||||
void WPSetCurrent(bool value)
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{
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||||
if(isEdit == false)
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||||
{
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||||
if(isCurrent != value)
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||||
{
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||||
isCurrent = value;
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||||
update();
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||||
}
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||||
}
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||||
//update();
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||||
}
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||||
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||||
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||||
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void setPosition(QPointF p);
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void WPDeleted(int const & number, WayPointItem *waypoint);
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void WPRenumbered(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
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void WPInserted(int const & number, WayPointItem *waypoint);
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void onHomePositionChanged(internals::PointLatLng, float altitude);
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void RefreshPos();
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void setOpacitySlot(qreal opacity);
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||||
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||||
void emitWPProperty(void);
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void setWPProperty(float param1,float param2,float param3,float param4,
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||||
int32_t x,int32_t y,float z,
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uint16_t seq,
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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 ElevationTrig(void);
|
||||
|
||||
void ElevationUpdate(QNetworkReply *reply);
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||||
|
||||
signals:
|
||||
|
||||
void SetCurrent(int seq);
|
||||
|
||||
void WPFollowPrevious(bool flag,WayPointItem *waypoint);
|
||||
|
||||
|
||||
void WPProperty(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 WPChanged(int Number,double Lat,double Lng);
|
||||
void WPNumberChanged(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
|
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void WPValuesChanged(WayPointItem *waypoint);
|
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void waypointdoubleclick(WayPointItem *waypoint);
|
||||
void localPositionChanged(QPointF point, WayPointItem *waypoint);
|
||||
void manualCoordChange(WayPointItem *);
|
||||
void aboutToBeDeleted(WayPointItem *);
|
||||
|
||||
|
||||
void ElevationChanged(int seq,double value);
|
||||
void AltitudeChanged(int seq,double value);
|
||||
void setCurrentPoint(int value);
|
||||
friend class propertyui;
|
||||
|
||||
};
|
||||
}
|
||||
#endif // WAYPOINTITEM_H
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file waypointitem.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief A graphicsItem representing a WayPoint
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @defgroup OPMapWidget
|
||||
* @{
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef WAYPOINTITEM_H
|
||||
#define WAYPOINTITEM_H
|
||||
|
||||
#include <QGraphicsItem>
|
||||
#include <QPainter>
|
||||
#include <QLabel>
|
||||
#include "pointlatlng.h"
|
||||
#include "mapgraphicitem.h"
|
||||
#include <QObject>
|
||||
#include <QPoint>
|
||||
#include "QDebug"
|
||||
#include "mavlink.h"
|
||||
|
||||
|
||||
//#include "propertyui.h"
|
||||
|
||||
|
||||
namespace mapcontrol {
|
||||
struct distBearingAltitude {
|
||||
double distance;
|
||||
double bearing;
|
||||
float altitudeRelative;
|
||||
double bearingToDegrees()
|
||||
{
|
||||
return bearing * 180 / M_PI;
|
||||
}
|
||||
void setBearingFromDegrees(double degrees)
|
||||
{
|
||||
bearing = degrees * M_PI / 180;
|
||||
}
|
||||
};
|
||||
|
||||
#ifdef QtopmapWidget
|
||||
#include <mapwidgetglobal.h>
|
||||
class OPMAPWIDGETSHARED_EXPORT HomeItem;
|
||||
#else
|
||||
class HomeItem;
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
* @brief A QGraphicsItem representing a WayPoint
|
||||
*
|
||||
* @class WayPointItem waypointitem.h "waypointitem.h"
|
||||
*/
|
||||
|
||||
#ifdef QtopmapWidget
|
||||
#include <mapwidgetglobal.h>
|
||||
class OPMAPWIDGETSHARED_EXPORT WayPointItem : public QObject, public QGraphicsItem {
|
||||
#else
|
||||
class WayPointItem : public QObject, public QGraphicsItem {
|
||||
#endif
|
||||
Q_OBJECT Q_INTERFACES(QGraphicsItem)
|
||||
|
||||
|
||||
//一个航点的属性
|
||||
typedef struct {
|
||||
float param1;
|
||||
float param2;
|
||||
float param3;
|
||||
float param4;
|
||||
int32_t x;
|
||||
int32_t y;
|
||||
float z;
|
||||
|
||||
uint16_t seq;
|
||||
uint16_t group;//多组航线
|
||||
|
||||
uint16_t command;
|
||||
uint8_t target_system;
|
||||
uint8_t target_component;
|
||||
uint8_t frame;
|
||||
uint8_t current;
|
||||
uint8_t autocontinue;
|
||||
uint8_t mission_type;
|
||||
}_property;
|
||||
|
||||
public:
|
||||
enum { Type = UserType + 1 };
|
||||
enum wptype { absolute, relative };
|
||||
|
||||
|
||||
WayPointItem(internals::PointLatLng const & coord, int const & altitude, MapGraphicItem *map, wptype type = absolute);
|
||||
WayPointItem(MapGraphicItem *map, bool magicwaypoint);
|
||||
WayPointItem(internals::PointLatLng const & coord, int const & altitude, QString const & description, MapGraphicItem *map, wptype type = absolute);
|
||||
WayPointItem(distBearingAltitude const & relativeCoord, QString const & description, MapGraphicItem *map);
|
||||
|
||||
QString Description()
|
||||
{
|
||||
return description;
|
||||
}
|
||||
void SetDescription(QString const & value);
|
||||
|
||||
|
||||
WayPointItem(const double &lat, const double &lng, const float &alt, MapGraphicItem *map);
|
||||
|
||||
|
||||
bool Reached()
|
||||
{
|
||||
return reached;
|
||||
}
|
||||
|
||||
void SetReached(bool const & value);
|
||||
|
||||
int Number()
|
||||
{
|
||||
return property.seq;
|
||||
}
|
||||
int numberAdjusted()
|
||||
{
|
||||
return property.seq + 1;
|
||||
}
|
||||
|
||||
void SetNumber(int const & value);
|
||||
|
||||
internals::PointLatLng Coord()
|
||||
{
|
||||
return coord;
|
||||
}
|
||||
|
||||
void SetCoord(internals::PointLatLng const & value);
|
||||
|
||||
bool ShowNumber()
|
||||
{
|
||||
return shownumber;
|
||||
}
|
||||
|
||||
void SetShowNumber(bool const & value);
|
||||
|
||||
float Altitude()
|
||||
{
|
||||
return altitude;
|
||||
}
|
||||
|
||||
void SetAltitude(const float &value);
|
||||
void setRelativeCoord(distBearingAltitude value);
|
||||
distBearingAltitude getRelativeCoord()
|
||||
{
|
||||
return relativeCoord;
|
||||
}
|
||||
int type() const;
|
||||
QRectF boundingRect() const;
|
||||
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
|
||||
QWidget *widget);
|
||||
QPixmap picture;
|
||||
void setFlag(GraphicsItemFlag flag, bool enabled);
|
||||
~WayPointItem();
|
||||
|
||||
static int snumber;
|
||||
|
||||
void setWPType(wptype type);
|
||||
wptype WPType()
|
||||
{
|
||||
return myType;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//=============属性=================
|
||||
void SetDefault(double lat, double lng, float alt, uint16_t seq);//默认属性
|
||||
|
||||
void SetParam1(float value);
|
||||
void SetParam2(float value);
|
||||
void SetParam3(float value);
|
||||
void SetParam4(float value);
|
||||
void SetLat(double value);
|
||||
void SetLng(double value);
|
||||
void SetAlt(float value);
|
||||
void SetSeq(uint16_t value);
|
||||
void SetCommand(uint16_t value);
|
||||
void SetGroup(uint16_t value);
|
||||
|
||||
|
||||
float Param1(void)
|
||||
{
|
||||
return property.param1;
|
||||
}
|
||||
|
||||
float Param2(void)
|
||||
{
|
||||
return property.param2;
|
||||
}
|
||||
|
||||
float Param3(void)
|
||||
{
|
||||
return property.param3;
|
||||
}
|
||||
|
||||
float Param4(void)
|
||||
{
|
||||
return property.param4;
|
||||
}
|
||||
|
||||
int32_t Lat(void)
|
||||
{
|
||||
return property.x;
|
||||
}
|
||||
|
||||
int32_t Lng(void)
|
||||
{
|
||||
return property.y;
|
||||
}
|
||||
|
||||
float Alt(void)
|
||||
{
|
||||
return property.z;
|
||||
}
|
||||
|
||||
uint16_t Seq(void)
|
||||
{
|
||||
return property.seq;
|
||||
}
|
||||
|
||||
uint16_t Command(void)
|
||||
{
|
||||
return property.command;
|
||||
}
|
||||
|
||||
uint8_t Frame(void)
|
||||
{
|
||||
return property.frame;
|
||||
}
|
||||
|
||||
uint8_t AutoContinue(void)
|
||||
{
|
||||
return property.autocontinue;
|
||||
}
|
||||
|
||||
uint16_t Group(void)
|
||||
{
|
||||
return property.group;
|
||||
}
|
||||
|
||||
bool FollowPrevious(void)
|
||||
{
|
||||
return isFollowPrevious;
|
||||
}
|
||||
|
||||
|
||||
double getElevation(void)
|
||||
{
|
||||
return Elevation;
|
||||
}
|
||||
|
||||
|
||||
protected:
|
||||
void mouseMoveEvent(QGraphicsSceneMouseEvent *event);
|
||||
void mousePressEvent(QGraphicsSceneMouseEvent *event);
|
||||
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
|
||||
void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
|
||||
private:
|
||||
|
||||
_property property;
|
||||
|
||||
bool isSimple = false;
|
||||
bool isEdit = false;
|
||||
bool isFollowPrevious = false;
|
||||
bool isCurrent = false;
|
||||
|
||||
internals::PointLatLng coord; // coordinates of this WayPoint
|
||||
|
||||
distBearingAltitude relativeCoord;
|
||||
bool reached;
|
||||
bool shownumber;
|
||||
bool isDragging;
|
||||
MapGraphicItem *map;
|
||||
int number;
|
||||
|
||||
QTransform transf;
|
||||
|
||||
|
||||
double Elevation = 0;
|
||||
bool isElevationRequest = false;
|
||||
bool isElevationLock = false;
|
||||
|
||||
public slots:
|
||||
|
||||
//这个地方还需要好好思考
|
||||
void WPSetEdit(bool value)
|
||||
{
|
||||
this->setFlag(QGraphicsItem::ItemIsMovable, value);
|
||||
isEdit = value;
|
||||
}
|
||||
|
||||
void WPSetCurrent(bool value)
|
||||
{
|
||||
if(isEdit == false)
|
||||
{
|
||||
if(isCurrent != value)
|
||||
{
|
||||
isCurrent = value;
|
||||
update();
|
||||
}
|
||||
}
|
||||
//update();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void setPosition(QPointF p);
|
||||
|
||||
void WPDeleted(int const & number, WayPointItem *waypoint);
|
||||
void WPRenumbered(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
|
||||
void WPInserted(int const & number, WayPointItem *waypoint);
|
||||
void onHomePositionChanged(internals::PointLatLng, float altitude);
|
||||
void RefreshPos();
|
||||
void setOpacitySlot(qreal opacity);
|
||||
|
||||
|
||||
void emitWPProperty(void);
|
||||
void setWPProperty(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 ElevationTrig(void);
|
||||
|
||||
void ElevationUpdate(QNetworkReply *reply);
|
||||
|
||||
signals:
|
||||
|
||||
void SetCurrent(int seq);
|
||||
|
||||
void WPFollowPrevious(bool flag,WayPointItem *waypoint);
|
||||
|
||||
|
||||
void WPProperty(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 WPChanged(int Number,double Lat,double Lng);
|
||||
void WPNumberChanged(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
|
||||
void WPValuesChanged(WayPointItem *waypoint);
|
||||
void waypointdoubleclick(WayPointItem *waypoint);
|
||||
void localPositionChanged(QPointF point, WayPointItem *waypoint);
|
||||
void manualCoordChange(WayPointItem *);
|
||||
void aboutToBeDeleted(WayPointItem *);
|
||||
|
||||
|
||||
void ElevationChanged(int seq,double value);
|
||||
void AltitudeChanged(int seq,double value);
|
||||
void setCurrentPoint(int value);
|
||||
friend class propertyui;
|
||||
|
||||
};
|
||||
}
|
||||
#endif // WAYPOINTITEM_H
|
||||
|
||||
Reference in New Issue
Block a user