修改航点，添加属性，修改显示

App/mainwindow.cpp

@@ -93,12 +93,13 @@ MainWindow::MainWindow(QWidget *parent)
     connect(nav,SIGNAL(SizeChanged(QResizeEvent*)),
             this,SLOT(resizeEvent(QResizeEvent*)));
 
-   // connect(nav,&QNavigationWidget::SizeChanged,
-   //         this,&MainWindow::resizeEvent);
-
-
     copk = new Cockpit(this);
+
+    connect(copk,SIGNAL(SizeChanged(QResizeEvent*)),
+            this,SLOT(resizeEvent(QResizeEvent*)));
+
     copk->setGeometry(this->width() - copk->width(),0,300,340);
+    copk->show();
 
 
     //在quick load 之前注册即可
@@ -179,6 +180,7 @@ void MainWindow::resizeEvent(QResizeEvent *event)
     copk->setGeometry(this->width() - copk->width(),0,copk->width(),copk->height());
     quick->setGeometry(this->width() - quick->width(),copk->height(),quick->width(),this->height() - copk->height());
 
+    qDebug() << "resize";
 
     update();
 
@@ -345,20 +347,22 @@ void MainWindow::subui(QString arg)//子界面管理
 
 void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
 {
-    if((index == 0)||(index == 1))//隐藏
+    if((index == 0)||(index == 1)) map->show();
+    else                           map->hide();
+
+    if((index == 0))//隐藏
     {
-        map->show();
         copk->show();
         quick->show();
     }
     else
     {
-        map->hide();
         copk->hide();
         quick->hide();
     }
 
 
+
     if(index == 2) linkui->show();
     else           linkui->hide();
 

Cockpit/Cockpit.cpp

@@ -68,6 +68,7 @@ Cockpit::Cockpit(QWidget *parent): QWidget(parent)
 
     UpdateTimer->start(50);//50Hz
 
+
 }
 
 Cockpit::~Cockpit()
@@ -116,6 +117,29 @@ void Cockpit::wheelEvent(QWheelEvent *e)
     //update();
 }
 
+void Cockpit::resizeEvent(QResizeEvent *event)
+{
+    emit SizeChanged(event);
+}
+
+void Cockpit::hideEvent(QHideEvent *event)
+{
+    LastSize = this->size();
+    this->resize(0,LastSize.height());
+
+    QResizeEvent *e;
+    resizeEvent(e);
+}
+
+void Cockpit::showEvent(QShowEvent *event)
+{
+    this->resize(LastSize);
+    QResizeEvent *e;
+    resizeEvent(e);
+}
+
+
+
 void Cockpit::setPitch(double Pitch)
 {
         if(isnan(Pitch))

Cockpit/Cockpit.h

@@ -113,6 +113,8 @@ typedef struct{
 Q_SIGNALS:
     void errorSignal(int);
 
+    void SizeChanged(QResizeEvent *);
+
 public Q_SLOTS:
     void setPitch(qreal Pitch);
     void setRoll(qreal Roll);
@@ -133,7 +135,10 @@ protected:
     void mousePressEvent(QMouseEvent *e);
     void mouseDoubleClickEvent(QMouseEvent *e);
     void wheelEvent(QWheelEvent *e);
+    void resizeEvent(QResizeEvent *);
 
+    void hideEvent(QHideEvent *);
+    void showEvent(QShowEvent *);
 
     void paintEvent(QPaintEvent *);
 
@@ -159,6 +164,7 @@ private slots:
 
 private:
 
+    QSize LastSize;
 
     QTimer *UpdateTimer = nullptr;
 

MavLinkNode/MAVLinkInspector/MAVLinkInspector.cc

@@ -51,12 +51,13 @@ MAVLinkInspector::MAVLinkInspector(const QString& title, QAction* action,QWidget
 }
 
 
-void MAVLinkInspector::_vehicleAdded(quint32 id)
+void MAVLinkInspector::_vehicleAdded(quint32 m_sysid,quint32 m_compid)
 {
-    ui->systemComboBox->addItem(tr("Vehicle %1").arg(id), id);
+    ui->systemComboBox->addItem(tr("Vehicle %1").arg(m_sysid), m_sysid);
+    ui->componentComboBox->addItem(tr("Component %1").arg(m_compid), m_compid);
 
     // Add a tree for a new UAS
-    addUAStoTree(id);
+    addUAStoTree(m_sysid);
 }
 
 void MAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
@@ -274,9 +275,9 @@ void MAVLinkInspector::refreshView()
     }
 }
 
-void MAVLinkInspector::addUAStoTree(int sysId)
+void MAVLinkInspector::addUAStoTree(int m_sysid)
 {
-    if(!uasTreeWidgetItems.contains(sysId))
+    if(!uasTreeWidgetItems.contains(m_sysid))
     {
         // Add the UAS to the main tree after it has been created
         //Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(sysId);
@@ -284,12 +285,12 @@ void MAVLinkInspector::addUAStoTree(int sysId)
         {
             //UASInterface* uas = vehicle->uas();
             QStringList idstring;
-            idstring << QString("Vehicle %1").arg(sysId);//uas->getUASID());
+            idstring << QString("Vehicle %1").arg(m_sysid);//uas->getUASID());
             QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
             uasWidget->setFirstColumnSpanned(true);
-            uasTreeWidgetItems.insert(sysId,uasWidget);
+            uasTreeWidgetItems.insert(m_sysid,uasWidget);
             ui->treeWidget->addTopLevelItem(uasWidget);
-            uasMsgTreeItems.insert(sysId,new QMap<int, QTreeWidgetItem*>());
+            uasMsgTreeItems.insert(m_sysid,new QMap<int, QTreeWidgetItem*>());
         }
     }
 }

MavLinkNode/MAVLinkInspector/MAVLinkInspector.h

@@ -77,13 +77,13 @@ protected:
     /** @brief Rebuild the list of components */
     void rebuildComponentList();
     /* @brief Create a new tree for a new UAS */
-    void addUAStoTree(int sysId);
+    void addUAStoTree(int m_sysid);
 
     static const unsigned int updateInterval; ///< The update interval of the refresh function
     static const float updateHzLowpass; ///< The low-pass filter value for the frequency of each message
     
 private slots:
-    void _vehicleAdded(quint32 id);
+    void _vehicleAdded(quint32 m_sysid, quint32 m_compid);
 
 private:
     Ui::MAVLinkInspector *ui;

MavLinkNode/ParameterInspector/ParameterInspector.cpp

@@ -61,47 +61,30 @@ 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))
+    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);
+        }
     }
 
 
-        /*
-        foreach (QTreeWidgetItem* item, uasTopLevelItems)
+
+    //同时检查combox有没有，没有就添加
+    if(ui->componentComboBox->findText(tr("Comp %1").arg(compid)) == (-1))
     {
-             if(item->data(0,Qt::DisplayRole).toInt() == id)
-             {
-                 continue;
-             }
-             else
-             {
-                 QTreeWidgetItem* ite;
-
-                 ite->setData(0,Qt::DisplayRole,tr("Vehicle %1").arg(id));
-
-                 uasTopLevelItems.insert(id,ite);
+        ui->componentComboBox->addItem(tr("Comp %1").arg(compid), compid);
     }
 
 
-             qDebug() << item->data(0,Qt::DisplayRole);
-
-
-        }
-        */
-
-       // ui->treeWidget->addTopLevelItems(uasTopLevelItems);
-
-    }
 }
 
 
@@ -366,6 +349,7 @@ void ParameterInspector::on_ReadButton_clicked()
     uint8_t m_type = 0;
 
     m_sysid = ui->systemComboBox->currentData().toInt();
+    m_compid = ui->componentComboBox->currentData().toInt();
 
     emit ReadCmd(m_sysid,m_compid,m_type);
 }

MavLinkNode/ParameterInspector/ParameterInspector.h

@@ -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

@@ -307,7 +307,7 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
 void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
 {
         //用于给参数添加设备，便于读取
-        Parameter->paramInspect->addVehicles(msg.sysid);
+        Parameter->paramInspect->addVehicles(msg.sysid,msg.compid);
 
 
         switch (msg.msgid) {

MavLinkNode/parameterprocess.cpp

@@ -276,7 +276,7 @@ void ParameterProcess::ReadStateMachine(void)//一整列
    }
 }
 
-//写航线状态机
+//写状态机
 void ParameterProcess::WriteStateMachine(void)
 {
    static uint8_t step = 0;

opmap/mapwidget/mapwidget.pro

@@ -66,6 +66,18 @@ FORMS += \
 
 INCLUDEPATH += $$PWD/../../thirdpart/include
 
+#添加mavlink目录
+INCLUDEPATH += $$PWD/../../mavlink \
+               $$PWD/../../mavlink/ardupilotmega \
+               $$PWD/../../mavlink/common \
+               $$PWD/../../mavlink/icarous \
+               $$PWD/../../mavlink/uAvionix \
+               $$PWD/../../mavlink/XYK \
+               $$PWD/../../mavlink/message_definitions
+
+
+
+
 LIBS += -L$$PWD/../../thirdpart/lib -lcore
 LIBS += -L$$PWD/../../thirdpart/lib -linternals
 

opmap/mapwidget/opmapwidget.cpp

@@ -252,17 +252,6 @@ void OPMapWidget::mouseMoveEvent(QMouseEvent *event)
 void OPMapWidget::mousePressEvent(QMouseEvent *event)
 {
     QGraphicsView::mousePressEvent(event);
-
-    QPointF p = event->pos();
-
-    p = map->mapFromParent(p);
-
-    internals::PointLatLng LatLng;
-
-    LatLng = map->FromLocalToLatLng(p.x(), p.y());
-
-    qDebug() << "OPMapWidget" << QString::number(LatLng.Lat(),'f',8) << QString::number(LatLng.Lng(),'f',8);
-
     emit MousePressEvent(event);
 }
 
@@ -275,6 +264,25 @@ void OPMapWidget::mouseReleaseEvent(QMouseEvent *event)
 void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
 {
     QGraphicsView::mouseDoubleClickEvent(event);
+
+    QPointF p = event->pos();
+
+    p = map->mapFromParent(p);
+
+    internals::PointLatLng LatLng;
+
+    LatLng = map->FromLocalToLatLng(p.x(), p.y());
+
+    qDebug() << "OPMapWidget" << QString::number(LatLng.Lat(),'f',8) << QString::number(LatLng.Lng(),'f',8);
+
+
+    WPCreate(LatLng,0);
+
+
+
+
+
+
     emit MouseDoubleClickEvent(event);
 }
 

opmap/mapwidget/opmapwidget.h

@@ -45,6 +45,12 @@
 #include "waypointline.h"
 #include "waypointcircle.h"
 #include "waypointitem.h"
+
+
+
+#include "mavlink.h"
+
+
 namespace mapcontrol {
 
 #ifdef QtopmapWidget

opmap/mapwidget/waypointitem.cpp

@@ -29,161 +29,29 @@
 #include <QGraphicsSceneMouseEvent>
 
 namespace mapcontrol {
-WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(""), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
+WayPointItem::WayPointItem(double  const &lat, double  const &lng, float const &alt, MapGraphicItem *map) : isDragging(true), map(map)
 {
-    text    = 0;
-    numberI = 0;
-    isMagic = false;
-    picture.load(QString::fromUtf8(":/markers/images/marker.png"));
-    number  = WayPointItem::snumber;
-    ++WayPointItem::snumber;
+
+    parpertys.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;//默认为航点
+    parpertys.x = lat;
+    parpertys.y = lng;
+    parpertys.z = alt;
+
+
     this->setFlag(QGraphicsItem::ItemIsMovable, true);
     this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
     this->setFlag(QGraphicsItem::ItemIsSelectable, true);
-    SetShowNumber(shownumber);
-    RefreshToolTip();
+
     RefreshPos();
-    myHome = NULL;
-    QList<QGraphicsItem *> list = map->childItems();
-    foreach(QGraphicsItem * obj, list) {
-        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
 
-        if (h) {
-            myHome = h;
-        }
-    }
 
-    if (myHome) {
-        map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
-        relativeCoord.altitudeRelative = Altitude() - myHome->Altitude();
-        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
-    }
     connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
     emit manualCoordChange(this);
     connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 }
 
-WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint) : reached(false), description(""), shownumber(true), isDragging(false), altitude(0), map(map)
-{
-    relativeCoord.bearing  = 0;
-    relativeCoord.distance = 0;
-    relativeCoord.altitudeRelative = 0;
-    myType = relative;
-    if (magicwaypoint) {
-        isMagic = true;
-        picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
-        number  = -1;
-    } else {
-        isMagic = false;
-        number  = WayPointItem::snumber;
-        ++WayPointItem::snumber;
-    }
-    text    = 0;
-    numberI = 0;
-    this->setFlag(QGraphicsItem::ItemIsMovable, true);
-    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
-    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
-    SetShowNumber(shownumber);
-    RefreshToolTip();
-    RefreshPos();
-    myHome = NULL;
-    QList<QGraphicsItem *> list = map->childItems();
-    foreach(QGraphicsItem * obj, list) {
-        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
 
-        if (h) {
-            myHome = h;
-        }
-    }
-
-    if (myHome) {
-        coord = map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing);
-        SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
-        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
-    }
-    connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
-    emit manualCoordChange(this);
-    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
-    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
-}
-WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude, const QString &description, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(description), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
-{
-    text    = 0;
-    numberI = 0;
-    isMagic = false;
-    picture.load(QString::fromUtf8(":/markers/images/marker.png"));
-    number  = WayPointItem::snumber;
-    ++WayPointItem::snumber;
-    this->setFlag(QGraphicsItem::ItemIsMovable, true);
-    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
-    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
-    SetShowNumber(shownumber);
-    RefreshToolTip();
-    RefreshPos();
-    myHome = NULL;
-    QList<QGraphicsItem *> list = map->childItems();
-    foreach(QGraphicsItem * obj, list) {
-        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
-
-        if (h) {
-            myHome = h;
-        }
-    }
-    if (myHome) {
-        map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
-        relativeCoord.altitudeRelative = Altitude() - myHome->Altitude();
-        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
-    }
-    connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
-    emit manualCoordChange(this);
-    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
-    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
-}
-
-WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate, const QString &description, MapGraphicItem *map) : relativeCoord(relativeCoordenate), reached(false), description(description), shownumber(true), isDragging(false), map(map)
-{
-    myHome = NULL;
-    QList<QGraphicsItem *> list = map->childItems();
-    foreach(QGraphicsItem * obj, list) {
-        HomeItem *h = qgraphicsitem_cast <HomeItem *>(obj);
-
-        if (h) {
-            myHome = h;
-        }
-    }
-    if (myHome) {
-        connect(myHome, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(onHomePositionChanged(internals::PointLatLng, float)));
-        coord = map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing);
-        SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
-    }
-    myType  = relative;
-    text    = 0;
-    numberI = 0;
-    isMagic = false;
-    picture.load(QString::fromUtf8(":/markers/images/marker.png"));
-    number  = WayPointItem::snumber;
-    ++WayPointItem::snumber;
-    this->setFlag(QGraphicsItem::ItemIsMovable, true);
-    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
-    this->setFlag(QGraphicsItem::ItemIsSelectable, true);
-    SetShowNumber(shownumber);
-    RefreshToolTip();
-    RefreshPos();
-    connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
-    emit manualCoordChange(this);
-    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
-    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
-}
-
-void WayPointItem::setWPType(wptype type)
-{
-    myType = type;
-    emit WPValuesChanged(this);
-    RefreshPos();
-    RefreshToolTip();
-    this->update();
-}
 
 QRectF WayPointItem::boundingRect() const
 {
@@ -209,16 +77,6 @@ void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
 void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
 {
     if (event->button() == Qt::LeftButton) {
-        text   = new QGraphicsSimpleTextItem(this);
-        textBG = new QGraphicsRectItem(this);
-
-        textBG->setBrush(Qt::white);
-
-        text->setPen(QPen(Qt::black));
-        text->setPos(10, -picture.height());
-        textBG->setPos(10, -picture.height());
-        text->setZValue(3);
-        RefreshToolTip();
         isDragging = true;
     }
     QGraphicsItem::mousePressEvent(event);
@@ -226,18 +84,7 @@ void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
 void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
 {
     if (event->button() == Qt::LeftButton) {
-        if (text) {
-            delete text;
-            text = NULL;
-        }
-        if (textBG) {
-            delete textBG;
-            textBG = NULL;
-        }
-
         isDragging = false;
-        RefreshToolTip();
-
 
         emit manualCoordChange(this);
         emit localPositionChanged(this->pos(), this);
@@ -252,13 +99,6 @@ void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
 {
     if (isDragging) {
         coord = map->FromLocalToLatLng(this->pos().x(), this->pos().y());
-        QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
-        if (myHome) {
-            map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
-        }
-        QString relativeCoord_str =QString::number(relativeCoord.distance) + "m " + QString::number(relativeCoord.bearing * 180 / M_PI) + "deg";
-        text->setText(coord_str + "\n" + relativeCoord_str);
-        textBG->setRect(text->boundingRect());
         emit localPositionChanged(this->pos(), this);
         emit WPValuesChanged(this);
     }
@@ -266,14 +106,6 @@ void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
 }
 void WayPointItem::SetAltitude(const float &value)
 {
-    if (altitude == value) {
-        return;
-    }
-    altitude = value;
-    if (myHome) {
-        relativeCoord.altitudeRelative = altitude - myHome->Altitude();
-    }
-    RefreshToolTip();
     emit WPValuesChanged(this);
     this->update();
 }
@@ -285,10 +117,7 @@ void WayPointItem::setRelativeCoord(distBearingAltitude value)
         return;
     }
     relativeCoord = value;
-    if (myHome) {
-        SetCoord(map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing));
-        SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
-    }
+
     RefreshPos();
     RefreshToolTip();
     emit WPValuesChanged(this);
@@ -302,12 +131,7 @@ void WayPointItem::SetCoord(const internals::PointLatLng &value)
     }
     coord = value;
     distBearingAltitude back = relativeCoord;
-    if (myHome) {
-        map->Projection()->offSetFromLatLngs(myHome->Coord(), Coord(), back.distance, back.bearing);
-    }
-    if (qAbs(back.bearing - relativeCoord.bearing) > 0.01 || qAbs(back.distance - relativeCoord.distance) > 0.1) {
-        relativeCoord = back;
-    }
+
     emit WPValuesChanged(this);
     RefreshPos();
     RefreshToolTip();
@@ -315,10 +139,10 @@ void WayPointItem::SetCoord(const internals::PointLatLng &value)
 }
 void WayPointItem::SetDescription(const QString &value)
 {
-    if (description == value) {
-        return;
-    }
-    description = value;
+    //if (description == value) {
+     //   return;
+   // }
+    //description = value;
     RefreshToolTip();
     emit WPValuesChanged(this);
     this->update();
@@ -328,9 +152,6 @@ void WayPointItem::SetNumber(const int &value)
     int oldnumber = number;
 
     number = value;
-    RefreshToolTip();
-    numberI->setText(QString::number(numberAdjusted()));
-    numberIBG->setRect(numberI->boundingRect().adjusted(-2, 0, 1, 0));
     this->update();
     emit WPNumberChanged(oldnumber, value, this);
 }
@@ -356,21 +177,6 @@ void WayPointItem::SetReached(const bool &value)
 void WayPointItem::SetShowNumber(const bool &value)
 {
     shownumber = value;
-    if ((numberI == 0) && value) {
-        numberI   = new QGraphicsSimpleTextItem(this);
-        numberIBG = new QGraphicsRectItem(this);
-        numberIBG->setBrush(Qt::white);
-        numberIBG->setOpacity(0.5);
-        numberI->setZValue(3);
-        numberI->setPen(QPen(Qt::blue));
-        numberI->setPos(0, -13 - picture.height());
-        numberIBG->setPos(0, -13 - picture.height());
-        numberI->setText(QString::number(numberAdjusted()));
-        numberIBG->setRect(numberI->boundingRect().adjusted(-2, 0, 1, 0));
-    } else if (!value && numberI) {
-        delete numberI;
-        delete numberIBG;
-    }
     this->update();
 }
 void WayPointItem::WPDeleted(const int &onumber, WayPointItem *waypoint)
@@ -396,20 +202,7 @@ void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
 
 void WayPointItem::onHomePositionChanged(internals::PointLatLng homepos, float homeAltitude)
 {
-    if (myType == relative) {
-        coord = map->Projection()->translate(homepos, relativeCoord.distance, relativeCoord.bearing);
-        SetAltitude(relativeCoord.altitudeRelative + homeAltitude);
-        emit WPValuesChanged(this);
-        RefreshPos();
-        RefreshToolTip();
-        this->update();
-    } else {
-        if (myHome) {
-            map->Projection()->offSetFromLatLngs(myHome->Coord(), coord, relativeCoord.distance, relativeCoord.bearing);
-            relativeCoord.altitudeRelative = Altitude() - homeAltitude;
-        }
-        emit WPValuesChanged(this);
-    }
+
 }
 
 void WayPointItem::WPRenumbered(const int &oldnumber, const int &newnumber, WayPointItem *waypoint)
@@ -450,25 +243,12 @@ void WayPointItem::setOpacitySlot(qreal opacity)
 }
 void WayPointItem::RefreshToolTip()
 {
-    QString type_str;
 
-    if (myType == relative) {
-        type_str = "Relative";
-    } else {
-        type_str = "Absolute";
-    }
-    QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
-    QString relativeCoord_str    = " Distance:" + QString::number(relativeCoord.distance) + " Bearing:" + QString::number(relativeCoord.bearing * 180 / M_PI);
-    QString relativeAltitude_str = QString::number(relativeCoord.altitudeRelative);
-    if (Number() != -1) {
-        setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nFrom Home:%5\nRelative altitude:%6\nAltitude:%7\nType:%8\n%9").arg(QString::number(numberAdjusted())).arg(description).arg(coord_str).arg(relativeCoord_str).arg(relativeAltitude_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
-    } else {
-        setToolTip(QString("Magic WayPoint\nCoordinate:%1\nFrom Home:%2\nAltitude:%3\nType:%4\n%5").arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
-    }
 }
 
 void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
 {
+    /*
     if (isMagic) {
         QGraphicsItem::setFlag(flag, enabled);
         return;
@@ -479,6 +259,7 @@ void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
             picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
         }
     }
+    */
     QGraphicsItem::setFlag(flag, enabled);
 }
 
@@ -490,27 +271,6 @@ int WayPointItem::snumber = 0;
 
 
 
-/*
-
- float param1;
- float param2;
- float param3;
- float param4;
- int32_t x;   PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7*
- int32_t y;   PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
- float z;     PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
- uint16_t seq;  Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4)
- uint16_t command; /*<  The scheduled action for the waypoint.
- uint8_t target_system; /*<  System ID*
- uint8_t target_component; /*<  Component ID*
- uint8_t frame; /*<  The coordinate system of the waypoint.
- uint8_t current; /*<  false:0, true:1
- uint8_t autocontinue; /*<  Autocontinue to next waypoint
- uint8_t mission_type; /*<  Mission type.
-
-*/
-
-
 
 
 

opmap/mapwidget/waypointitem.h

@@ -70,67 +70,46 @@ class OPMAPWIDGETSHARED_EXPORT WayPointItem : public QObject, public QGraphicsIt
 #else
 class WayPointItem : public QObject, public QGraphicsItem {
 #endif
-
     Q_OBJECT Q_INTERFACES(QGraphicsItem)
-public:
-    enum { Type = UserType + 1 };
-    enum wptype { absolute, relative };
-    /**
-     * @brief Constructer
-     *
-     * @param coord coordinates in LatLng of the Waypoint
-     * @param altitude altitude of the WayPoint
-     * @param map pointer to map to use
-     * @return
-     */
-    WayPointItem(internals::PointLatLng const & coord, int const & altitude, MapGraphicItem *map, wptype type = absolute);
-    WayPointItem(MapGraphicItem *map, bool magicwaypoint);
-    /**
-     * @brief Constructer
-     *
-     * @param coord coordinates in LatLng of the WayPoint
-     * @param altitude altitude of the WayPoint
-     * @param description description fo the WayPoint
-     * @param map pointer to map to use
-     * @return
-     */
-    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);
 
-    /**
-     * @brief Returns the WayPoint description
-     *
-     * @return QString
-     */
-    QString Description()
-    {
-        return description;
-    }
-    /**
-     * @brief Sets the WayPoint description
-     *
-     * @param value
-     */
-    void SetDescription(QString const & value);
-    /**
-     * @brief Returns true if WayPoint is Reached
-     *
-     * @return bool
-     */
+
+    //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:
+
+
+    WayPointItem(const double &lat, const double &lng, const float &alt, MapGraphicItem *map);
+
+
+
+
     bool Reached()
     {
         return reached;
     }
-    /**
-     * @brief  Sets if WayPoint is Reached
-     *
-     * @param value
-     */
+
     void SetReached(bool const & value);
-    /**
-     * @brief Returns the WayPoint number
-     *
-     */
+
     int Number()
     {
         return number;
@@ -139,54 +118,25 @@ public:
     {
         return number + 1;
     }
-    /**
-     * @brief Sets WayPoint number
-     *
-     * @param value
-     */
+
     void SetNumber(int const & value);
-    /**
-     * @brief Returns WayPoint LatLng coordinate
-     *
-     */
+
     internals::PointLatLng Coord()
     {
-        return coord;
+        return 0;//coord;
     }
-    /**
-     * @brief  Sets WayPoint LatLng coordinate
-     *
-     * @param value
-     */
+
     void SetCoord(internals::PointLatLng const & value);
-    /**
-     * @brief Used if WayPoint number is to be drawn on screen
-     *
-     */
+
     bool ShowNumber()
     {
         return shownumber;
     }
-    /**
-     * @brief  Used to set if WayPoint number is to be drawn on screen
-     *
-     * @param value
-     */
+
     void SetShowNumber(bool const & value);
-    /**
-     * @brief Returns the WayPoint altitude
-     *
-     * @return int
-     */
-    float Altitude()
-    {
-        return altitude;
-    }
-    /**
-     * @brief Sets the WayPoint Altitude
-     *
-     * @param value
-     */
+
+
+
     void SetAltitude(const float &value);
     void setRelativeCoord(distBearingAltitude value);
     distBearingAltitude getRelativeCoord()
@@ -197,113 +147,43 @@ public:
     QRectF boundingRect() const;
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
                QWidget *widget);
-    void RefreshToolTip();
     QPixmap picture;
-    QString customString()
-    {
-        return myCustomString;
-    }
-    void setCustomString(QString arg)
-    {
-        myCustomString = arg;
-    }
     void setFlag(GraphicsItemFlag flag, bool enabled);
     ~WayPointItem();
 
     static int snumber;
-    void setWPType(wptype type);
-    wptype WPType()
-    {
-        return myType;
-    }
+
 protected:
     void mouseMoveEvent(QGraphicsSceneMouseEvent *event);
     void mousePressEvent(QGraphicsSceneMouseEvent *event);
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
     void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
 private:
-    internals::PointLatLng coord; // coordinates of this WayPoint
-
-    typedef struct {
-          float  altitude;//相对海拔
-          float  velocity;//当前点速度
-          float  radiu;//半径
-          qint8  action;//动作
-    }_waypoint;
-
-
 
+    _property parpertys;
 
     distBearingAltitude relativeCoord;
     bool reached;
-    QString description;
     bool shownumber;
     bool isDragging;
-    float altitude;
     MapGraphicItem *map;
     int number;
-    bool isMagic;
 
-    QGraphicsSimpleTextItem *text;
-    QGraphicsRectItem *textBG;
-    QGraphicsSimpleTextItem *numberI;
-    QGraphicsRectItem *numberIBG;
+
     QTransform transf;
-    HomeItem *myHome;
-    wptype myType;
-    QString myCustomString;
 
 public slots:
-    /**
-     * @brief Called when a WayPoint is deleted
-     *
-     * @param number number of the WayPoint that was deleted
-     */
-    void WPDeleted(int const & number, WayPointItem *waypoint);
-    /**
-     * @brief Called when a WayPoint is renumbered
-     *
-     * @param oldnumber the old  WayPoint number
-     * @param newnumber the new WayPoint number
-     * @param waypoint a pointer to the WayPoint renumbered
-     */
-    void WPRenumbered(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
-    /**
-     * @brief Called when a  WayPoint is inserted
-     *
-     * @param number the number of the  WayPoint
-     * @param waypoint  a pointer to the WayPoint inserted
-     */
-    void WPInserted(int const & number, WayPointItem *waypoint);
 
+    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);
 signals:
 
-    /**
-     *
-     * @brief fires when this WayPoint Value changes
-     *
-     */
     void WPChanged(int Number,double Lat,double Lng);
-
-
-    /**
-     * @brief fires when this WayPoint number changes (not fired if due to a auto-renumbering)
-     *
-     * @param oldnumber this WayPoint old number
-     * @param newnumber this WayPoint new number
-     * @param waypoint a pointer to this WayPoint
-     */
     void WPNumberChanged(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
-
-    /**
-     * @brief Fired when the description, altitude or coordinates change
-     *
-     * @param waypoint a pointer to this WayPoint
-     */
-
     void WPValuesChanged(WayPointItem *waypoint);
     void waypointdoubleclick(WayPointItem *waypoint);
     void localPositionChanged(QPointF point, WayPointItem *waypoint);