修改航线为表格，并且支持csv格式
This commit is contained in:
@@ -99,7 +99,7 @@ MissionUI::MissionUI(QWidget *parent) :
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QFileDialog *dlg = new QFileDialog();
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QString fileName = dlg->getOpenFileName(this, tr("Selete Way Point File..."),
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"./plan/",
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tr("plan file (*.plan)"));
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tr("plan file (*.plan);;csv file(*.csv)"));
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if(!fileName.isEmpty())
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{
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emit WPLoad(fileName);
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@@ -110,7 +110,7 @@ MissionUI::MissionUI(QWidget *parent) :
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QFileDialog *dlg = new QFileDialog();
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QString fileName = dlg->getSaveFileName(this, tr("Selete Way Point File..."),
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"./plan/",
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tr("plan file (*.plan)"));
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tr("plan file (*.plan);;csv file(*.csv)"));
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if(!fileName.isEmpty())
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{
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emit WPSave(fileName);
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@@ -937,6 +937,7 @@ void MissionUI::pointCreate(float param1,float param2,float param3,float param4,
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if(command == 16)
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{
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/*
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QString par1Name;
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switch ((int)param1) {
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case 0:
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@@ -959,6 +960,10 @@ void MissionUI::pointCreate(float param1,float param2,float param3,float param4,
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}
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tableWidget->removeCellWidget(idx,2);
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tableWidget->setItem(idx,2,new QTableWidgetItem(par1Name));
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*/
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tableWidget->removeCellWidget(idx,2);
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tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
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}
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else if(command == 20)
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{
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+531
-309
@@ -2228,393 +2228,615 @@ void OPMapWidget::delFence(int group)
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//先清除再读取
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void OPMapWidget::WPLoad(QString path)//带文件目录参数
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{
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//fenceCount = 0;
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qDebug() << "WPLoad" << path;
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//读取
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QFile jsonFile(path);
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Unable to open file" << path << jsonFile.errorString();
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return;
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}
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QByteArray bytes = jsonFile.readAll();
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QString fileName, filePath,fileSuffix;
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QFileInfo fileInfo = QFileInfo(path);
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//文件名
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fileName = fileInfo.fileName();
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//文件后缀
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fileSuffix = fileInfo.suffix();
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//绝对路径
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filePath = fileInfo.absolutePath();
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jsonFile.close();
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QJsonParseError jsonParseError;
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QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
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if (jsonParseError.error != QJsonParseError::NoError) {
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qWarning() << path << "Unable to open json document" << jsonParseError.errorString();
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return;
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}
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//KT16的舵机情况 5ms之后，75% -40℃，80% 25℃，83% 60℃，70N·m；
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QJsonObject json = doc.object();
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if(currentGroup == 1)
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if(fileSuffix == "csv")
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{
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emit showMessage(tr("Load Geo Fence File :%1").arg(path));
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foreach(QGraphicsItem * i, map->childItems()) {
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geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
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if (w) {
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delete w;
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}
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//读取
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QFile csvFile(path);
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if (!csvFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Unable to open file" << path << csvFile.errorString();
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return;
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}
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foreach(QGraphicsItem * i, map->childItems()) {
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geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
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if (w) {
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delete w;
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}
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}
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QString bytes = csvFile.readAll();
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fenceCount = 1;
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QStringList infolist = bytes.split('\n');
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//栅栏解码
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QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
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for(QJsonValue item: polygonsArray) {
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//每个item是一个组
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QList<internals::PointLatLng> points;
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QList<QPointF> latlng;
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//获得边界
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bool inclusion = item.toObject().value("inclusion").toBool();
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QJsonArray polygon = item.toObject().value("polygon").toArray();
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int version = item.toObject().value("version").toInt();
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qreal lat_sum = 0;
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qreal lng_sum = 0;
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for (QJsonValue point: polygon) {
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qreal lat = point.toArray().at(0).toDouble();
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qreal lng = point.toArray().at(1).toDouble();
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//生成一个多边形
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points.push_back(internals::PointLatLng(lat,lng));
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lat_sum += lat;
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lng_sum += lng;
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latlng.push_back(QPointF(lat,lng));
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if(infolist.size() > 1)
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{
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emit showMessage(tr("Load Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
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//清除所有
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//删除一个组
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foreach(QGraphicsItem * i, map->childItems()) {
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WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
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if (w) {
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if(w->MissionType() == currentGroup)
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{
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emit WPDeleted(w->Number(), w);
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delete w;
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}
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}
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}
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internals::PointLatLng center;
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for (QString info:infolist) {
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center.SetLat(lat_sum/polygon.size());
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center.SetLng(lng_sum/polygon.size());
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geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
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polyitem->setPoints(points);
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emit createFencePolygon(fenceCount++,points.size(),inclusion,latlng);
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connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
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this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
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}
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QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
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for(QJsonValue item: circlesArray) {
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bool inclusion = item.toObject().value("inclusion").toBool();
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QJsonObject circle = item.toObject().value("circle").toObject();
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int version = item.toObject().value("version").toInt();
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QJsonArray center = circle.value("center").toArray();
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qreal lat = center.at(0).toDouble();
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qreal lng = center.at(1).toDouble();
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qreal radius = circle.value("radius").toDouble();
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//生成一个⚪
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geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
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emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
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connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
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this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
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}
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}
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else if(currentGroup >= 3)
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{
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emit showMessage(tr("Load Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
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//清除所有
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//删除一个组
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foreach(QGraphicsItem * i, map->childItems()) {
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WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
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if (w) {
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if(w->MissionType() == currentGroup)
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if(info == infolist.first())
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{
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emit WPDeleted(w->Number(), w);
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qDebug() << "title" << info;
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}
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else if(info != infolist.last())
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{
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QStringList p;
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if(info.contains('\t'))
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{
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p = info.split('\t');
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}
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else if(info.contains(' '))
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{
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p = info.split(' ');
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}
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else if(info.contains(','))
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{
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p = info.split(',');
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}
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if(p.size() >= 11)
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{
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uint8_t autocontinue = 1;//bool
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uint16_t command = QString(p.at(9)).toInt();
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uint16_t seq = QString(p.at(0)).toUInt();
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uint8_t frame = (QString(p.at(1)) == "abs")?(0):(1);
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//QJsonArray params = item.toObject().find("params").value().toArray();//array
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uint8_t mission_type = currentGroup;
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float param1 = QString(p.at(10)).toDouble();//cmd2
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float param2 = QString(p.at(7)).toDouble();//threshold
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float param3 = QString(p.at(6)).toDouble();//radius
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float param4 = QString(p.at(8)).toDouble();//speed
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int32_t x = QString(p.at(3)).toDouble() * 10e6;
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int32_t y = QString(p.at(4)).toDouble() * 10e6;
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float z = QString(p.at(5)).toDouble();
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internals::PointLatLng LatLng;
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LatLng.SetLat(x * 10e-8);
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LatLng.SetLng(y * 10e-8);
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qDebug() << "LatLng" << LatLng.Lat() << LatLng.Lng();
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WayPointItem *Item = WPCreate(LatLng,z);
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Item->SetNumber(seq);
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emit setWPProperty(param1,param2,param3,param4,
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x,y,z,
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seq,
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mission_type,//当前组
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command,
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0,
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0,
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frame,
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0,
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autocontinue,
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mission_type);
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Item->emitWPProperty();
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WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
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if(w_last)
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{
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WPLineCreate(w_last,Item,Qt::green,false,2);
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}
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}
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}
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}
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}
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}
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else if(fileSuffix == "plan")
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{
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//读取
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QFile jsonFile(path);
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Unable to open file" << path << jsonFile.errorString();
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return;
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}
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QByteArray bytes = jsonFile.readAll();
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jsonFile.close();
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QJsonParseError jsonParseError;
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QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
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if (jsonParseError.error != QJsonParseError::NoError) {
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qWarning() << path << "Unable to open json document" << jsonParseError.errorString();
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return;
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}
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QJsonObject json = doc.object();
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if(currentGroup == 1)
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{
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emit showMessage(tr("Load Geo Fence File :%1").arg(path));
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foreach(QGraphicsItem * i, map->childItems()) {
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geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
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if (w) {
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delete w;
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}
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}
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}
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//任务解码
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QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
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for(QJsonValue item: itemsArray) {
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if (!item.isObject()) {
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return;
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foreach(QGraphicsItem * i, map->childItems()) {
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geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
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if (w) {
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delete w;
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}
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}
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uint8_t AMSLAltAboveTerrain = item.toObject().find("AMSLAltAboveTerrain").value().toInt();
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uint8_t Altitude = item.toObject().find("Altitude").value().toDouble();
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uint8_t AltitudeMode = item.toObject().find("AltitudeMode").value().toInt();
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uint8_t autocontinue = item.toObject().find("autoContinue").value().toBool()?(1):(0);//bool
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uint16_t command = item.toObject().find("command").value().toInt();
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uint16_t seq = item.toObject().find("doJumpId").value().toInt();
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uint8_t frame = item.toObject().find("frame").value().toInt();
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QJsonArray params = item.toObject().find("params").value().toArray();//array
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//uint8_t mission_type = item.toObject().find("type").value().toInt();
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uint8_t mission_type = currentGroup;
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fenceCount = 1;
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float param1 = params.at(0).toDouble();
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float param2 = params.at(1).toDouble();
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float param3 = params.at(2).toDouble();
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float param4 = params.at(3).toDouble();
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int32_t x = params.at(4).toDouble() * 10e6;
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int32_t y = params.at(5).toDouble() * 10e6;
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float z = params.at(6).toDouble();
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//栅栏解码
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QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
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for(QJsonValue item: polygonsArray) {
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internals::PointLatLng LatLng;
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LatLng.SetLat(x * 10e-8);
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LatLng.SetLng(y * 10e-8);
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//每个item是一个组
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QList<internals::PointLatLng> points;
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QList<QPointF> latlng;
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//获得边界
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bool inclusion = item.toObject().value("inclusion").toBool();
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QJsonArray polygon = item.toObject().value("polygon").toArray();
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int version = item.toObject().value("version").toInt();
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qDebug() << "LatLng" << LatLng.Lat() << LatLng.Lng();
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qreal lat_sum = 0;
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qreal lng_sum = 0;
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WayPointItem *Item = WPCreate(LatLng,z);
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for (QJsonValue point: polygon) {
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qreal lat = point.toArray().at(0).toDouble();
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qreal lng = point.toArray().at(1).toDouble();
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Item->SetNumber(seq);
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//生成一个多边形
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points.push_back(internals::PointLatLng(lat,lng));
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emit setWPProperty(param1,param2,param3,param4,
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x,y,z,
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seq,
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mission_type,//当前组
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command,
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0,
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0,
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frame,
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0,
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autocontinue,
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mission_type);
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lat_sum += lat;
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lng_sum += lng;
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Item->emitWPProperty();
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latlng.push_back(QPointF(lat,lng));
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}
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internals::PointLatLng center;
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center.SetLat(lat_sum/polygon.size());
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center.SetLng(lng_sum/polygon.size());
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geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
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polyitem->setPoints(points);
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emit createFencePolygon(fenceCount++,points.size(),inclusion,latlng);
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connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
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this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
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}
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QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
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for(QJsonValue item: circlesArray) {
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bool inclusion = item.toObject().value("inclusion").toBool();
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QJsonObject circle = item.toObject().value("circle").toObject();
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int version = item.toObject().value("version").toInt();
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QJsonArray center = circle.value("center").toArray();
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qreal lat = center.at(0).toDouble();
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qreal lng = center.at(1).toDouble();
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qreal radius = circle.value("radius").toDouble();
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//生成一个⚪
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geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
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emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
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connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
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this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
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}
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}
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else if(currentGroup >= 3)
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{
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emit showMessage(tr("Load Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
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//清除所有
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//删除一个组
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foreach(QGraphicsItem * i, map->childItems()) {
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WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
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if (w) {
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if(w->MissionType() == currentGroup)
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{
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emit WPDeleted(w->Number(), w);
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delete w;
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}
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}
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}
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//任务解码
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QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
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for(QJsonValue item: itemsArray) {
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if (!item.isObject()) {
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return;
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}
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uint8_t AMSLAltAboveTerrain = item.toObject().find("AMSLAltAboveTerrain").value().toInt();
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uint8_t Altitude = item.toObject().find("Altitude").value().toDouble();
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uint8_t AltitudeMode = item.toObject().find("AltitudeMode").value().toInt();
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uint8_t autocontinue = item.toObject().find("autoContinue").value().toBool()?(1):(0);//bool
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uint16_t command = item.toObject().find("command").value().toInt();
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uint16_t seq = item.toObject().find("doJumpId").value().toInt();
|
||||
uint8_t frame = item.toObject().find("frame").value().toInt();
|
||||
QJsonArray params = item.toObject().find("params").value().toArray();//array
|
||||
//uint8_t mission_type = item.toObject().find("type").value().toInt();
|
||||
uint8_t mission_type = currentGroup;
|
||||
|
||||
float param1 = params.at(0).toDouble();
|
||||
float param2 = params.at(1).toDouble();
|
||||
float param3 = params.at(2).toDouble();
|
||||
float param4 = params.at(3).toDouble();
|
||||
int32_t x = params.at(4).toDouble() * 10e6;
|
||||
int32_t y = params.at(5).toDouble() * 10e6;
|
||||
float z = params.at(6).toDouble();
|
||||
|
||||
internals::PointLatLng LatLng;
|
||||
LatLng.SetLat(x * 10e-8);
|
||||
LatLng.SetLng(y * 10e-8);
|
||||
|
||||
qDebug() << "LatLng" << LatLng.Lat() << LatLng.Lng();
|
||||
|
||||
WayPointItem *Item = WPCreate(LatLng,z);
|
||||
|
||||
Item->SetNumber(seq);
|
||||
|
||||
emit setWPProperty(param1,param2,param3,param4,
|
||||
x,y,z,
|
||||
seq,
|
||||
mission_type,//当前组
|
||||
command,
|
||||
0,
|
||||
0,
|
||||
frame,
|
||||
0,
|
||||
autocontinue,
|
||||
mission_type);
|
||||
|
||||
|
||||
Item->emitWPProperty();
|
||||
|
||||
|
||||
|
||||
WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
|
||||
WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
|
||||
|
||||
if(w_last)
|
||||
{
|
||||
WPLineCreate(w_last,Item,Qt::green,false,2);
|
||||
if(w_last)
|
||||
{
|
||||
WPLineCreate(w_last,Item,Qt::green,false,2);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void OPMapWidget::WPSave(QString path)//带文件目录参数
|
||||
{
|
||||
qDebug() << "WPSave" << path;
|
||||
//保存到文件 *.plan,使用qgc的协议 json读写
|
||||
QJsonDocument *doc = new QJsonDocument();
|
||||
QJsonObject root= doc->object();
|
||||
|
||||
QJsonObject geoFence;
|
||||
QJsonObject mission;
|
||||
QJsonObject rallyPoints;
|
||||
|
||||
|
||||
if(currentGroup == 1)
|
||||
QString fileName, filePath,fileSuffix;
|
||||
QFileInfo fileInfo = QFileInfo(path);
|
||||
//文件名
|
||||
fileName = fileInfo.fileName();
|
||||
//文件后缀
|
||||
fileSuffix = fileInfo.suffix();
|
||||
//绝对路径
|
||||
filePath = fileInfo.absolutePath();
|
||||
|
||||
|
||||
|
||||
|
||||
//KT16的舵机情况 5ms之后，75% -40℃，80% 25℃，83% 60℃，70N·m；
|
||||
|
||||
if(fileSuffix == "csv")
|
||||
{
|
||||
//geoFence节点写入 （mission type == 1,2）
|
||||
//判断围栏数量大于0时写入，否则不写
|
||||
|
||||
emit showMessage(tr("Save Fence File:%1").arg(path));
|
||||
|
||||
QJsonArray circles;
|
||||
QJsonArray polygons;
|
||||
if(currentGroup == 1)
|
||||
{
|
||||
|
||||
}
|
||||
else if(currentGroup == 2)
|
||||
{
|
||||
|
||||
}
|
||||
else if(currentGroup >= 3)
|
||||
{
|
||||
emit showMessage(tr("Save Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
|
||||
|
||||
|
||||
QByteArray missions;
|
||||
missions.clear();
|
||||
|
||||
missions.append("index"); missions.append(',');
|
||||
missions.append("frame"); missions.append(',');
|
||||
missions.append("group"); missions.append(',');
|
||||
missions.append("latitude"); missions.append(',');
|
||||
missions.append("longitude"); missions.append(',');
|
||||
missions.append("altitude"); missions.append(',');
|
||||
missions.append("radius"); missions.append(',');
|
||||
missions.append("threshold"); missions.append(',');
|
||||
missions.append("speed"); missions.append(',');
|
||||
missions.append("cmd"); missions.append(',');
|
||||
missions.append("param"); missions.append('\n');
|
||||
|
||||
QMap<int,WayPointItem *> wlist;
|
||||
|
||||
foreach(QGraphicsItem * i, map->childItems()) {
|
||||
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
|
||||
if (w) {
|
||||
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
||||
if (w) {//逐渐往下增加
|
||||
if(w->MissionType() == currentGroup)
|
||||
{
|
||||
wlist.insert(w->Number(),w);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
QJsonArray polygon;
|
||||
QJsonObject polygonObj;
|
||||
for (QMap<int,WayPointItem *>::iterator i = wlist.begin(); i != wlist.end(); ++i) {
|
||||
|
||||
QList<internals::PointLatLng> points = w->points;
|
||||
WayPointItem *w = i.value();
|
||||
|
||||
for(internals::PointLatLng ll:points)
|
||||
if (w) {//逐渐往下增加
|
||||
if(w->Number()>0)
|
||||
{
|
||||
|
||||
QJsonArray latlng;
|
||||
latlng.append(ll.Lat());
|
||||
latlng.append(ll.Lng());
|
||||
missions.append(QString::number(w->Number())); missions.append(',');
|
||||
missions.append((w->Frame())?("rel"):("abs")); missions.append(',');
|
||||
missions.append(QString::number(currentGroup)); missions.append(',');
|
||||
missions.append(QString::number(w->Coord().Lat(),'f',8)); missions.append(',');
|
||||
missions.append(QString::number(w->Coord().Lng(),'f',8)); missions.append(',');
|
||||
missions.append(QString::number(w->Alt())); missions.append(',');
|
||||
missions.append(QString::number(w->Param3())); missions.append(',');
|
||||
missions.append(QString::number(w->Param2())); missions.append(',');
|
||||
missions.append(QString::number(w->Param4())); missions.append(',');
|
||||
missions.append(QString::number(w->Command())); missions.append(',');
|
||||
missions.append(QString::number(w->Param1())); missions.append('\n');
|
||||
|
||||
polygon.push_back(latlng);
|
||||
}
|
||||
}
|
||||
|
||||
polygonObj["inclusion"] = w->Inclusion();
|
||||
polygonObj["polygon"] = polygon;
|
||||
polygonObj["version"] = 1;
|
||||
QFile file(path);
|
||||
if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
|
||||
qDebug() << "File open error";
|
||||
}
|
||||
|
||||
file.write(missions);
|
||||
file.close();
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(fileSuffix == "plan")
|
||||
{
|
||||
//保存到文件 *.plan,使用qgc的协议 json读写
|
||||
QJsonDocument *doc = new QJsonDocument();
|
||||
QJsonObject root= doc->object();
|
||||
|
||||
QJsonObject geoFence;
|
||||
QJsonObject mission;
|
||||
QJsonObject rallyPoints;
|
||||
|
||||
|
||||
polygons.push_back(polygonObj);
|
||||
if(currentGroup == 1)
|
||||
{
|
||||
//geoFence节点写入 （mission type == 1,2）
|
||||
//判断围栏数量大于0时写入，否则不写
|
||||
|
||||
emit showMessage(tr("Save Fence File:%1").arg(path));
|
||||
|
||||
QJsonArray circles;
|
||||
QJsonArray polygons;
|
||||
{
|
||||
foreach(QGraphicsItem * i, map->childItems()) {
|
||||
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
|
||||
if (w) {
|
||||
|
||||
QJsonArray polygon;
|
||||
QJsonObject polygonObj;
|
||||
|
||||
QList<internals::PointLatLng> points = w->points;
|
||||
|
||||
for(internals::PointLatLng ll:points)
|
||||
{
|
||||
|
||||
QJsonArray latlng;
|
||||
latlng.append(ll.Lat());
|
||||
latlng.append(ll.Lng());
|
||||
|
||||
polygon.push_back(latlng);
|
||||
}
|
||||
|
||||
polygonObj["inclusion"] = w->Inclusion();
|
||||
polygonObj["polygon"] = polygon;
|
||||
polygonObj["version"] = 1;
|
||||
|
||||
|
||||
polygons.push_back(polygonObj);
|
||||
}
|
||||
}
|
||||
|
||||
foreach(QGraphicsItem * i, map->childItems()) {
|
||||
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
|
||||
if (w) {
|
||||
QJsonObject circle;
|
||||
QJsonObject circleObj;
|
||||
|
||||
|
||||
QJsonArray center;
|
||||
center.append(w->Latitude());
|
||||
center.append(w->Longitude());
|
||||
|
||||
double radius = w->Radius();
|
||||
|
||||
circle["center"] = center;
|
||||
circle["radius"] = radius;
|
||||
|
||||
|
||||
circleObj["inclusion"] = w->Inclusion();
|
||||
circleObj["circle"] = circle;
|
||||
circleObj["version"] = 1;
|
||||
|
||||
|
||||
circles.push_back(circleObj);
|
||||
}
|
||||
}
|
||||
}
|
||||
geoFence.insert("circles",circles);
|
||||
geoFence.insert("polygons",polygons);
|
||||
geoFence.insert("version",2);
|
||||
|
||||
}
|
||||
else if(currentGroup == 2)
|
||||
{
|
||||
//rallyPoints节点写入
|
||||
|
||||
QJsonArray points;
|
||||
rallyPoints.insert("points",points);
|
||||
rallyPoints.insert("version",2);
|
||||
|
||||
}
|
||||
else if(currentGroup >= 3)
|
||||
{
|
||||
emit showMessage(tr("Save Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
|
||||
|
||||
|
||||
QJsonArray items;
|
||||
|
||||
QJsonArray plannedHomePosition;
|
||||
|
||||
QMap<int,WayPointItem *> wlist;
|
||||
|
||||
foreach(QGraphicsItem * i, map->childItems()) {
|
||||
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
|
||||
if (w) {
|
||||
QJsonObject circle;
|
||||
QJsonObject circleObj;
|
||||
|
||||
|
||||
QJsonArray center;
|
||||
center.append(w->Latitude());
|
||||
center.append(w->Longitude());
|
||||
|
||||
double radius = w->Radius();
|
||||
|
||||
circle["center"] = center;
|
||||
circle["radius"] = radius;
|
||||
|
||||
|
||||
circleObj["inclusion"] = w->Inclusion();
|
||||
circleObj["circle"] = circle;
|
||||
circleObj["version"] = 1;
|
||||
|
||||
|
||||
circles.push_back(circleObj);
|
||||
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
||||
if (w) {//逐渐往下增加
|
||||
if(w->MissionType() == currentGroup)
|
||||
{
|
||||
wlist.insert(w->Number(),w);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
geoFence.insert("circles",circles);
|
||||
geoFence.insert("polygons",polygons);
|
||||
geoFence.insert("version",2);
|
||||
|
||||
}
|
||||
else if(currentGroup == 2)
|
||||
{
|
||||
//rallyPoints节点写入
|
||||
for (QMap<int,WayPointItem *>::iterator i = wlist.begin(); i != wlist.end(); ++i) {
|
||||
|
||||
QJsonArray points;
|
||||
rallyPoints.insert("points",points);
|
||||
rallyPoints.insert("version",2);
|
||||
WayPointItem *w = i.value();
|
||||
|
||||
}
|
||||
else if(currentGroup >= 3)
|
||||
{
|
||||
emit showMessage(tr("Save Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
|
||||
if (w) {//逐渐往下增加
|
||||
if(w->Number()>0)
|
||||
{
|
||||
|
||||
//存到items
|
||||
QJsonArray params;
|
||||
params.append(w->Param1());
|
||||
params.append(w->Param2());
|
||||
params.append(w->Param3());
|
||||
params.append(w->Param4());
|
||||
params.append(w->Coord().Lat());
|
||||
params.append(w->Coord().Lng());
|
||||
params.append(w->Alt());
|
||||
|
||||
QJsonArray items;
|
||||
//可能有点问题
|
||||
QJsonObject item;
|
||||
|
||||
QJsonArray plannedHomePosition;
|
||||
//如果这个点是指令，那么不会有高度信息
|
||||
|
||||
QMap<int,WayPointItem *> wlist;
|
||||
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
|
||||
|
||||
foreach(QGraphicsItem * i, map->childItems()) {
|
||||
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
|
||||
if (w) {//逐渐往下增加
|
||||
if(w->MissionType() == currentGroup)
|
||||
{
|
||||
wlist.insert(w->Number(),w);
|
||||
}
|
||||
}
|
||||
}
|
||||
item.insert("AMSLAltAboveTerrain",w->Alt());
|
||||
item.insert("Altitude",w->Alt());
|
||||
item.insert("AltitudeMode",2);
|
||||
}
|
||||
|
||||
for (QMap<int,WayPointItem *>::iterator i = wlist.begin(); i != wlist.end(); ++i) {
|
||||
item.insert("autoContinue",w->AutoContinue()?true:false);
|
||||
item.insert("command",w->Command());
|
||||
item.insert("doJumpId",w->Number());
|
||||
item.insert("frame",w->Frame());
|
||||
item.insert("params",params);
|
||||
item.insert("type",w->MissionType());
|
||||
|
||||
WayPointItem *w = i.value();
|
||||
|
||||
if (w) {//逐渐往下增加
|
||||
if(w->Number()>0)
|
||||
{
|
||||
|
||||
//存到items
|
||||
QJsonArray params;
|
||||
params.append(w->Param1());
|
||||
params.append(w->Param2());
|
||||
params.append(w->Param3());
|
||||
params.append(w->Param4());
|
||||
params.append(w->Coord().Lat());
|
||||
params.append(w->Coord().Lng());
|
||||
params.append(w->Alt());
|
||||
|
||||
//可能有点问题
|
||||
QJsonObject item;
|
||||
|
||||
//如果这个点是指令，那么不会有高度信息
|
||||
|
||||
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
|
||||
|
||||
item.insert("AMSLAltAboveTerrain",w->Alt());
|
||||
item.insert("Altitude",w->Alt());
|
||||
item.insert("AltitudeMode",2);
|
||||
items.append(item);
|
||||
}
|
||||
|
||||
item.insert("autoContinue",w->AutoContinue()?true:false);
|
||||
item.insert("command",w->Command());
|
||||
item.insert("doJumpId",w->Number());
|
||||
item.insert("frame",w->Frame());
|
||||
item.insert("params",params);
|
||||
item.insert("type",w->MissionType());
|
||||
|
||||
items.append(item);
|
||||
}
|
||||
|
||||
if(w->Number() == 1)
|
||||
{
|
||||
plannedHomePosition.append(w->Coord().Lat());
|
||||
plannedHomePosition.append(w->Coord().Lng());
|
||||
plannedHomePosition.append(w->Alt());
|
||||
if(w->Number() == 1)
|
||||
{
|
||||
plannedHomePosition.append(w->Coord().Lat());
|
||||
plannedHomePosition.append(w->Coord().Lng());
|
||||
plannedHomePosition.append(w->Alt());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
mission.insert("cruiseSpeed",2);
|
||||
mission.insert("firmwareType",0);
|
||||
mission.insert("hoverSpeed",2);
|
||||
mission.insert("items",items);
|
||||
mission.insert("plannedHomePosition",plannedHomePosition);
|
||||
mission.insert("vehicleType",1);
|
||||
mission.insert("version",2);
|
||||
}
|
||||
|
||||
mission.insert("cruiseSpeed",2);
|
||||
mission.insert("firmwareType",0);
|
||||
mission.insert("hoverSpeed",2);
|
||||
mission.insert("items",items);
|
||||
mission.insert("plannedHomePosition",plannedHomePosition);
|
||||
mission.insert("vehicleType",1);
|
||||
mission.insert("version",2);
|
||||
|
||||
|
||||
//根节点写入
|
||||
root.insert("fileType","Plan");
|
||||
root.insert("geoFence",geoFence);
|
||||
root.insert("groundStation","GCS_nf");
|
||||
root.insert("mission", mission);
|
||||
root.insert("rallyPoints", rallyPoints);
|
||||
root.insert("version", 1);
|
||||
|
||||
//设置文档
|
||||
doc->setObject(root);
|
||||
|
||||
//如果没有后缀名，那就追加
|
||||
if(path.right(5) != ".plan")
|
||||
{
|
||||
path.append(".plan");
|
||||
}
|
||||
|
||||
QFile file(path);
|
||||
if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
|
||||
qDebug() << "File open error";
|
||||
}
|
||||
|
||||
file.write(doc->toJson());
|
||||
file.close();
|
||||
}
|
||||
|
||||
|
||||
|
||||
//根节点写入
|
||||
root.insert("fileType","Plan");
|
||||
root.insert("geoFence",geoFence);
|
||||
root.insert("groundStation","GCS_nf");
|
||||
root.insert("mission", mission);
|
||||
root.insert("rallyPoints", rallyPoints);
|
||||
root.insert("version", 1);
|
||||
|
||||
//设置文档
|
||||
doc->setObject(root);
|
||||
|
||||
//如果没有后缀名，那就追加
|
||||
if(path.right(5) != ".plan")
|
||||
{
|
||||
path.append(".plan");
|
||||
}
|
||||
|
||||
QFile file(path);
|
||||
if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
|
||||
qDebug() << "File open error";
|
||||
}
|
||||
|
||||
file.write(doc->toJson());
|
||||
file.close();
|
||||
}
|
||||
|
||||
void OPMapWidget::WPDownload(void)
|
||||
|
||||
Reference in New Issue
Block a user