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跟航点有互动，但是还存在缺陷

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2020-04-28 18:19:58 +08:00
parent a6e19c7add
commit e313817ac4
5 changed files with 119 additions and 38 deletions
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opmap/mapwidget/opmapwidget.cpp
+7
View File
@@ -555,6 +555,13 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
connect(this, SIGNAL(WPNumberChanged(int, int, WayPointItem *)), item, SLOT(WPRenumbered(int, int, WayPointItem *)), Qt::DirectConnection);
connect(this, SIGNAL(WPDeleted(int, WayPointItem *)), item, SLOT(WPDeleted(int, WayPointItem *)), Qt::DirectConnection);
connect(item,SIGNAL(WPChanged(int,double,double)),this,SIGNAL(WPChanged(int,double,double)));
connect(item, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
p_ui, SLOT(setWayPointProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));
connect(p_ui, SIGNAL(WayPointPropertyChanged(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
item, SLOT(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));
}
opmap/mapwidget/propertyui.cpp
+38 -19
View File
@@ -252,7 +252,9 @@ void propertyui::rebuildUI(QString CMD)
}
//重新载入UI
ui->label_Seq->setText(QString::number(m_seq));
ui->label_Descript->setText(description());
//根据showDetails设置显示
if(isShowDetails == true)
{
@@ -268,7 +270,6 @@ void propertyui::rebuildUI(QString CMD)
//一个一个设置
//清除所有
clearLayout(ui->frame_Param->layout());
for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
{
MissionCmdParamInfo* i = item.value();
@@ -297,8 +298,6 @@ void propertyui::rebuildUI(QString CMD)
ui->frame_Param->layout()->addWidget(param);
connect(param,SIGNAL(textChanged(QString)),
this,SLOT(WayPointPropertyUpdate()));
}
}
}
@@ -413,23 +412,12 @@ void propertyui::WayPointPropertyUpdate(void)
}
}
emit WayPointPropertyChanged(m_param1,m_param2,m_param3,m_param4,
m_x,m_y,m_z,
m_seq,m_group,m_command,
m_target_system,m_target_component,
m_frame,m_current,m_autocontinue,m_mission_type);
qDebug() << m_param1
<< m_param2
<< m_param3
<< m_param4
<< m_x
<< m_y
<< m_z
<< m_seq
<< m_group
<< m_command
<< m_target_system
<< m_target_component
<< m_frame
<< m_current
<< m_autocontinue
<< m_mission_type ;
}
@@ -468,6 +456,37 @@ void propertyui::setWayPointProperty(float param1,float param2,float param3,floa
m_current = current;
m_autocontinue = autocontinue;
m_mission_type = mission_type;
for(QJsonValue info: MAV_CMD_infoArray) {
if (!info.isObject()) {
return;
}
if(info.toObject().value(_idJsonKey).toInt() == m_command)
{
ui->comboBox_friendlyName->setCurrentText(info.toObject().value(_friendlyNameJsonKey).toString());
rebuildUI(info.toObject().value(_friendlyNameJsonKey).toString());
}
}
qDebug() << m_param1
<< m_param2
<< m_param3
<< m_param4
<< m_x
<< m_y
<< m_z
<< m_seq
<< m_group
<< m_command
<< m_target_system
<< m_target_component
<< m_frame
<< m_current
<< m_autocontinue
<< m_mission_type ;
}
opmap/mapwidget/propertyui.h
+6 -6
View File
@@ -194,6 +194,12 @@ public:
void _loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList);
bool loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObject, QString& errorString);
public slots:
void setWayPointProperty(float param1,float param2,float param3,float param4,
int32_t x,int32_t y,float z,
uint16_t seq,
@@ -206,12 +212,6 @@ public:
uint8_t autocontinue,
uint8_t mission_type);
public slots:
//void editProperty(QString pro);
Q_SIGNALS:
opmap/mapwidget/waypointitem.cpp
+43 -12
View File
@@ -239,7 +239,17 @@ void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
emit WPChanged(this->Number(),Coord().Lat(),Coord().Lng());
//发送航点的属性
emit WPProperty(property.param1,property.param2,property.param3,property.param4,
property.x,property.y,property.z,
property.seq,
property.group,
property.command,
property.target_system,
property.target_component,
property.frame,
property.current,
property.autocontinue,
property.mission_type);
}
QGraphicsItem::mouseReleaseEvent(event);
}
@@ -457,6 +467,38 @@ void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
//=============属性设置=================
void WayPointItem::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)
{
if(seq == (number - 1))
{
property.param1 = param1;
property.param2 = param2;
property.param3 = param3;
property.param4 = param4;
property.x = x;
property.y = y;
property.z = z;
property.seq = seq;
property.group = group;
property.command = command;
property.frame = frame;
property.current = current;
property.autocontinue = autocontinue;
property.mission_type = mission_type;
}
}
void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
{
property.param1 = 100;
@@ -537,14 +579,3 @@ int WayPointItem::snumber = 0;
opmap/mapwidget/waypointitem.h
+25 -1
View File
@@ -291,8 +291,32 @@ public slots:
void onHomePositionChanged(internals::PointLatLng, float altitude);
void RefreshPos();
void setOpacitySlot(qreal opacity);
signals:
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);
signals:
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);