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This commit is contained in:
hm
2022-06-07 17:48:52 +08:00
parent 933492f791
commit eba4a2c339
26 changed files with 1226 additions and 945 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opmap/mapwidget/opmapwidget.cpp
+297 -373
View File
@@ -98,6 +98,10 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
// WPnearPoint
connect(waypointsetting,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)));
connect(waypointsetting,SIGNAL(WPnearPoint(int)),
this,SLOT(WPnearPoint(int)));
@@ -129,6 +133,12 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
this,SLOT(WPsearchall()));
*/
connect(waypointsetting,SIGNAL(UAVShowTip(bool)),
this,SLOT(UAVTip_clicked(bool)));
connect(waypointsetting,SIGNAL(WPRuler()),
this,SLOT(ruler_clicked()));
@@ -152,8 +162,8 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
point_begin.SetLat(0);
point_begin.SetLng(0);
point_end.SetLat(0);
point_end.SetLng(0);
point_end.SetLat(1);
point_end.SetLng(1);
measureline = new MeasureLine(point_begin, point_end, map, QColor("#FFFF00"));
mscene.addItem(measureline);
@@ -197,6 +207,19 @@ void OPMapWidget::dropEvent(QDropEvent *event)
}
}
void OPMapWidget::UAVTip_clicked(bool flag)
{
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
u->setShowTip(flag);
}
}
}
void OPMapWidget::ruler_clicked(void)
{
if(isMeasure)
@@ -208,6 +231,19 @@ void OPMapWidget::ruler_clicked(void)
measureline->hide();
}
if(map)
{
map->setAcceptDrops(true);
}
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
w->setAcceptDrops(true);
w->setAcceptedMouseButtons(Qt::AllButtons);
}
}
}
else
{
@@ -219,8 +255,21 @@ void OPMapWidget::ruler_clicked(void)
measureline->show();
}
//QPixmap pix(":/markers/images/ruler.png");
//this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
if(map)
{
map->setAcceptDrops(false);
}
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
w->setAcceptDrops(false);
w->setAcceptedMouseButtons(Qt::NoButton);
}
}
}
emit measureState(isMeasure);
@@ -244,178 +293,6 @@ void OPMapWidget::table_clicked(void)
}
*/
}
/*
void OPMapWidget::AddgeoPolygon(int type,int index,double lat,double lng,double alt,QColor color)
{
qDebug() << "AddVirtualMargin" << type << index;
internals::PointLatLng LatLng;
LatLng.SetLat(lat);
LatLng.SetLng(lng);
QMap<int,VirtualMargin *> virtualmarginmap = VirtualMarginPoints.value(type);
QMap<int,VirtualMarginLine *> virtualmarginlinemap = VirtualMarginlinemapLines.value(type);
VirtualMargin *vm = new VirtualMargin(index,LatLng,alt,color,map);
virtualmarginmap.insert(index,vm);
foreach (VirtualMarginLine *l, virtualmarginlinemap) {
if(l){
disconnect(l,nullptr,nullptr,nullptr);
delete l;
}
}
virtualmarginlinemap.clear();
for(QMap<int,VirtualMargin *>::iterator i = virtualmarginmap.begin();i != virtualmarginmap.end();++i)
{
VirtualMargin *v = i.value();
if(v)
{
if(v->number > 0)
{
VirtualMarginLine *l = new VirtualMarginLine(virtualmarginmap.value(v->number - 1),v,map,color);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap.insert(virtualmarginlinemap.size(),l);
}
}
}
if(virtualmarginmap.size() >= 2)
{
VirtualMargin *vm_first = virtualmarginmap.first();
VirtualMargin *vm_last = virtualmarginmap.last();
if((vm_first)&&(vm_last))
{
VirtualMarginLine *l = new VirtualMarginLine(vm_first,vm_last,map,color);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap.insert(virtualmarginlinemap.size(),l);
}
}
VirtualMarginPoints.insert(type,virtualmarginmap);
VirtualMarginlinemapLines.insert(type,virtualmarginlinemap);
//FlushVirtualMargin(type);
foreach (VirtualMargin *v, virtualmarginmap) {
qDebug() << "create a virtual point" << v->number;
}
}
void OPMapWidget::ClosegeoPolygon(int type)
{
if(type == 0)
{
if(virtualmarginmap_red.size() >= 2)
{
VirtualMargin *vm_first = virtualmarginmap_red.first();
VirtualMargin *vm_last = virtualmarginmap_red.last();
if((vm_first)&&(vm_last))
{
VirtualMarginLine *l = new VirtualMarginLine(vm_first,vm_last,map,WarningColor);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap_red.insert(virtualmarginlinemap_red.size(),l);
}
}
}
else if(type == 1)
{
if(virtualmarginmap_orange.size() >= 2)
{
VirtualMargin *vm_first = virtualmarginmap_orange.first();
VirtualMargin *vm_last = virtualmarginmap_orange.last();
if((vm_first)&&(vm_last))
{
VirtualMarginLine *l = new VirtualMarginLine(vm_first,vm_last,map,NoticeColor);
l->setOpacity(overlayOpacity);
l->show();
virtualmarginlinemap_orange.insert(virtualmarginlinemap_orange.size(),l);
}
}
}
}
void OPMapWidget::RemovegeoPolygon(int type)
{
QMap<int,VirtualMargin*> virtualmarginmap = VirtualMarginPoints.value(type);
QMap<int,VirtualMarginLine *> virtualmarginlinemap = VirtualMarginlinemapLines.value(type);
//移除虚拟边界
foreach (VirtualMargin *vm, virtualmarginmap) {
if(vm)
{
qDebug() << "del vm" << vm->number << vm->coord.Lat() << vm->coord.Lng();
disconnect(vm,nullptr,nullptr,nullptr);
delete vm;
}
}
//从列表删除所有
virtualmarginmap.clear();
//移除虚拟边界
foreach (VirtualMarginLine *l, virtualmarginlinemap) {
if(l)
{
disconnect(l,nullptr,nullptr,nullptr);
delete l;
}
}
//从列表删除所有
virtualmarginlinemap.clear();
VirtualMarginPoints.remove(type);
VirtualMarginlinemapLines.remove(type);
}
void OPMapWidget::FlushgeoPolygon(int type)
{
if(type == 0)
{
for(QMap<int,VirtualMargin *>::iterator i = virtualmarginmap_red.begin();i != virtualmarginmap_red.end();++i)
{
VirtualMargin *vm = i.value();
if(vm)
{
qDebug() << "vm" << vm->number << vm->coord.Lat() << vm->coord.Lng();
}
}
}
else if(type == 1)
{
for(QMap<int,VirtualMargin *>::iterator i = virtualmarginmap_orange.begin();i != virtualmarginmap_orange.end();++i)
{
VirtualMargin *vm = i.value();
if(vm)
{
qDebug() << "vm" << vm->number << vm->coord.Lat() << vm->coord.Lng();
}
}
}
}
*/
void OPMapWidget::SetShowDiagnostics(bool const & value)
@@ -929,13 +806,15 @@ void OPMapWidget::mouseReleaseEvent(QMouseEvent *event)
QGraphicsView::mouseReleaseEvent(event);
emit MouseReleaseEvent(event);
if(isMeasure)
{
//QPixmap pix(":/markers/images/ruler.png");
//this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
}
//qDebug() << "relea";
if(event->button() == Qt::RightButton)
{
if(isMeasure)
{
ruler_clicked();
}
}
}
void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
@@ -1684,10 +1563,13 @@ void OPMapWidget::userRipMap(bool start, qreal lat_l, qreal lng_l, qreal lat_r,
connect(mapRipper,SIGNAL(ripfinished()),
this,SIGNAL(ripfinished()));
emit showMessage(tr("start rip map"));
}
else
{
emit cancelRequest();
emit showMessage(tr("stop rip map"));
}
}
@@ -1937,11 +1819,13 @@ void OPMapWidget::setWPCreate(bool const & value)
{
if(value)
{
waypointsetting->show();
//waypointsetting->show();
waypointsetting->setMode(0);
}
else
{
waypointsetting->hide();
//waypointsetting->hide();
waypointsetting->setMode(1);
}
}
@@ -2240,24 +2124,40 @@ void OPMapWidget::delFence(int group)
//重新整理一下fenceCount
/*
fenceCount = 0;
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
w->setGroup(fenceCount++);
if(w->Group() > group)
{
int old = w->Group();
w->setGroup(w->Group() - 1);
int cur = w->Group();
emit FenceGroupChanged(old,cur);
}
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
w->setGroup(fenceCount++);
if(w->Group() > group)
{
int old = w->Group();
w->setGroup(w->Group() - 1);
int cur = w->Group();
emit FenceGroupChanged(old,cur);
}
}
}
*/
fenceCount --;
}
@@ -2268,8 +2168,6 @@ void OPMapWidget::delFence(int group)
//先清除再读取
void OPMapWidget::WPLoad(QString path)//带文件目录参数
{
//清除所有
WPDeleteAll();//清除当前航线
//fenceCount = 0;
qDebug() << "WPLoad" << path;
//读取
@@ -2291,53 +2189,73 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
QJsonObject json = doc.object();
//栅栏解码
QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
for(QJsonValue item: polygonsArray) {
//每个item是一个组
QList<internals::PointLatLng> points;
QList<QPointF> latlng;
//获得边界
bool inclusion = item.toObject().value("inclusion").toBool();
QJsonArray polygon = item.toObject().value("polygon").toArray();
int version = item.toObject().value("version").toInt();
qreal lat_sum = 0;
qreal lng_sum = 0;
for (QJsonValue point: polygon) {
qreal lat = point.toArray().at(0).toDouble();
qreal lng = point.toArray().at(1).toDouble();
//生成一个多边形
points.push_back(internals::PointLatLng(lat,lng));
lat_sum += lat;
lng_sum += lng;
latlng.push_back(QPointF(lat,lng));
if(currentGroup == 1)
{
emit showMessage(tr("Load Geo Fence File :%1").arg(path));
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
delete w;
}
}
internals::PointLatLng center;
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
delete w;
}
}
center.SetLat(lat_sum/polygon.size());
center.SetLng(lng_sum/polygon.size());
fenceCount = 1;
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
//栅栏解码
QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
for(QJsonValue item: polygonsArray) {
polyitem->setPoints(points);
//每个item是一个组
QList<internals::PointLatLng> points;
QList<QPointF> latlng;
//获得边界
bool inclusion = item.toObject().value("inclusion").toBool();
QJsonArray polygon = item.toObject().value("polygon").toArray();
int version = item.toObject().value("version").toInt();
emit createFencePolygon(fenceCount++,points.size(),inclusion,latlng);
qreal lat_sum = 0;
qreal lng_sum = 0;
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
}
for (QJsonValue point: polygon) {
qreal lat = point.toArray().at(0).toDouble();
qreal lng = point.toArray().at(1).toDouble();
QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
for(QJsonValue item: circlesArray) {
//生成一个多边形
points.push_back(internals::PointLatLng(lat,lng));
lat_sum += lat;
lng_sum += lng;
latlng.push_back(QPointF(lat,lng));
}
internals::PointLatLng center;
center.SetLat(lat_sum/polygon.size());
center.SetLng(lng_sum/polygon.size());
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
polyitem->setPoints(points);
emit createFencePolygon(fenceCount++,points.size(),inclusion,latlng);
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
}
QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
for(QJsonValue item: circlesArray) {
bool inclusion = item.toObject().value("inclusion").toBool();
QJsonObject circle = item.toObject().value("circle").toObject();
@@ -2357,71 +2275,88 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
}
else if(currentGroup >= 3)
{
emit showMessage(tr("Load Mission File:Group %1,%2").arg(QString::number(currentGroup)).arg(path));
//清除所有
//删除一个组
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
//任务解码
QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
for(QJsonValue item: itemsArray) {
if (!item.isObject()) {
return;
if (w) {
if(w->MissionType() == currentGroup)
{
emit WPDeleted(w->Number(), w);
delete w;
}
}
}
uint8_t AMSLAltAboveTerrain = item.toObject().find("AMSLAltAboveTerrain").value().toInt();
uint8_t Altitude = item.toObject().find("Altitude").value().toDouble();
uint8_t AltitudeMode = item.toObject().find("AltitudeMode").value().toInt();
uint8_t autocontinue = item.toObject().find("autoContinue").value().toBool()?(1):(0);//bool
uint16_t command = item.toObject().find("command").value().toInt();
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;
//任务解码
QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
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();
for(QJsonValue item: itemsArray) {
if (!item.isObject()) {
return;
}
internals::PointLatLng LatLng;
LatLng.SetLat(x * 10e-8);
LatLng.SetLng(y * 10e-8);
uint8_t AMSLAltAboveTerrain = item.toObject().find("AMSLAltAboveTerrain").value().toInt();
uint8_t Altitude = item.toObject().find("Altitude").value().toDouble();
uint8_t AltitudeMode = item.toObject().find("AltitudeMode").value().toInt();
uint8_t autocontinue = item.toObject().find("autoContinue").value().toBool()?(1):(0);//bool
uint16_t command = item.toObject().find("command").value().toInt();
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;
qDebug() << "LatLng" << LatLng.Lat() << LatLng.Lng();
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();
WayPointItem *Item = WPCreate(LatLng,z);
internals::PointLatLng LatLng;
LatLng.SetLat(x * 10e-8);
LatLng.SetLng(y * 10e-8);
Item->SetNumber(seq);
qDebug() << "LatLng" << LatLng.Lat() << LatLng.Lng();
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq,
mission_type,//当前组
command,
0,
0,
frame,
0,
autocontinue,
mission_type);
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();
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);
}
}
}
}
@@ -2437,72 +2372,89 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
QJsonObject rallyPoints;
//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
QJsonArray circles;
QJsonArray polygons;
if(currentGroup == 1)
{
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
//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
QJsonArray polygon;
QJsonObject polygonObj;
emit showMessage(tr("Save Fence File:%1").arg(path));
QList<internals::PointLatLng> points = w->points;
QJsonArray circles;
QJsonArray polygons;
{
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
for(internals::PointLatLng ll:points)
{
QJsonArray polygon;
QJsonObject polygonObj;
QJsonArray latlng;
latlng.append(ll.Lat());
latlng.append(ll.Lng());
QList<internals::PointLatLng> points = w->points;
polygon.push_back(latlng);
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);
}
}
polygonObj["inclusion"] = w->Inclusion();
polygonObj["polygon"] = polygon;
polygonObj["version"] = 1;
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
QJsonObject circle;
QJsonObject circleObj;
polygons.push_back(polygonObj);
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);
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);
//mission节点写入 (mission type == 3...)
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;
@@ -2574,12 +2526,7 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
mission.insert("version",2);
}
//rallyPoints节点写入
{
QJsonArray points;
rallyPoints.insert("points",points);
rallyPoints.insert("version",2);
}
//根节点写入
root.insert("fileType","Plan");
@@ -2616,7 +2563,7 @@ void OPMapWidget::WPDownload(void)
if(currentGroup == 1)
{
fenceCount = 0;
fenceCount = 1;
}
int sysid = 0;
@@ -2711,12 +2658,12 @@ void OPMapWidget::WPUpload(void)
if(FenceItemExit == false)
{
emit showMessage("请先载入围栏");
emit showMessage(tr("please load fence first"));
return;
}
emit showMessage(tr("开始上传围栏，总数%1").arg(FecneSeq));
emit showMessage(tr("start upload fence,total:%1").arg(FecneSeq));
//选择当前ID号
foreach(QGraphicsItem * i, map->childItems()) {
@@ -2754,12 +2701,12 @@ void OPMapWidget::WPUpload(void)
if(list.size() <= 0)
{
emit showMessage("请先载入任务航线");
emit showMessage(tr("please load mission first"));
return;
}
emit showMessage(tr("开始上传航点，总数%1").arg(list.size()));
emit showMessage(tr("start upload mission %1,total %2").arg(currentGroup).arg(list.size()));
//选择当前ID号
@@ -2879,8 +2826,6 @@ void OPMapWidget::WPGroup(int value)
{
currentGroup = value;
qDebug() << "group checkout" << value;
//切换当前航线，其他都隐藏，或者高亮当前
@@ -2957,17 +2902,6 @@ void OPMapWidget::WPGroup(int value)
find_PointNumber(currentGroup);
/*
if(currentGroup == 1)
{
isWPCreate = false;
}
else
{
isWPCreate = true;
}
*/
update();
}
@@ -2978,14 +2912,14 @@ void OPMapWidget::WPGroup(int value)
if(flag == true)
{
QString str;
str.append("上传航点");
str.append("upload Mission");
str.append(QString::number(seq));
emit showMessage(str);
}
else
{
QString str;
str.append(tr("上传失败%1").arg(seq));
str.append(tr("upload fail %1").arg(seq));
emit showMessage(str);
}
@@ -3007,27 +2941,14 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
qDebug() << "receivers Point";
QString typestr;
switch (mission_type - 2) {
case -1:
{
typestr = tr("fence");
}break;
default:
{
typestr = QString::number(mission_type - 2);
}break;
}
emit showMessage(tr("recieve way point group:%1 seq:%2").arg(typestr).arg(seq + 1));
if((mission_type - 2) == -1)
{
qDebug() << command << seq << param1 << param2 << param3 << param4 << x << y;
if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION )
{
emit showMessage(tr("recieve fence polygon inclusion: %1").arg(seq + 1));
static int PolygonCount = 0;
static QList<internals::PointLatLng> PolygonPoints;
@@ -3073,6 +2994,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
}
else if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION )
{
emit showMessage(tr("recieve fence polygon exclusion: %1").arg(seq + 1));
static int PolygonCount = 0;
static QList<internals::PointLatLng> PolygonPoints;
@@ -3120,6 +3043,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
}
else if(command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION )
{
emit showMessage(tr("recieve fence circle inclusion: %1").arg(seq + 1));
bool inclusion = true;
qreal radius = param1;
@@ -3131,6 +3056,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
}
else if(command == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION )
{
emit showMessage(tr("recieve fence circle exclusion: %1").arg(seq + 1));
bool inclusion = false;
qreal radius = param1;
@@ -3147,6 +3074,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
}
else
{
emit showMessage(tr("recieve way point group:%1 seq:%2").arg(mission_type - 2).arg(seq + 1));
bool isExist = false;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
@@ -3242,8 +3171,6 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
}
void OPMapWidget::getMapTypes(void)
{
emit MapTypes(Helper::MapTypes());
@@ -3254,9 +3181,6 @@ void OPMapWidget::setMapTypes(QVariant value)
this->SetMapType(Helper::MapTypeFromString(value.toString()));
}
void OPMapWidget::ElevationChanged(int seq,double value)
{
QMap<int,float> Info;