gcs-nf/opmap/mapwidget/gpsitem.cpp

/**
 ******************************************************************************
 *
 * @file       gpsitem.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a UAV
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
 * @{
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#include "pureprojection.h"
#include "gpsitem.h"
#include <QGraphicsSceneMouseEvent>
namespace mapcontrol {
GPSItem::GPSItem(MapGraphicItem *map, OPMapWidget *parent, QString uavPic) : map(map), mapwidget(parent), showtrail(true), showtrailline(true), trailtime(1), traildistance(2), autosetreached(true)
    , autosetdistance(100)
{
    pic.load(uavPic);
    // Don't scale but trust the image we are given
    // pic=pic.scaled(50,33,Qt::IgnoreAspectRatio);
    localposition = map->FromLatLngToLocal(mapwidget->CurrentPosition());
    this->setPos(localposition.X(), localposition.Y());
    this->setZValue(4);
    trail     = new QGraphicsItemGroup(this);
    trail->setParentItem(map);
    trailLine = new QGraphicsItemGroup(this);
    trailLine->setParentItem(map);
    this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
    setCacheMode(QGraphicsItem::ItemCoordinateCache);
    mapfollowtype = UAVMapFollowType::None;
    // trailtype=UAVTrailType::ByDistance;
    trailtype     = UAVTrailType::ByTimeElapsed;
    timer.start();
    connect(map, SIGNAL(childRefreshPosition()), this, SLOT(RefreshPos()));
    connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
}
GPSItem::~GPSItem()
{}

void GPSItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
    Q_UNUSED(option);
    Q_UNUSED(widget);
    painter->drawPixmap(-pic.width() / 2, -pic.height() / 2, pic);
}
QRectF GPSItem::boundingRect() const
{
    return QRectF(-pic.width() / 2, -pic.height() / 2, pic.width(), pic.height());
}
void GPSItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude)
{
    if (coord.IsEmpty()) {
        lastcoord = coord;
    }
    if (coord != position) {
        if (trailtype == UAVTrailType::ByTimeElapsed) {
            if (timer.elapsed() > trailtime * 1000) {
                TrailItem *ob = new TrailItem(position, altitude, Qt::red, map);
                trail->addToGroup(ob);
                connect(this, SIGNAL(setChildPosition()), ob, SLOT(setPosSLOT()));
                if (!lasttrailline.IsEmpty()) {
                    TrailLineItem *obj = new TrailLineItem(lasttrailline, position, Qt::green, map);
                    trailLine->addToGroup(obj);
                    connect(this, SIGNAL(setChildLine()), obj, SLOT(setLineSlot()));
                }
                lasttrailline = position;
                timer.restart();
            }
        } else if (trailtype == UAVTrailType::ByDistance) {
            if (qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord, position) * 1000) > traildistance) {
                TrailItem *ob = new TrailItem(position, altitude, Qt::red, map);
                trail->addToGroup(ob);
                connect(this, SIGNAL(setChildPosition()), ob, SLOT(setPosSLOT()));
                if (!lasttrailline.IsEmpty()) {
                    TrailLineItem *obj = new TrailLineItem(lasttrailline, position, Qt::green, map);
                    trailLine->addToGroup(obj);
                    connect(this, SIGNAL(setChildLine()), obj, SLOT(setLineSlot()));
                }
                lasttrailline = position;
                lastcoord     = position;
            }
        }
        coord = position;
        this->altitude = altitude;
        RefreshPos();
    }
}

/**
 * Rotate the UAV Icon on the map, or rotate the map
 * depending on the display mode
 */
void GPSItem::SetUAVHeading(const qreal &value)
{
    if (mapfollowtype == UAVMapFollowType::CenterAndRotateMap) {
        mapwidget->SetRotate(-value);
    } else {
        if (this->rotation() != value) {
            this->setRotation(value);
        }
    }
}


int GPSItem::type() const
{
    return Type;
}


void GPSItem::RefreshPos()
{
    localposition = map->FromLatLngToLocal(coord);
    this->setPos(localposition.X(), localposition.Y());
    emit setChildPosition();
    emit setChildLine();
}

void GPSItem::setOpacitySlot(qreal opacity)
{
    setOpacity(opacity);
}
void GPSItem::SetTrailType(const UAVTrailType::Types &value)
{
    trailtype = value;
    if (trailtype == UAVTrailType::ByTimeElapsed) {
        timer.restart();
    }

    //设置航迹的刷新放式，这个需要改一改，改成来一个坐标刷新一次，如果坐标一致不刷新


}
void GPSItem::SetShowTrail(const bool &value)
{
    showtrail = value;
    trail->setVisible(value);
}
void GPSItem::SetShowTrailLine(const bool &value)
{
    showtrailline = value;
    trailLine->setVisible(value);
}
void GPSItem::DeleteTrail() const
{
    foreach(QGraphicsItem * i, trail->childItems())
    delete i;
    foreach(QGraphicsItem * i, trailLine->childItems())
    delete i;
}
double GPSItem::Distance3D(const internals::PointLatLng &coord, const int &altitude)
{
    return sqrt(pow(internals::PureProjection::DistanceBetweenLatLng(this->coord, coord) * 1000, 2) +
                pow(this->altitude - altitude, 2));
}
void GPSItem::SetUavPic(QString UAVPic)
{
    pic.load(":/uavs/images/" + UAVPic);
}
}