1156 lines
34 KiB
C++
1156 lines
34 KiB
C++
/**
|
|
******************************************************************************
|
|
*
|
|
* @file waypointitem.cpp
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief A graphicsItem representing a WayPoint
|
|
* @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 "waypointitem.h"
|
|
#include "homeitem.h"
|
|
#include <QGraphicsSceneMouseEvent>
|
|
|
|
#include "QJsonArray"
|
|
#include "QJsonDocument"
|
|
#include "QJsonObject"
|
|
#include "QJsonParseError"
|
|
|
|
|
|
namespace mapcontrol {
|
|
WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq, int missiontype, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(""), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
|
|
{
|
|
this->setAcceptHoverEvents(true);
|
|
|
|
numberI = 0;
|
|
isEdit = true;
|
|
isMagic = false;
|
|
property.seq = seq;
|
|
//++WayPointItem::snumber;
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
|
|
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
|
|
SetShowNumber(shownumber);
|
|
RefreshPos();
|
|
|
|
SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
|
|
|
|
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)));
|
|
|
|
this->setZValue(4);
|
|
|
|
}
|
|
|
|
WayPointItem::WayPointItem(int seq,int missiontype, MapGraphicItem *map, bool magicwaypoint) : reached(false), description(""), shownumber(true), isDragging(false), altitude(0), map(map)
|
|
{
|
|
this->setAcceptHoverEvents(true);
|
|
|
|
isEdit = true;
|
|
relativeCoord.bearing = 0;
|
|
relativeCoord.distance = 0;
|
|
relativeCoord.altitudeRelative = 0;
|
|
myType = relative;
|
|
if (magicwaypoint) {
|
|
isMagic = true;
|
|
property.seq = -1;
|
|
} else {
|
|
isMagic = false;
|
|
property.seq = seq;
|
|
//++WayPointItem::snumber;
|
|
}
|
|
numberI = 0;
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
|
|
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
|
|
SetShowNumber(shownumber);
|
|
RefreshPos();
|
|
|
|
SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
|
|
|
|
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)));
|
|
|
|
this->setZValue(4);
|
|
}
|
|
WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq, int missiontype, const QString &description, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(description), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
|
|
{
|
|
|
|
this->setAcceptHoverEvents(true);
|
|
|
|
isEdit = true;
|
|
numberI = 0;
|
|
isMagic = false;
|
|
//picture.load(QString::fromUtf8(":/markers/images/marker.png"));
|
|
property.seq = seq;
|
|
//++WayPointItem::snumber;
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
|
|
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
|
|
SetShowNumber(shownumber);
|
|
RefreshPos();
|
|
|
|
SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
|
|
|
|
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)));
|
|
|
|
this->setZValue(4);
|
|
}
|
|
|
|
WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate,int seq,int missiontype, const QString &description, MapGraphicItem *map) : relativeCoord(relativeCoordenate), reached(false), description(description), shownumber(true), isDragging(false), map(map)
|
|
{
|
|
this->setAcceptHoverEvents(true);
|
|
|
|
isEdit = true;
|
|
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;
|
|
numberI = 0;
|
|
isMagic = false;
|
|
property.seq = seq;
|
|
//++WayPointItem::snumber;
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
this->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
|
|
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
|
|
SetShowNumber(shownumber);
|
|
RefreshPos();
|
|
|
|
SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
|
|
|
|
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)));
|
|
|
|
this->setZValue(4);
|
|
}
|
|
|
|
void WayPointItem::setWPType(wptype type)
|
|
{
|
|
myType = type;
|
|
emit WPValuesChanged(this);
|
|
RefreshPos();
|
|
|
|
this->update();
|
|
}
|
|
|
|
QRectF WayPointItem::boundingRect() const //鼠标可以操作的大小
|
|
{
|
|
|
|
return QRectF(-10,-10,20,20);
|
|
|
|
}
|
|
|
|
void WayPointItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
|
|
{
|
|
Q_UNUSED(option);
|
|
Q_UNUSED(widget);
|
|
|
|
/*
|
|
if(isactive == true)//激活才有颜色，否则是灰色
|
|
{
|
|
if(isEdit == true)
|
|
{
|
|
if (this->isSelected()) {
|
|
this->setZValue(6);
|
|
}
|
|
else
|
|
{
|
|
this->setZValue(5);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
this->setZValue(5);
|
|
}
|
|
}
|
|
else//没有激活是灰色
|
|
{
|
|
if (Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
|
|
this->setZValue(2);
|
|
}
|
|
else
|
|
{
|
|
this->setZValue(2);
|
|
}
|
|
}
|
|
|
|
|
|
if(isEdit == true)
|
|
{
|
|
if (this->isSelected()) {
|
|
this->setZValue(6);
|
|
}
|
|
else
|
|
{
|
|
this->setZValue(5);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
|
|
this->setZValue(2);
|
|
}
|
|
else
|
|
{
|
|
this->setZValue(2);
|
|
}
|
|
}
|
|
*/
|
|
|
|
|
|
|
|
if(isSimple == true)//简单显示
|
|
{
|
|
painter->setPen(Qt::green);
|
|
painter->drawRect(-6,-6,12,12);
|
|
painter->drawLine(-6,-6,6,6);
|
|
painter->drawLine(-6,6,6,-6);
|
|
|
|
if (this->isSelected()) {
|
|
painter->setPen(Qt::red);
|
|
painter->drawRect(QRectF(boundingRect()));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
QPen ePen;
|
|
ePen.setWidth(1);
|
|
|
|
if(isactive == true)//激活才有颜色，否则是灰色
|
|
{
|
|
if(isEdit == true)//编辑界面
|
|
{
|
|
if (this->isSelected()) {//被选中才能是绿色
|
|
ePen.setColor(QColor("#008B00"));
|
|
painter->setBrush(QColor("#008B00"));
|
|
this->setZValue(6);
|
|
}
|
|
else {
|
|
|
|
if(Command() > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
ePen.setColor(QColor("#FFBF00"));
|
|
painter->setBrush(QColor("#FFBF00"));
|
|
}
|
|
else
|
|
{
|
|
ePen.setColor(QColor("#8B4500"));
|
|
painter->setBrush(QColor("#8B4500"));
|
|
}
|
|
|
|
this->setZValue(5);
|
|
}
|
|
}
|
|
else//飞行界面
|
|
{
|
|
if (isCurrent) {//选择作为当前才能显示绿色
|
|
ePen.setColor(QColor("#008B00"));
|
|
painter->setBrush(QColor("#008B00"));
|
|
this->setZValue(6);
|
|
}
|
|
else {
|
|
|
|
if(Command() > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
ePen.setColor(QColor("#FFBF00"));
|
|
painter->setBrush(QColor("#FFBF00"));
|
|
}
|
|
else
|
|
{
|
|
ePen.setColor(QColor("#8B4500"));
|
|
painter->setBrush(QColor("#8B4500"));
|
|
}
|
|
this->setZValue(5);
|
|
}
|
|
}
|
|
}
|
|
else//没有激活是灰色
|
|
{
|
|
ePen.setColor(QColor("#787878"));
|
|
painter->setBrush(QColor("#787878"));
|
|
this->setZValue(2);
|
|
}
|
|
|
|
|
|
if(Command() > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, false);
|
|
}
|
|
else
|
|
{
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
}
|
|
|
|
|
|
painter->setPen(ePen);
|
|
painter->drawEllipse(boundingRect());
|
|
|
|
ePen.setColor(QColor("#FFFFFF"));
|
|
painter->setPen(ePen);
|
|
|
|
|
|
QFont font;
|
|
font.setWeight(QFont::ExtraLight);
|
|
font.setFamily("Arial");//非衬线
|
|
font.setPixelSize(12);
|
|
painter->setFont(font);
|
|
painter->drawText(boundingRect(),Qt::AlignCenter,QString::number(property.seq));
|
|
|
|
|
|
/*
|
|
font.setBold(true);
|
|
painter->setFont(font);
|
|
ePen.setColor(QColor("#FF4040"));
|
|
painter->setPen(ePen);
|
|
painter->drawText(QRect(12,-10,200,20),Qt::AlignLeft|Qt::AlignVCenter,QString::number(Elevation));
|
|
*/
|
|
|
|
|
|
if(isShowTip)
|
|
{
|
|
painter->save();
|
|
|
|
QRectF rect = QRectF(-50,-70,100,50);
|
|
|
|
//画一块底色#58ACFA
|
|
painter->setBrush(QColor("#A9F5F2"));
|
|
//painter->setBrush(Qt::NoBrush);
|
|
painter->setOpacity(TipOpacity);
|
|
|
|
|
|
ePen.setColor(QColor("#58ACFA"));
|
|
ePen.setWidth(2);
|
|
painter->setPen(ePen);
|
|
painter->drawRoundedRect(rect,5,5);
|
|
|
|
//画字
|
|
QFont font;
|
|
font.setWeight(QFont::ExtraLight);
|
|
font.setFamily("Arial");//非衬线
|
|
font.setPixelSize(12);
|
|
painter->setFont(font);
|
|
|
|
ePen.setColor(QColor("#000000"));
|
|
painter->setPen(ePen);
|
|
|
|
QString _h;
|
|
QString _v;
|
|
|
|
switch (property.command) {
|
|
case 16:
|
|
_h = tr("");
|
|
break;
|
|
case 20:
|
|
_h = tr("return ");
|
|
break;
|
|
case 21:
|
|
_h = tr("landing ");
|
|
break;
|
|
case 22:
|
|
_h = tr("takeoff ");
|
|
break;
|
|
default:
|
|
_h = tr("unknow ");
|
|
break;
|
|
}
|
|
|
|
if(property.command == 16)
|
|
{
|
|
switch ((int32_t)property.param1) {
|
|
case 0:
|
|
_h.append(tr("hold\n"));
|
|
_v = tr("");
|
|
break;
|
|
case -1:
|
|
_h.append(tr("cas\n"));
|
|
if(property.param4 <= 3)
|
|
{
|
|
_v = tr("Ma: %1").arg(QString::number(property.param4,'f',2));
|
|
}
|
|
else
|
|
{
|
|
_v = tr("Speed: %1m/s").arg(QString::number(property.param4,'f',0));
|
|
}
|
|
break;
|
|
case -2:
|
|
_h.append(tr("Vz\n"));
|
|
if(property.param4 <= 3)
|
|
{
|
|
_v = tr("Ma: %1").arg(QString::number(property.param4,'f',2));
|
|
}
|
|
else
|
|
{
|
|
_v = tr("Speed: %1m/s").arg(QString::number(property.param4,'f',0));
|
|
}
|
|
break;
|
|
case -3:
|
|
_h.append(tr("onAB\n"));
|
|
if(property.param4 <= 3)
|
|
{
|
|
_v = tr("Ma: %1").arg(QString::number(property.param4,'f',2));
|
|
}
|
|
else
|
|
{
|
|
_v = tr("Speed: %1m/s").arg(QString::number(property.param4,'f',0));
|
|
}
|
|
break;
|
|
case -4:
|
|
_h.append(tr("offAB\n"));
|
|
if(property.param4 <= 3)
|
|
{
|
|
_v = tr("Ma: %1").arg(QString::number(property.param4,'f',2));
|
|
}
|
|
else
|
|
{
|
|
_v = tr("Speed: %1m/s").arg(QString::number(property.param4,'f',0));
|
|
}
|
|
break;
|
|
default:
|
|
_h.append(tr("unknow\n"));
|
|
if(property.param4 <= 3)
|
|
{
|
|
_v = tr("Ma: %1").arg(QString::number(property.param4,'f',2));
|
|
}
|
|
else
|
|
{
|
|
_v = tr("Speed: %1m/s").arg(QString::number(property.param4,'f',0));
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
_h.append(tr("\n"));
|
|
}
|
|
|
|
_h.append(tr("Height: %1m\n%2").arg(QString::number(property.z,'f',0)).arg(_v));
|
|
painter->drawText(QRectF(rect.x() + 2,rect.y()+2,rect.width() - 4,rect.height() - 4),Qt::AlignLeft | Qt::AlignVCenter,_h);
|
|
|
|
painter->restore();
|
|
}
|
|
}
|
|
}
|
|
|
|
void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
|
|
{
|
|
if (event->button() == Qt::LeftButton) {
|
|
//qInfo() << "DoubleClickEvent";
|
|
emit waypointdoubleclick(this);
|
|
}
|
|
}
|
|
|
|
void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
|
|
{
|
|
if (event->button() == Qt::LeftButton) {
|
|
//qInfo() << "PressEvent";
|
|
isDragging = true;
|
|
qDebug() << "PressEvent isEdit" <<isEdit;
|
|
//qDebug() << this->parent();
|
|
if(isEdit == true)
|
|
{
|
|
emit currentMissiontype(property.mission_type);
|
|
}
|
|
|
|
|
|
}
|
|
QGraphicsItem::mousePressEvent(event);
|
|
update();
|
|
}
|
|
void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
|
|
{
|
|
if (event->button() == Qt::LeftButton) {
|
|
//qInfo() << "ReleaseEvent";
|
|
isDragging = false;
|
|
|
|
|
|
//qDebug() << "isEdit" <<isEdit;
|
|
//qDebug() << "isFollowPrevious" <<isFollowPrevious;
|
|
if(isEdit == true)
|
|
{
|
|
if(isFollowPrevious == false)
|
|
{
|
|
emit manualCoordChange(this);
|
|
emit localPositionChanged(this->pos(), this);
|
|
emit WPValuesChanged(this);
|
|
|
|
coord = map->FromLocalToLatLng(this->pos().x(), this->pos().y());
|
|
|
|
SetLat(coord.Lat());
|
|
SetLng(coord.Lng());
|
|
|
|
emit WPChanged(this->Number(),Coord().Lat(),Coord().Lng());
|
|
}
|
|
|
|
ElevationTrig();
|
|
//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);
|
|
|
|
|
|
emit setCurrentPoint(this->Number());
|
|
}
|
|
else//这时候是在飞行界面
|
|
{
|
|
//发出可以设置当前点的信号
|
|
|
|
if(Command() < MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
//不允许点击界面修改航点
|
|
emit SetCurrent(this->MissionType() - 2,this->Number());
|
|
}
|
|
}
|
|
}
|
|
QGraphicsItem::mouseReleaseEvent(event);
|
|
update();
|
|
}
|
|
void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
|
|
{
|
|
if (isDragging) {
|
|
//qDebug() << "isFollowPrevious" <<isFollowPrevious;
|
|
|
|
if(isFollowPrevious == false)
|
|
{
|
|
|
|
//ElevationTrig();
|
|
emit localPositionChanged(this->pos(), this);
|
|
emit WPValuesChanged(this);
|
|
}
|
|
}
|
|
QGraphicsItem::mouseMoveEvent(event);
|
|
update();
|
|
}
|
|
|
|
|
|
void WayPointItem::hoverEnterEvent(QGraphicsSceneHoverEvent *event)
|
|
{
|
|
Q_UNUSED(event)
|
|
TipOpacity = 1;
|
|
|
|
this->setZValue(15);
|
|
|
|
update();
|
|
}
|
|
|
|
void WayPointItem::hoverLeaveEvent(QGraphicsSceneHoverEvent *event)
|
|
{
|
|
Q_UNUSED(event)
|
|
TipOpacity = 0.5;
|
|
|
|
this->setZValue(5);
|
|
|
|
update();
|
|
}
|
|
|
|
|
|
void WayPointItem::setPosition(QPointF p)
|
|
{
|
|
|
|
coord = map->FromLocalToLatLng(p.x(),p.y());
|
|
|
|
SetLat(coord.Lat());
|
|
SetLng(coord.Lng());
|
|
|
|
this->setPos(p);
|
|
|
|
emit localPositionChanged(this->pos(), this);
|
|
emit WPValuesChanged(this);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
void WayPointItem::SetAltitude(const float &value)
|
|
{
|
|
if (altitude == value) {
|
|
return;
|
|
}
|
|
altitude = value;
|
|
if (myHome) {
|
|
relativeCoord.altitudeRelative = altitude - myHome->Altitude();
|
|
}
|
|
emit WPValuesChanged(this);
|
|
this->update();
|
|
}
|
|
|
|
void WayPointItem::setRelativeCoord(distBearingAltitude value)
|
|
{
|
|
if (qAbs(value.distance - relativeCoord.distance) < 0.1
|
|
&& qAbs(value.bearing - relativeCoord.bearing) < 0.01 && value.altitudeRelative == relativeCoord.altitudeRelative) {
|
|
return;
|
|
}
|
|
relativeCoord = value;
|
|
if (myHome) {
|
|
SetCoord(map->Projection()->translate(myHome->Coord(), relativeCoord.distance, relativeCoord.bearing));
|
|
SetAltitude(myHome->Altitude() + relativeCoord.altitudeRelative);
|
|
}
|
|
RefreshPos();
|
|
emit WPValuesChanged(this);
|
|
this->update();
|
|
}
|
|
|
|
void WayPointItem::SetCoord(const internals::PointLatLng &value)
|
|
{
|
|
if (qAbs(Coord().Lat() - value.Lat()) < 0.0001 && qAbs(Coord().Lng() - value.Lng()) < 0.0001) {
|
|
return;
|
|
}
|
|
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();
|
|
this->update();
|
|
}
|
|
void WayPointItem::SetDescription(const QString &value)
|
|
{
|
|
if (description == value) {
|
|
return;
|
|
}
|
|
description = value;
|
|
emit WPValuesChanged(this);
|
|
this->update();
|
|
}
|
|
void WayPointItem::SetNumber(const int &value)
|
|
{
|
|
int oldnumber = property.seq;
|
|
|
|
property.seq = value;
|
|
|
|
if(isSimple == true)//简单显示
|
|
{
|
|
numberI->setText(QString::number(numberAdjusted()));
|
|
}
|
|
|
|
this->update();
|
|
//emit WPNumberChanged(oldnumber, value, this);
|
|
}
|
|
void WayPointItem::SetReached(const bool &value)
|
|
{
|
|
reached = value;
|
|
emit WPValuesChanged(this);
|
|
this->update();
|
|
}
|
|
|
|
void WayPointItem::SetShowNumber(const bool &value)
|
|
{
|
|
if(isSimple == true)//简单显示
|
|
{
|
|
shownumber = value;
|
|
if ((numberI == 0) && value) {
|
|
numberI = new QGraphicsSimpleTextItem(this);
|
|
|
|
QFont font;
|
|
font.setWeight(QFont::ExtraLight);
|
|
font.setFamily("Arial");
|
|
font.setPixelSize(12);
|
|
numberI->setFont(font);
|
|
numberI->setZValue(3);
|
|
|
|
|
|
numberI->setPen(QPen(QColor("#FF00FF")));
|
|
numberI->setPos(10, -6);
|
|
numberI->setText(QString::number(numberAdjusted()));
|
|
} else if (!value && numberI) {
|
|
delete numberI;
|
|
}
|
|
}
|
|
this->update();
|
|
}
|
|
void WayPointItem::WPDeleted(const int &onumber, WayPointItem *waypoint)
|
|
{
|
|
//Q_UNUSED(waypoint);
|
|
|
|
if(waypoint->MissionType() == MissionType())
|
|
{
|
|
int n = property.seq;
|
|
if (n > onumber) {
|
|
SetNumber(--n);
|
|
}
|
|
}
|
|
}
|
|
void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
|
|
{
|
|
if (Number() == -1) {
|
|
return;
|
|
}
|
|
|
|
if (waypoint != this) {
|
|
|
|
int n = property.seq;
|
|
if (onumber <= n) {
|
|
SetNumber(++n);
|
|
}
|
|
}
|
|
}
|
|
|
|
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();
|
|
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)
|
|
{
|
|
if (waypoint != this) {//如果wp不是当前点，说明需要重新排序
|
|
if (((oldnumber > property.seq) && (newnumber <= property.seq)))
|
|
{
|
|
int n = property.seq;
|
|
SetNumber(++n);
|
|
} else if (((oldnumber < property.seq) && (newnumber > property.seq)))
|
|
{
|
|
int n = property.seq;
|
|
SetNumber(--n);
|
|
} else if (newnumber == property.seq)
|
|
{
|
|
int n = property.seq;
|
|
SetNumber(++n);
|
|
}
|
|
qDebug() << "set property.seq" << property.seq;
|
|
}
|
|
}
|
|
|
|
|
|
int WayPointItem::type() const
|
|
{
|
|
// Enable the use of qgraphicsitem_cast with this item.
|
|
return Type;
|
|
}
|
|
|
|
|
|
|
|
WayPointItem::~WayPointItem()
|
|
{
|
|
emit aboutToBeDeleted(this);
|
|
|
|
//--WayPointItem::snumber;
|
|
}
|
|
void WayPointItem::RefreshPos()
|
|
{
|
|
core::Point point = map->FromLatLngToLocal(coord);
|
|
|
|
SetLat(coord.Lat());
|
|
SetLng(coord.Lng());
|
|
|
|
this->setPos(point.X(), point.Y());
|
|
|
|
|
|
//qDebug() << "RefreshPos";
|
|
|
|
emit localPositionChanged(this->pos(), this);
|
|
|
|
//ElevationUpdate();
|
|
//ElevationTrig();
|
|
update();
|
|
}
|
|
|
|
void WayPointItem::setOpacitySlot(qreal opacity)
|
|
{
|
|
setOpacity(opacity);
|
|
}
|
|
|
|
|
|
void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
|
|
{
|
|
if (isMagic) {
|
|
QGraphicsItem::setFlag(flag, enabled);
|
|
return;
|
|
} else if (flag == QGraphicsItem::ItemIsMovable) {
|
|
if (enabled) {
|
|
//picture.load(QString::fromUtf8(":/markers/images/marker.png"));
|
|
} else {
|
|
//picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
|
|
}
|
|
}
|
|
QGraphicsItem::setFlag(flag, 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 == property.seq)&&(property.mission_type == mission_type))
|
|
{
|
|
qDebug() << seq << "set property";
|
|
|
|
internals::PointLatLng latlng;
|
|
|
|
latlng.SetLng(y * 10e-8);
|
|
latlng.SetLat(x * 10e-8);
|
|
|
|
SetCoord(latlng);
|
|
|
|
qDebug() << Coord().Lng() << Coord().Lat();
|
|
|
|
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.target_system = target_system;
|
|
property.target_component = target_component;
|
|
property.frame = frame;
|
|
property.current = current;
|
|
property.autocontinue = autocontinue;
|
|
property.mission_type = mission_type;
|
|
|
|
if(command > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
qDebug() << "is cmd point";
|
|
isFollowPrevious = true;
|
|
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, false);
|
|
|
|
}
|
|
else
|
|
{
|
|
isFollowPrevious = false;
|
|
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
}
|
|
|
|
qDebug() << this->Number();
|
|
|
|
//emit WPFollowPrevious(isFollowPrevious,this);
|
|
|
|
ElevationTrig();
|
|
|
|
}
|
|
}
|
|
|
|
|
|
void WayPointItem::emitWPProperty(void)
|
|
{
|
|
//发送航点的属性
|
|
qDebug() << property.seq << "emit property";
|
|
|
|
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);
|
|
|
|
|
|
}
|
|
|
|
void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq,int missiontype)
|
|
{
|
|
//读取一下json
|
|
property.param1 = 0;
|
|
property.param2 = 0;
|
|
property.param3 = 0;
|
|
property.param4 = 0;
|
|
property.x = lat * 10e6;
|
|
property.y = lng * 10e6;
|
|
property.z = alt;
|
|
property.seq = seq;
|
|
property.group = missiontype;
|
|
property.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;
|
|
property.target_system = 0;
|
|
property.target_component = 0;
|
|
property.frame = MAV_FRAME::MAV_FRAME_GLOBAL;
|
|
property.current = 0;
|
|
property.autocontinue = true;
|
|
property.mission_type = missiontype;
|
|
|
|
qDebug() << "waypoint item set default" << property.mission_type;
|
|
|
|
if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
qDebug() << "is cmd point";
|
|
isFollowPrevious = true;
|
|
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, false);
|
|
|
|
}
|
|
else
|
|
{
|
|
isFollowPrevious = false;
|
|
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
}
|
|
|
|
emit WPFollowPrevious(isFollowPrevious,this);
|
|
ElevationTrig();
|
|
//emit AltitudeChanged(this->Number(),property.z);
|
|
//...
|
|
}
|
|
|
|
void WayPointItem::SetParam1(float value)
|
|
{
|
|
property.param1 = value;
|
|
}
|
|
|
|
void WayPointItem::SetParam2(float value)
|
|
{
|
|
property.param2 = value;
|
|
}
|
|
|
|
void WayPointItem::SetParam3(float value)
|
|
{
|
|
property.param3 = value;
|
|
}
|
|
|
|
void WayPointItem::SetParam4(float value)
|
|
{
|
|
property.param4 = value;
|
|
}
|
|
|
|
void WayPointItem::SetLat(double value)
|
|
{
|
|
property.x = value * 10e6;
|
|
}
|
|
|
|
void WayPointItem::SetLng(double value)
|
|
{
|
|
property.y = value * 10e6;
|
|
}
|
|
|
|
void WayPointItem::SetAlt(float value)
|
|
{
|
|
property.z = value;
|
|
|
|
//emit AltitudeChanged(this->Number(),property.z);
|
|
|
|
}
|
|
|
|
void WayPointItem::SetSeq(uint16_t value)
|
|
{
|
|
property.seq = value;
|
|
}
|
|
|
|
void WayPointItem::SetCommand(uint16_t value)
|
|
{
|
|
property.command = value;
|
|
|
|
if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
|
|
{
|
|
qDebug() << "is cmd point";
|
|
isFollowPrevious = true;
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, false);
|
|
}
|
|
else
|
|
{
|
|
isFollowPrevious = false;
|
|
this->setFlag(QGraphicsItem::ItemIsMovable, true);
|
|
}
|
|
emit WPFollowPrevious(isFollowPrevious,this);
|
|
|
|
}
|
|
|
|
void WayPointItem::SetGroup(uint16_t value)
|
|
{
|
|
property.group = value;
|
|
}
|
|
|
|
void WayPointItem::SetMissionType(uint8_t value)
|
|
{
|
|
property.mission_type = value;
|
|
update();
|
|
}
|
|
|
|
|
|
void WayPointItem::ElevationTrig(void)
|
|
{
|
|
if(isElevationLock)
|
|
{
|
|
isElevationRequest = true;
|
|
}
|
|
else
|
|
{
|
|
QNetworkAccessManager *networkManager = nullptr;
|
|
networkManager=new QNetworkAccessManager;
|
|
|
|
double lat = this->Coord().Lat();
|
|
double lng = this->Coord().Lng();
|
|
|
|
QString url = QString("https://api.airmap.com/elevation/v1/ele/?points=%1,%2").arg(lat).arg(lng);
|
|
QNetworkRequest request = QNetworkRequest(QUrl(url));
|
|
|
|
connect(networkManager,SIGNAL(finished(QNetworkReply*)),
|
|
this,SLOT(ElevationUpdate(QNetworkReply *)));
|
|
|
|
networkManager->get(request);
|
|
isElevationLock = true;
|
|
isElevationRequest = false;
|
|
}
|
|
}
|
|
|
|
|
|
void WayPointItem::ElevationUpdate(QNetworkReply *reply)
|
|
{
|
|
QByteArray bytes = reply->readAll();
|
|
|
|
QJsonParseError jsonParseError;
|
|
QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
|
|
if (jsonParseError.error != QJsonParseError::NoError) {
|
|
return;
|
|
}
|
|
|
|
QJsonObject json = doc.object();
|
|
|
|
if(json.value("status").toString() == "success")
|
|
{
|
|
QJsonValue jsonValue = json.value("data");
|
|
|
|
if (!jsonValue.isArray()) {
|
|
return;
|
|
}
|
|
|
|
QJsonArray Array = jsonValue.toArray();
|
|
|
|
Elevation = Array.at(0).toInt();
|
|
|
|
qDebug() << "Seq:" << this->Number() << "Elevation" << Elevation;
|
|
|
|
emit ElevationChanged(this->Number(),Elevation);
|
|
emit AltitudeChanged(this->Number(),property.z);
|
|
update();
|
|
}
|
|
|
|
isElevationLock = false;
|
|
|
|
//结束之后检查一下是不是又触发了，是的话再查一次
|
|
if(isElevationRequest)
|
|
{
|
|
ElevationTrig();
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
//==============全局计数===================
|
|
//int WayPointItem::snumber = 1;//从1开始
|
|
int WayPointItem::gnumber = 0;//组计数从1开始
|
|
}
|
|
|