hm/gcs-nf
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
0de5474a8fac38d42a8db1a9e4b693e79b124ae8
gcs-nf/opmap/mapwidget/opmapwidget.cpp
T

3808 lines
107 KiB
C++
Raw Blame History

This file contains ambiguous Unicode characters
This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.
/**
******************************************************************************
*
* @file opmapwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief The Map Widget, this is the part exposed to the user
* @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 "opmapwidget.h"
#include <QtGui>
#include <QMetaObject>
#include "waypointitem.h"
#include "QDir"
#include <QGraphicsSceneMouseEvent>
#include "QTextCodec"
namespace mapcontrol {
OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView(parent), configuration(config), UAV(0), GPS(0), Home(0)
, followmouse(true), compass(0), showuav(false), showhome(false), diagTimer(0), diagGraphItem(0), showDiag(false), overlayOpacity(1),isWPCreate(false)
{
//QTextCodec::setCodecForLocale(QTextCodec::codecForName("GB2312"));
QTextCodec::setCodecForLocale(QTextCodec::codecForName("utf8"));
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
core = new internals::Core;
QDir *MapDir = new QDir;
if(!MapDir->exists("./maps"))
MapDir->mkdir("./maps");//如果文件夹不存在就新建
config->SetCacheLocation(QDir::currentPath() + QDir::separator() + "maps" + QDir::separator());
map = new MapGraphicItem(core, config);
//map->setAcceptDrops(true);
mscene.addItem(map);//添加图层
this->setScene(&mscene);
Home = new HomeItem(map, this);
Home->setParentItem(map);
Home->setZValue(-1);
this->adjustSize();
connect(map, SIGNAL(zoomChanged(double, double, double)), this, SIGNAL(zoomChanged(double, double, double)));
connect(map->core, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
connect(map->core, SIGNAL(OnEmptyTileError(int, core::Point)), this, SIGNAL(OnEmptyTileError(int, core::Point)));
connect(map->core, SIGNAL(OnMapDrag()), this, SIGNAL(OnMapDrag()));
connect(map->core, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SIGNAL(OnMapTypeChanged(MapType::Types)));
connect(map->core, SIGNAL(OnMapZoomChanged()), this, SIGNAL(OnMapZoomChanged()));
connect(map->core, SIGNAL(OnTileLoadComplete()), this, SIGNAL(OnTileLoadComplete()));
connect(map->core, SIGNAL(OnTileLoadStart()), this, SIGNAL(OnTileLoadStart()));
connect(map->core, SIGNAL(OnTilesStillToLoad(int)), this, SIGNAL(OnTilesStillToLoad(int)));
connect(map, SIGNAL(wpdoubleclicked(WayPointItem *)), this, SIGNAL(OnWayPointDoubleClicked(WayPointItem *)));
connect(&mscene, SIGNAL(selectionChanged()), this, SLOT(OnSelectionChanged()));
SetShowDiagnostics(showDiag);
this->setMouseTracking(followmouse);
SetShowCompass(false);
QPixmapCache::setCacheLimit(1024 * 1024);//set 1M byte
setOverlayOpacity(overlayOpacity);
altitudeitem = new AltitudeItem(map,Qt::red);
altitudeitem->setParentItem(map);
altitudeitem->setPos(0,(this->height() - altitudeitem->boundingRect().height())/2);
altitudeitem->hide();
waypointsetting = new WayPointSetting(map,QColor("#a39d9c"));
mscene.addItem(waypointsetting);
waypointsetting->setMode(1);
//waypointsetting->hide();
// WPnearPoint
connect(waypointsetting,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)));
connect(waypointsetting,SIGNAL(WPnearPoint(int)),
this,SLOT(WPnearPoint(int)));
connect(waypointsetting,SIGNAL(WPotherPoint(int)),
this,SLOT(WPotherPoint(int)));
/*
connect(waypointsetting,SIGNAL(WPDelete()),
this,SLOT(WPDelete()));
connect(waypointsetting,SIGNAL(WPInsert()),
this,SLOT(WPInsert()));
connect(waypointsetting,SIGNAL(WPUpload()),
this,SLOT(WPUpload()));
connect(waypointsetting,SIGNAL(WPDownload()),
this,SLOT(WPDownload()));
connect(waypointsetting,SIGNAL(WPSave(QString)),
this,SLOT(WPSave(QString)));
connect(waypointsetting,SIGNAL(WPLoad(QString)),
this,SLOT(WPLoad(QString)));
connect(waypointsetting,SIGNAL(searchall()),
this,SLOT(WPsearchall()));
*/
connect(waypointsetting,SIGNAL(UAVShowTip(bool)),
this,SLOT(UAVTip_clicked(bool)));
connect(waypointsetting,SIGNAL(WPRuler()),
this,SLOT(ruler_clicked()));
connect(waypointsetting,SIGNAL(WPTable()),
this,SLOT(table_clicked()));
connect(this,SIGNAL(measureState(bool)),
waypointsetting,SLOT(measureState(bool)));
connect(waypointsetting,SIGNAL(WPShowTip(bool)),
this,SLOT(WPShowTip(bool)));
//missiontable = new MissionDialog();
//missiontable->hide();
point_begin.SetLat(0);
point_begin.SetLng(0);
point_end.SetLat(100);
point_end.SetLng(100);
measureline = new MeasureLine(point_begin, point_end, map, QColor("#FFFF00"));
mscene.addItem(measureline);
measureline->hide();
connect(measureline,SIGNAL(Lineinfo(qreal,qreal)),
this,SIGNAL(Lineinfo(qreal,qreal)));
NoOperationTimer = new QTimer(this);
connect(NoOperationTimer,SIGNAL(timeout()),
this,SLOT(NOPTimeout()));
NoOperationTimer->start(20000);//20s不操作
currentGroup = 3;
}
void OPMapWidget::dragEnterEvent(QDragEnterEvent *event)
{
QString suffix = event->mimeData()->urls()[0].fileName().right(5);
if(!suffix.compare(tr(".plan")))
{
event->acceptProposedAction();
}
else
{
event->ignore();
}
}
void OPMapWidget::dropEvent(QDropEvent *event)
{
const QMimeData *qm = event->mimeData();
QString fileName = qm->urls()[0].toLocalFile();
if(fileName.right(5) == ".plan")
{
WPLoad(fileName);
}
}
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)
{
emit setrulerClicked();
if(isMeasure)
{
isMeasure = false;
//this->setCursor(Qt::ArrowCursor);
if(measureline)
{
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
{
isMeasure = true;
measurenumber = 1;//开始记录
if(measureline)
{
measureline->show();
}
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);
}
void OPMapWidget::table_clicked(void)
{
emit settableClicked();
}
void OPMapWidget::SetShowDiagnostics(bool const & value)
{
showDiag = value;
}
void OPMapWidget::SetUavPic(QString UAVPic)
{
if (UAV != 0) {
UAV->SetUavPic(UAVPic);
}
if (GPS != 0) {
GPS->SetUavPic(UAVPic);
}
}
void OPMapWidget::SetShowUAV(const bool &value)
{
if (value && UAV == 0) {
UAV = new UAVItem(map, this);
UAV->setParentItem(map);
connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)), UAV, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)), UAV, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
connect(UAV,SIGNAL(selected(int,int)),
this,SIGNAL(uav_selected(int,int)));
UAV->setOpacity(overlayOpacity);
} else if (!value) {
if (UAV != 0) {
delete UAV;
UAV = NULL;
}
}
}
void OPMapWidget::addUAV(int sysid,int compid)
{
UAVItem *uavItem = new UAVItem(map, this);
uavItem->setParentItem(map);
uavItem->SetUavPic("Fixwing.png");
uavItem->setID(sysid,compid);
connect(this, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)),
uavItem, SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
connect(this, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)),
uavItem, SIGNAL(UAVReachedWayPoint(int, WayPointItem *)));
connect(uavItem,SIGNAL(selected(int,int)),
this,SIGNAL(uav_selected(int,int)));
connect(uavItem,SIGNAL(vehicleChanged(int,int)),
this,SLOT(checkoutVehicle(int,int)));
uavItem->setOpacity(overlayOpacity);
//检测，如果只有一个飞机，那么就选中
uint32_t uavCount = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
uavCount ++;
}
}
if(uavCount <= 1)
{
uavItem->setSelect(true);
}
else
{
uavItem->setSelect(false);
}
this->SetCurrentPosition();
}
void OPMapWidget::NOPTimeout()
{
//qDebug() << "NOPTimeout";
//这个超限
if(isWPCreate == false)
{
isLNOP = true;
}
}
void OPMapWidget::SetCurrentPosition()
{
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select())//当前选中，那么检查如果超出了屏幕范围，就将位置拉回中点
{
map->core->SetCurrentPosition(u->UAVPos());//缓慢拉回来
}
}
}
}
void OPMapWidget::SetCurrentPosition(internals::PointLatLng const & value)
{
map->core->SetCurrentPosition(value);
}
void OPMapWidget::setUAVPos(int sysid,int compid,double x,double y,double z)
{
//qDebug() << sysid << compid;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->SysID() == sysid)
{
internals::PointLatLng LatLng;
LatLng.SetLat(x);
LatLng.SetLng(y);
u->SetUAVPos(LatLng,z);
/*
//==========================
编辑界面不拉回
飞行界面 20s不操作才会拉回一次
//===========================*/
if(isWPCreate == false)
{
if(u->Select())//当前选中，那么检查如果超出了屏幕范围，就将位置拉回中点
{
if(((u->pos().x() <= 0)||
(u->pos().x() >= this->size().width())||
(u->pos().y() < 0)||
(u->pos().y() >= this->size().height()))&&(isLNOP == true))
{
this->SetCurrentPosition(LatLng);//缓慢拉回来
}
}
}
}
}
}
}
void OPMapWidget::setUAVHeading(int sysid,int compid,float Heading)
{
Q_UNUSED(compid)
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->SysID() == sysid)
{
u->SetUAVHeading(Heading);
}
}
}
}
void OPMapWidget::setUAVSpeed(int sysid,int compid,qreal Ma,qreal Speed)
{
Q_UNUSED(compid)
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->SysID() == sysid)
{
u->setMa(Ma);
u->setSpeed(Speed);
}
}
}
}
int OPMapWidget::getUAVCurrent(void)
{
int num = -1;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select())
{
num = u->SysID();
}
}
}
return num;
}
void OPMapWidget::DeleteTrail(void)
{
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select())
{
u->DeleteTrail();
}
}
}
}
WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed, int width)
{
if (!from | !to) {
return NULL;
}
WayPointLine *ret = new WayPointLine(from, to, map, color, dashed, width);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointLine *OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed, int width)
{
if (!from | !to) {
return NULL;
}
WayPointLine *ret = new WayPointLine(from, to, map, color, dashed, width);
ret->setOpacity(overlayOpacity);
return ret;
}
void OPMapWidget::WPLineUpdate(int group)//调用这个，刷新连接线
{
}
void OPMapWidget::WPLineDelete(WayPointItem *from, WayPointItem *to)
{
do
{
WayPointLine *line = WPLineFind(from,to);
if(line)
{
delete line;
}
else
{
break;
}
}while(0);
}
WayPointLine *OPMapWidget::WPLineFind(WayPointItem *from, WayPointItem *to)
{
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
if (l) {
if ((l->WPLineFrom() == from) && (l->WPLineTo() == to) )
{
return l;
}
}
}
return NULL;
}
WayPointCircle *OPMapWidget::WPCircleCreate(WayPointItem *center, double radius, bool clockwise, QColor color, bool dashed, int width)
{
if (!center | !radius) {
return NULL;
}
WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color, dashed, width);
ret->setOpacity(overlayOpacity);
return ret;
}
WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, double radius, bool clockwise, QColor color, bool dashed, int width)
{
if (!center | !radius) {
return NULL;
}
WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color, dashed, width);
ret->setOpacity(overlayOpacity);
return ret;
}
void OPMapWidget::SetShowHome(const bool &value)
{
Home->setVisible(value);
}
void OPMapWidget::resizeEvent(QResizeEvent *event)
{
if (scene()) {
scene()->setSceneRect(
QRect(QPoint(0,0), event->size()));
}
QGraphicsView::resizeEvent(event);
if (compass) {
compass->setScale(0.1 + 0.05 * (qreal)(event->size().width()) / 1000 * (qreal)(event->size().height()) / 600);
}
}
QSize OPMapWidget::sizeHint() const
{
return map->sizeHint();
}
void OPMapWidget::showEvent(QShowEvent *event)
{
connect(&mscene, SIGNAL(sceneRectChanged(QRectF)), map, SLOT(resize(QRectF)));
map->start();
QGraphicsView::showEvent(event);
}
OPMapWidget::~OPMapWidget()
{
if (UAV) {
delete UAV;
}
if (Home) {
delete Home;
}
if (map) {
delete map;
}
if (core) {
delete core;
}
if (configuration) {
delete configuration;
}
foreach(QGraphicsItem * i, this->items()) {
if (i) {
delete i;
}
}
}
void OPMapWidget::setCircleEdit(bool v)
{
foreach(QGraphicsItem *item, map->childItems() )
{
CirclePointItem *i = qgraphicsitem_cast<CirclePointItem *>(item);
if(i)
{
i->setCircleEdit(v);
}
}
}
void OPMapWidget::closeEvent(QCloseEvent *event)
{
core->OnMapClose();
event->accept();
}
void OPMapWidget::SetUseOpenGL(const bool &value)
{
useOpenGL = value;
if (useOpenGL) {
setViewport(new QGLWidget(QGLFormat(QGL::DoubleBuffer)));
} else {
setupViewport(new QWidget());
}
update();
}
internals::PointLatLng OPMapWidget::currentMousePosition()
{
return currentmouseposition;
}
void OPMapWidget::mouseMoveEvent(QMouseEvent *event)
{
QGraphicsView::mouseMoveEvent(event);
if(altitudeitem)
{
if((event->pos().x() > altitudeitem->x())&&(event->pos().x() < (altitudeitem->boundingRect().width() + altitudeitem->x())) &&
(event->pos().y() > altitudeitem->y())&&(event->pos().y() < (altitudeitem->boundingRect().height() + altitudeitem->y())))//在高度区域禁止生成航点
{
return;
}
}
//一个区域内禁止生成
if(waypointsetting)
{
if(waypointsetting->isVisible())
{
if((event->pos().x() > waypointsetting->x())&&(event->pos().x() < (waypointsetting->boundingRect().width() + waypointsetting->x())) &&
(event->pos().y() > waypointsetting->y())&&(event->pos().y() < (waypointsetting->boundingRect().height() + waypointsetting->y())))//在按键区域禁止生成航点
{
return;
}
}
}
QPointF p = event->pos();
//qDebug() << "mouseMoveEvent";
p = map->mapFromParent(p);
currentmouseposition = map->FromLocalToLatLng(p.x(), p.y());
isLNOP = false;
if(isMeasure)
{
QPointF p = event->pos();
p = map->mapFromParent(p);
point_end = map->FromLocalToLatLng(p.x(), p.y());
emit mousePosition(point_end.Lat(),point_end.Lng());
if(measureline)
{
if(measurenumber == 2)//取了第一个点后
{
emit MeasurePosition(measurenumber,point_end.Lat(),point_end.Lng());
measureline->setTo(point_end);
}
}
}
emit EmitCurrentMousePosition(currentmouseposition);
if(isMeasure)
{
//QPixmap pix(":/markers/images/ruler.png");
//this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
}
}
void OPMapWidget::mousePressEvent(QMouseEvent *event)
{
QGraphicsView::mousePressEvent(event);
if(altitudeitem)
{
if((event->pos().x() > altitudeitem->x())&&(event->pos().x() < (altitudeitem->boundingRect().width() + altitudeitem->x())) &&
(event->pos().y() > altitudeitem->y())&&(event->pos().y() < (altitudeitem->boundingRect().height() + altitudeitem->y())))//在高度区域禁止生成航点
{
return;
}
}
//一个区域内禁止生成
if(waypointsetting)
{
if(waypointsetting->isVisible())
{
if((event->pos().x() > waypointsetting->x())&&(event->pos().x() < (waypointsetting->boundingRect().width() + waypointsetting->x())) &&
(event->pos().y() > waypointsetting->y())&&(event->pos().y() < (waypointsetting->boundingRect().height() + waypointsetting->y())))//在按键区域禁止生成航点
{
return;
}
}
}
if(event->button() == Qt::LeftButton)
{
if(isMeasure)
{
if(measurenumber == 1)
{
QPointF p = event->pos();
p = map->mapFromParent(p);
point_begin = map->FromLocalToLatLng(p.x(), p.y());
emit MeasurePosition(measurenumber,point_begin.Lat(),point_begin.Lng());
measurenumber ++;
if(measureline)
{
measureline->setFrom(point_begin);
}
}
else
{
QPointF p = event->pos();
p = map->mapFromParent(p);
point_end = map->FromLocalToLatLng(p.x(), p.y());
emit MeasurePosition(measurenumber,point_end.Lat(),point_end.Lng());
measurenumber = 1;
if(measureline)
{
measureline->setTo(point_end);
}
}
}
}
isLNOP = false;
emit MousePressEvent(event);
if(isMeasure)
{
//QPixmap pix(":/markers/images/ruler.png");
//this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
}
}
void OPMapWidget::mouseReleaseEvent(QMouseEvent *event)
{
isLNOP = false;
QGraphicsView::mouseReleaseEvent(event);
emit MouseReleaseEvent(event);
/*
if(isMeasure)
{
if(event->button() == Qt::RightButton)
{
ruler_clicked();
}
}
*/
}
void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
{
QGraphicsView::mouseDoubleClickEvent(event);
if(isMeasure)
{
//QPixmap pix(":/markers/images/ruler.png");
//this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
}
if(isMeasure)
{
return;
}
if(altitudeitem)
{
if((event->pos().x() > altitudeitem->x())&&(event->pos().x() < (altitudeitem->boundingRect().width() + altitudeitem->x())) &&
(event->pos().y() > altitudeitem->y())&&(event->pos().y() < (altitudeitem->boundingRect().height() + altitudeitem->y())))//在高度区域禁止生成航点
{
return;
}
}
//一个区域内禁止生成
if(waypointsetting)
{
if(waypointsetting->isVisible())
{
if((event->pos().x() > waypointsetting->x())&&(event->pos().x() < (waypointsetting->boundingRect().width() + waypointsetting->x())) &&
(event->pos().y() > waypointsetting->y())&&(event->pos().y() < (waypointsetting->boundingRect().height() + waypointsetting->y())))//在按键区域禁止生成航点
{
return;
}
}
}
if(isCircleCreate) //生成盘旋点
{
if(event->button() == Qt::LeftButton)
{
QPointF p = event->pos();
p = map->mapFromParent(p);
internals::PointLatLng temp = map->FromLocalToLatLng(p.x(), p.y() );
CirclePointItem *item = new CirclePointItem(map, p);
item->setLngLat(temp.Lng(), temp.Lat() );
connect(item,&CirclePointItem::cmd_long,
this,&OPMapWidget::cmd_long);
bool isCircleRemove = !item->paramDialogExec();
if(isCircleRemove)
{
delete item;
}
else
{
connect(item, &CirclePointItem::rejected,
this, [this]()
{
QObject *temp = sender();
CirclePointItem *item = qobject_cast<CirclePointItem *>(temp);
item->setParentItem(nullptr);
item->setCircleEdit(false);
connect(item, nullptr, nullptr, nullptr);
item->deleteLater();
});
connect(item, &CirclePointItem::accepted,
this, [this, item]()
{
double radius = item->getRadius();
internals::PointLatLng latLng = item->getLatLng();
//emit cmd_long( 0,0,radius,0, latLng.Lat(), latLng.Lng(),0,192,0);
});
}
}
}
isLNOP = false;
//生成一个列表
//如果是点击生成，那么就获取当前的编辑组，使用当前编辑组的编号
if(currentGroup != 1)//如果不是当前组不是围栏，那么可以生成
{
if(isWPCreate == true)
{
if(event->button() == Qt::LeftButton)
{
QPointF p = event->pos();
p = map->mapFromParent(p);
internals::PointLatLng LatLng;
LatLng = map->FromLocalToLatLng(p.x(), p.y());
WayPointItem *Item = WPCreate(LatLng,50);
qDebug() << "opmapwidget : isWayPointCreate:" << isWayPointCreate;
// if(isWayPointCreate)
// {
foreach(QGraphicsItem * i, map->childItems())
{
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if (w->MissionType() == Item->MissionType())
{
if(w->Number() == (Item->Number() - 1))
{
WPLineCreate(w,Item,Qt::green,false,2);
}
}
}
}
// }
// else
// {
// delete Item;
// }
}
}
}
emit MouseDoubleClickEvent(event);
}
void OPMapWidget::MeasureValueChanged(int num,qreal value)
{
if(measureline)
{
switch (num) {
case 1:
point_begin.SetLat(value);
measureline->setFrom(point_begin);
break;
case 2:
point_begin.SetLng(value);
measureline->setFrom(point_begin);
break;
case 3:
point_end.SetLat(value);
measureline->setTo(point_end);
break;
case 4:
point_end.SetLng(value);
measureline->setTo(point_end);
break;
default:
break;
}
}
}
////////////////WAYPOINT////////////////////////
WayPointItem *OPMapWidget::WPCreate()
{
//获取当前组下面的seq最大值
int seq = getWaypointSize(currentGroup) + 1;
WayPointItem *item = new WayPointItem(this->CurrentPosition(), 0,seq,currentGroup, map);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setSelectedWP(item);
item->emitWPProperty();
item->setisShowTip(isShowTip);
return item;
}
WayPointItem *OPMapWidget::magicWPCreate()
{
//获取当前组下面的seq最大值
int seq = getWaypointSize(currentGroup) + 1;
WayPointItem *item = new WayPointItem(seq,currentGroup,map, true);
item->SetShowNumber(false);
item->setParentItem(map);
item->SetMissionType(currentGroup);
setSelectedWP(item);
item->emitWPProperty();
item->setisShowTip(isShowTip);
return item;
}
void OPMapWidget::WPCreate(WayPointItem *item)
{
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
setSelectedWP(item);
item->emitWPProperty();
item->setisShowTip(isShowTip);
}
WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int const & altitude)
{
//获取当前组下面的seq最大值
int seq = getWaypointSize(currentGroup) + 1;
WayPointItem *item = new WayPointItem(coord, altitude,seq,currentGroup, map);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
setSelectedWP(item);
item->emitWPProperty();
item->setisShowTip(isShowTip);
return item;
}
WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int const & altitude, QString const & description)
{
//获取当前组下面的seq最大值
int seq = getWaypointSize(currentGroup) + 1;
WayPointItem *item = new WayPointItem(coord, altitude,seq,currentGroup, description, map);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
setSelectedWP(item);
item->emitWPProperty();
item->setisShowTip(isShowTip);
return item;
}
WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
{
//获取当前组下面的seq最大值
int seq = getWaypointSize(currentGroup) + 1;
WayPointItem *item = new WayPointItem(relativeCoord,seq,currentGroup, description, map);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
int position = item->Number();
emit WPCreated(position, item);
setOverlayOpacity(overlayOpacity);
setSelectedWP(item);
item->emitWPProperty();
item->setisShowTip(isShowTip);
return item;
}
int OPMapWidget::getWaypointSize(int group)
{
QList<WayPointItem *> list;
list.clear();
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->MissionType() == group) {
list.append(w);
}
}
}
return list.size();
}
void OPMapWidget::WPInsert()
{
bool isExist = false;
//获取位置和组号
int position = 0;
int group = 3;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->isSelected()) {
if(currentGroup == w->MissionType())
{
position = w->Number();
group = w->MissionType();
isExist = true;
break;
}
}
}
}
if(isExist == false)//没有选中的点
{
return;
}
//刷新全部连线，目前连线很乱
internals::PointLatLng latlng;
WayPointItem *item_old0 = WPFind(group,position-1);
WayPointItem *item_old1 = WPFind(group,position);//当前选中的点
WayPointItem *item_old2 = WPFind(group,position+1);
//删除连线
if((item_old1)&&(item_old0))
{
WPLineDelete(item_old0,item_old1);
WPLineDelete(item_old1,item_old0);
internals::PointLatLng latlng1 = item_old0->Coord();
internals::PointLatLng latlng2 = item_old1->Coord();
latlng.SetLat((latlng1.Lat() + latlng2.Lat())/2);
latlng.SetLng((latlng1.Lng() + latlng2.Lng())/2);
}
else
{
if(item_old1)
{
latlng = item_old1->Coord();
}
}
//如果指定的点存在，那么就可以在这之前（编号比现在小）插入一个点
if(item_old1)
{
WayPointItem *item = new WayPointItem(latlng, item_old1->Altitude(), position,group,map);
ConnectWP(item);
item->SetNumber(position);
item->setParentItem(map);
item->SetMissionType(group);
setOverlayOpacity(overlayOpacity);
setSelectedWP(item);
item->emitWPProperty();//这个没有执行
item->setisShowTip(isShowTip);
//调整编号
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == group)
{
if(w != item)
{
if(w->Number() >= item->Number())
{
w->SetNumber(w->Number()+1);
}
}
}
}
}
WayPointItem *w_last = WPFind(group,item->Number() - 1);
if(w_last)
{
WPLineCreate(w_last,item,Qt::green,false,2);
}
WayPointItem *w_next = WPFind(group,item->Number() + 1);
if(w_next)
{
WPLineCreate(item,w_next,Qt::green,false,2);
}
}
//
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->isSelected())
{
w->emitWPProperty();
}
}
}
}
void OPMapWidget::WPInsert(WayPointItem *item, const int &position)
{
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
setOverlayOpacity(overlayOpacity);
item->setisShowTip(isShowTip);
}
WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int const & altitude, const int &position)
{
WayPointItem *item = new WayPointItem(coord, altitude,position,currentGroup, map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
setOverlayOpacity(overlayOpacity);
item->setisShowTip(isShowTip);
return item;
}
WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int const & altitude, QString const & description, const int &position)
{
internals::PointLatLng mcoord;
bool reloc = false;
if (mcoord == internals::PointLatLng(0, 0)) {
mcoord = CurrentPosition();
reloc = true;
} else {
mcoord = coord;
}
WayPointItem *item = new WayPointItem(mcoord, altitude,position,currentGroup, description, map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
if (reloc) {
emit WPValuesChanged(item);
}
setOverlayOpacity(overlayOpacity);
item->setisShowTip(isShowTip);
return item;
}
WayPointItem *OPMapWidget::WPInsert(distBearingAltitude const & relative, QString const & description, const int &position)
{
WayPointItem *item = new WayPointItem(relative,position,currentGroup, description, map);
item->SetNumber(position);
ConnectWP(item);
item->setParentItem(map);
item->SetMissionType(currentGroup);
emit WPInserted(position, item);
setOverlayOpacity(overlayOpacity);
item->setisShowTip(isShowTip);
return item;
}
void OPMapWidget::WPDelete(WayPointItem *item)
{
int number = item->Number();
int group = item->MissionType();
emit WPDeleted(number, item);
delete item;
//当前选中为上一点
WayPointItem *w = WPFind(group,number -1);
if(w)
{
setSelectedWP(w);
w->emitWPProperty();
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w_next = qgraphicsitem_cast<WayPointItem *>(i);
if (w_next) {
if (w->MissionType() == w_next->MissionType()) {
if(w->Number() == (w_next->Number() + 1))
{
WPLineCreate(w,w_next,Qt::green,false,2);
}
}
}
}
}
else
{
WayPointItem *ww = WPFind(group,number);
if(ww)
{
setSelectedWP(ww);
ww->emitWPProperty();
}
}
}
void OPMapWidget::WPDelete(void)
{
int number = 0;
int group = 3;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->isSelected()) {
number = w->Number();
group = w->MissionType();
emit WPDeleted(w->Number(), w);//这个会修改编号
delete w;
}
}
}
//当前选中为上一点
WayPointItem *item = WPFind(group,number -1);
if(item)
{
setSelectedWP(item);
item->emitWPProperty();
WayPointItem *item_next = WPFind(group,number);
if (item_next) {
WPLineCreate(item,item_next,Qt::green,false,2);
}
}
else
{
WayPointItem *ww = WPFind(group,number);
if(ww)
{
setSelectedWP(ww);
ww->emitWPProperty();
}
}
}
WayPointItem *OPMapWidget::WPFind(int group,int number)
{
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == group)
{
if (w->Number() == number) {
return w;
}
}
}
}
return nullptr;
}
void OPMapWidget::WPSetVisibleAll(bool value)
{
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == currentGroup)
{
if (w->Number() != -1) {
w->setVisible(value);
}
}
}
}
}
void OPMapWidget::WPAdd(void)
{
internals::PointLatLng LatLng;
LatLng.SetLat(0);
LatLng.SetLng(0);
WayPointItem *Item = WPCreate(LatLng,50);
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->MissionType() == Item->MissionType()) {
if(w->Number() == (Item->Number() - 1))
{
WPLineCreate(w,Item,Qt::green,false,2);
}
}
}
}
}
//清除当前航线才能下载
void OPMapWidget::WPDeleteAll()
{
//删除一个组
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == currentGroup)
{
emit WPDeleted(w->Number(), w);
delete w;
}
}
}
if(currentGroup == 1)
{
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
delete w;
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
delete w;
}
}
fenceCount = 1;
}
}
bool OPMapWidget::WPPresent()
{
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->Number() != -1) {
return true;
}
}
}
return false;
}
void OPMapWidget::deleteAllOverlays()
{
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *w = qgraphicsitem_cast<WayPointLine *>(i);
if (w) {
w->deleteLater();
} else {
WayPointCircle *ww = qgraphicsitem_cast<WayPointCircle *>(i);
if (ww) {
ww->deleteLater();
}
}
}
}
QList<WayPointItem *> OPMapWidget::WPSelected()
{
QList<WayPointItem *> list;
foreach(QGraphicsItem * i, mscene.selectedItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
list.append(w);
}
}
return list;
}
void OPMapWidget::WPRenumber(WayPointItem *item, const int &newnumber)
{
item->SetNumber(newnumber);
}
void OPMapWidget::ConnectWP(WayPointItem *item)
{
connect(item, SIGNAL(WPNumberChanged(int, int, WayPointItem *)), this, SIGNAL(WPNumberChanged(int, int, WayPointItem *)), Qt::DirectConnection);
connect(item, SIGNAL(WPValuesChanged(WayPointItem *)), this, SIGNAL(WPValuesChanged(WayPointItem *)), Qt::DirectConnection);
connect(item, SIGNAL(localPositionChanged(QPointF, WayPointItem *)), this, SIGNAL(WPLocalPositionChanged(QPointF, WayPointItem *)), Qt::DirectConnection);
connect(item, SIGNAL(manualCoordChange(WayPointItem *)), this, SIGNAL(WPManualCoordChange(WayPointItem *)), Qt::DirectConnection);
connect(this, SIGNAL(WPInserted(int, WayPointItem *)), item, SLOT(WPInserted(int, WayPointItem *)), Qt::DirectConnection);
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)),
this, 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)),Qt::DirectConnection);
connect(this, SIGNAL(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)),
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)),Qt::DirectConnection);
/*
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)),
this, SLOT(find_PointNumber(int)),Qt::DirectConnection);
*/
/*
connect(item, SIGNAL(WPFollowPrevious(bool,WayPointItem*)),
this, SLOT(WPFollowPrevious(bool,WayPointItem*)),Qt::DirectConnection);
*/
connect(item, SIGNAL(localPositionChanged(QPointF, WayPointItem *)),
this, SLOT(WPLocalChanged(QPointF, WayPointItem *)), Qt::DirectConnection);
connect(item,SIGNAL(SetCurrent(int,int)),
this,SIGNAL(setCurrent(int,int)), Qt::DirectConnection);
connect(item,SIGNAL(ElevationChanged(int,double)),
this,SLOT(ElevationChanged(int,double)), Qt::DirectConnection);
connect(item,SIGNAL(AltitudeChanged(int,double)),
this,SLOT(AltitudeChanged(int,double)), Qt::DirectConnection);
connect(item,SIGNAL(setCurrentPoint(int)),
this,SLOT(setCurrentPoint(int)), Qt::DirectConnection);
connect(item,SIGNAL(currentMissiontype(int)),
this,SLOT(WPGroup(int)), Qt::DirectConnection);
//生成后立即选中，并且把信息发给ui界面
item->emitWPProperty();
setSelectedWP(item);
}
void OPMapWidget::diagRefresh()
{
if (showDiag) {
if (diagGraphItem == 0) {
diagGraphItem = new QGraphicsTextItem();
mscene.addItem(diagGraphItem);
diagGraphItem->setPos(10, 100);
diagGraphItem->setZValue(3);
diagGraphItem->setFlag(QGraphicsItem::ItemIsMovable, true);
diagGraphItem->setDefaultTextColor(Qt::yellow);
}
diagGraphItem->setPlainText(core->GetDiagnostics().toString());
} else if (diagGraphItem != 0) {
delete diagGraphItem;
diagGraphItem = 0;
}
}
//////////////////////////////////////////////
void OPMapWidget::SetShowCompass(const bool &value)
{
if (value && !compass) {
compass = new QGraphicsSvgItem(QString::fromUtf8(":/markers/images/compas.svg"));
compass->setScale(0.1 + 0.05 * (qreal)(this->size().width()) / 1000 * (qreal)(this->size().height()) / 600);
// compass->setTransformOriginPoint(compass->boundingRect().width(),compass->boundingRect().height());
compass->setFlag(QGraphicsItem::ItemIsMovable, true);
compass->setFlag(QGraphicsItem::ItemIsSelectable, true);
mscene.addItem(compass);
compass->setTransformOriginPoint(compass->boundingRect().width() / 2, compass->boundingRect().height() / 2);
compass->setPos(55 - compass->boundingRect().width() / 2, 55 - compass->boundingRect().height() / 2);
compass->setZValue(3);
compass->setOpacity(0.7);
}
if (!value && compass) {
delete compass;
compass = 0;
}
}
void OPMapWidget::setOverlayOpacity(qreal value)
{
map->setOverlayOpacity(value);
overlayOpacity = value;
}
void OPMapWidget::SetRotate(qreal const & value)
{
map->mapRotate(value);
if (compass && (compass->rotation() != value)) {
compass->setRotation(value);
}
}
void OPMapWidget::userRipMap(bool start, qreal lat_l, qreal lng_l, qreal lat_r, qreal lng_r, qint8 zoom)
{
internals::RectLatLng rect(lat_l,lng_l,qAbs(lat_r - lat_l),qAbs(lng_r - lng_l));
if(start == true)
{
//生成16个线程
//每个线程分配不同的矩形
//开启线程
MapRipper * mapRipper = new MapRipper(core, rect,zoom);
connect(mapRipper,SIGNAL(percentageChanged(int)),
this,SIGNAL(percentageChanged(int)));
connect(mapRipper,SIGNAL(numberOfTilesChanged(int,int)),
this,SIGNAL(numberOfTilesChanged(int,int)));
connect(mapRipper,SIGNAL(providerChanged(QString,int)),
this,SIGNAL(providerChanged(QString,int)));
connect(this, SIGNAL(cancelRequest()),
mapRipper, SLOT(stopFetching()));
connect(mapRipper,SIGNAL(ripfinished()),
this,SIGNAL(ripfinished()));
emit showMessage(tr("start rip map"));
}
else
{
emit cancelRequest();
emit showMessage(tr("stop rip map"));
}
}
void OPMapWidget::RipMap()
{
new MapRipper(core, map->SelectedArea(),core->MaxZoom());
}
void OPMapWidget::setSelectedWP(QList<WayPointItem * >list)
{
this->scene()->clearSelection();
foreach(WayPointItem * wp, list) {
wp->setSelected(true);
if(altitudeitem)
{
if(!wp->FollowPrevious())
altitudeitem->setCurrentPoint(wp->Number());
}
}
}
void OPMapWidget::setSelectedWP(int number)
{
this->scene()->clearSelection();
WayPointItem *wp = WPFind(currentGroup,number);
if(wp)
{
wp->setSelected(true);
if(altitudeitem)
{
if(!wp->FollowPrevious())
altitudeitem->setCurrentPoint(wp->Number());
}
emit currentPointSeleted(wp->MissionType(),wp->Number());
}
}
void OPMapWidget::setSelectedWP(WayPointItem *item)
{
this->scene()->clearSelection();
item->setSelected(true);
if(altitudeitem)
{
if(!item->FollowPrevious())
altitudeitem->setCurrentPoint(item->Number());
}
}
void OPMapWidget::OnSelectionChanged()
{
QList<QGraphicsItem *> list;
QList<WayPointItem *> wplist;
list = this->scene()->selectedItems();
foreach(QGraphicsItem * item, list) {
WayPointItem *wp = qgraphicsitem_cast<WayPointItem *>(item);
qDebug() << "selete item" << wp->Number();
if (wp) {
wplist.append(wp);
}
}
if (wplist.length() > 0) {
emit selectedWPChanged(wplist);
}
}
void OPMapWidget::WPnearPoint(int number)
{
int position = 0;
int group = 3;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->isSelected()) {
position = w->Number() + number;
group = w->MissionType();
}
}
}
WayPointItem *wp = WPFind(group,position);
if(wp)
{
setSelectedWP(position);
wp->emitWPProperty();
}
}
void OPMapWidget::WPotherPoint(int number)
{
int position = 0;
int group = 3;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if (w->isSelected()) {
group = w->MissionType();
}
}
}
position = number;
WayPointItem *wp = WPFind(group,position);
if(wp)
{
setSelectedWP(position);
wp->emitWPProperty();
}
}
void OPMapWidget::setWPLock(bool const & lock)
{
bool isEdit = false;
if(lock == true)
{
isEdit = false;
}
else
{
isEdit = true;
}
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
qDebug() << "set Edit" <<isEdit;
w->WPSetEdit(isEdit);
}
}
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *uav = qgraphicsitem_cast<UAVItem *>(i);
if (uav) {
uav->setEdit(isEdit);
}
}
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
if (l) {
l->setEdit(isEdit);
}
}
}
void OPMapWidget::WPSetCurrent(int seq)
{
int group = seq /1000 + 3;
int num = seq %1000;
groupchanged(group);
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == group)
{
if(w->Number() == num)
{
w->WPSetCurrent(true);
}
else
{
w->WPSetCurrent(false);
}
}
}
}
}
void OPMapWidget::WPsearchall(void)
{
//重新排序一下
//QList<mapcontrol::WayPointItem *> list;
QMap<int,int> list;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
list.insert(w->Number(),w->Command());
}
}
for (QMap<int,int>::iterator i = list.begin();i != list.end(); ++i)
{
qDebug() << i.key() << i.value();
}
if(list.size() != 0)
{
emit allPoint(list);
}
}
void OPMapWidget::setWPCreate(bool const & value)
{
isWPCreate = value;
if(map)
{
if(value)
{
map->setAcceptDrops(true);
}
else
{
map->setAcceptDrops(false);
}
}
if(altitudeitem)
{
if(value)
{
altitudeitem->show();
}
else
{
altitudeitem->hide();
}
}
if(waypointsetting)
{
if(value)
{
//waypointsetting->show();
waypointsetting->setMode(0);
}
else
{
//waypointsetting->hide();
waypointsetting->setMode(1);
}
}
/*
//如果不是编辑，那就关闭编辑界面
if(value == false)
{
emit closeMissionDialog(true);
}
*/
}
void OPMapWidget::WPLocalChanged(QPointF p, WayPointItem *w)
{
WayPointItem *item = WPFind(w->MissionType(),w->Number() + 1);
if(item)
{
if(item->FollowPrevious() == true)
{
QPointF pos = p;
pos.setX(pos.x() + w->boundingRect().width());
item->setPosition(pos);
}
}
}
void OPMapWidget::WPFollowPrevious(bool flag,WayPointItem *w)
{
int Point_Count = 0;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {//逐渐往下增加
Point_Count++;
}
}
if(flag)
{
WayPointItem *item = WPFind(w->MissionType(),w->Number() - 1);
if(item)
{
WPLineDelete(item,w);
//跟随上一点的位置
QPointF pos = item->pos();
pos.setX(pos.x() + w->boundingRect().width());
w->setPosition(pos);
//找到前后两个不是跟随的点，将他们连接起来
WayPointItem *front_item;
int front_seq = w->Number();
do{
front_item = WPFind(w->MissionType(),front_seq--);
if(front_item)
{
if(front_item->FollowPrevious() == false)
{
qDebug() << "front_item" << front_item->Number();
break;
}
else {
continue;
}
}
else
{
break;
}
}while(front_seq > 0);
WayPointItem *next_item;
int next_seq = w->Number();
do{
next_item = WPFind(w->MissionType(),next_seq++);
if(next_item)
{
WPLineDelete(w,next_item);
if(next_item->FollowPrevious() == false)
{
qDebug() << "next_item" << next_item->Number();
break;
}
else {
continue;
}
}
else
{
break;
}
}while(next_seq <= Point_Count);
if(next_item)
{
WPLineDelete(w,next_item);
}
if((front_item)&&(next_item))
{
WPLineCreate(front_item,next_item,Qt::green,false,2);
}
}
}
else
{
//找到前后两个不是跟随的点，将他们连接起来
WayPointItem *front_item;
int front_seq = w->Number()-1;
do{
front_item = WPFind(w->MissionType(),front_seq--);
if(front_item)
{
if(front_item->FollowPrevious() == false)
{
qDebug() << "front_item" << front_item->Number();
break;
}
else {
//如果上一点存在，那么就删除掉线
qDebug() << "Delete front" << front_item->Number();
WPLineDelete(front_item,w);
continue;
}
}
else
{
break;
}
}while(front_seq > 0);
WayPointItem *next_item;
int next_seq = w->Number()+1;
do{
next_item = WPFind(w->MissionType(),next_seq++);
if(next_item)
{
if(next_item->FollowPrevious() == false)
{
qDebug() << "next_item" << next_item->Number();
break;
}
else {
continue;
}
}
else
{
break;
}
}while(next_seq <= Point_Count);
if((front_item)&&(next_item))
{
WPLineDelete(front_item,next_item);
}
if(front_item)
{
WPLineCreate(front_item,w,Qt::green,false,2);
}
if(next_item)
{
WPLineCreate(w,next_item,Qt::green,false,2);
}
}
}
void OPMapWidget::setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng)
{
//查找对应的组，进行设置
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if ((w)&&(w->Group() == group)) {
w->setParameter(group,radius,inclusion,lat,lng);
}
}
}
void OPMapWidget::setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng)
{
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if ((w)&&(w->Group() == group)) {
QList<internals::PointLatLng> p;
for(QPointF pf:latlng)
{
internals::PointLatLng ll;
ll.SetLat(pf.x());
ll.SetLng(pf.y());
p.push_back(ll);
}
w->setInclusion(inclusion);
w->setVertex(vertex);
w->setPoints(p);
}
}
}
void OPMapWidget::addCircle()
{
bool inclusion = true;
int version = 1;
internals::PointLatLng center = GetFromLocalToLatLng(QPointF(this->pos().x() + this->width()/2,this->pos().y() + this->height()/2));
qreal lat = center.Lat();
qreal lng = center.Lng();
qreal radius = 10000;
//生成一个⚪
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
void OPMapWidget::addPolygon()
{
//找到地图中心,做4个点
bool inclusion = true;
int version = 1;
internals::PointLatLng center = GetFromLocalToLatLng(QPointF(this->pos().x() + this->width()/2,this->pos().y() + this->height()/2));
QList<QPointF> latlng;
QList<internals::PointLatLng> points;
latlng.clear();
points.clear();
qreal lat = center.Lat();
qreal lng = center.Lng();
//生成一个多边形
points.push_back(internals::PointLatLng(lat + 0.2,lng - 0.2));
points.push_back(internals::PointLatLng(lat + 0.2,lng + 0.2));
points.push_back(internals::PointLatLng(lat - 0.2,lng + 0.2));
points.push_back(internals::PointLatLng(lat - 0.2,lng - 0.2));
latlng.push_back(QPointF(points.value(0).Lat(),points.value(0).Lng()));
latlng.push_back(QPointF(points.value(1).Lat(),points.value(1).Lng()));
latlng.push_back(QPointF(points.value(2).Lat(),points.value(2).Lng()));
latlng.push_back(QPointF(points.value(3).Lat(),points.value(3).Lng()));
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
polyitem->setPoints(points);
emit createFencePolygon(fenceCount++,latlng.size(),inclusion,latlng);
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
}
void OPMapWidget::delFence(int group)
{
//找出编号为group的栅栏，删除
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
if(w->Group() == group)
{
w->deleteLater();
}
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
if(w->Group() == group)
{
w->deleteLater();
}
}
}
//重新整理一下fenceCount
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
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) {
if(w->Group() > group)
{
int old = w->Group();
w->setGroup(w->Group() - 1);
int cur = w->Group();
emit FenceGroupChanged(old,cur);
}
}
}
fenceCount --;
}
//先清除再读取
void OPMapWidget::WPLoad(QString path)//带文件目录参数
{
//fenceCount = 0;
qDebug() << "WPLoad" << path;
//读取
QFile jsonFile(path);
if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
qWarning() << "Unable to open file" << path << jsonFile.errorString();
return;
}
QByteArray bytes = jsonFile.readAll();
jsonFile.close();
QJsonParseError jsonParseError;
QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
if (jsonParseError.error != QJsonParseError::NoError) {
qWarning() << path << "Unable to open json document" << jsonParseError.errorString();
return;
}
QJsonObject json = doc.object();
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;
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
delete w;
}
}
fenceCount = 1;
//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));
}
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();
int version = item.toObject().value("version").toInt();
QJsonArray center = circle.value("center").toArray();
qreal lat = center.at(0).toDouble();
qreal lng = center.at(1).toDouble();
qreal radius = circle.value("radius").toDouble();
//生成一个⚪
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
}
else if(currentGroup >= 3)
{
int GrouNumber = currentGroup - 2;
if(GrouNumber > 0)
{
emit showMessage(tr("Load Mission File:Group %1,%2").arg(QString::number(GrouNumber)).arg(path));
}
//清除所有
//删除一个组
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == currentGroup)
{
emit WPDeleted(w->Number(), w);
delete w;
}
}
}
//任务解码
QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
for(QJsonValue item: itemsArray) {
if (!item.isObject()) {
return;
}
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;
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);
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)
{
//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)
{
int GrouNumber = currentGroup - 2;
if(GrouNumber > 0)
{
emit showMessage(tr("Save Mission File:Group %1,%2").arg(QString::number(GrouNumber)).arg(path));
}
QJsonArray items;
QJsonArray plannedHomePosition;
QMap<int,WayPointItem *> wlist;
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);
}
}
}
for (QMap<int,WayPointItem *>::iterator i = wlist.begin(); i != wlist.end(); ++i) {
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);
}
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());
}
}
}
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();
}
void OPMapWidget::WPDownload(void)
{
//请求读取航点
qDebug() << "WPDownload";
WPDeleteAll();
if(currentGroup == 1)
{
fenceCount = 1;
}
int sysid = 0;
int compid = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
emit signal_WPDownload(sysid,compid,currentGroup);
}
}
}
}
void OPMapWidget::WPUpload(void)
{
if(currentGroup == 1)//这是栅栏
{
int sysid = 0;
int compid = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
}
}
}
int FecneSeq = 0;
//查找所有的子类
bool FenceItemExit = false;
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
FenceItemExit = true;
QList<internals::PointLatLng> latlng = w->Points();
bool inclusion = w->Inclusion();
qreal Vertex = w->Vertex();
qreal group = w->Group();
for(internals::PointLatLng p:latlng)
{
emit sendFence(Vertex,
group,
p.Lat(),
p.Lng(),
FecneSeq++,
(inclusion)?(MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION):(MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) ,
sysid,
compid,
1);
qDebug() << "send fence to thread";
}
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
FenceItemExit = true;
internals::PointLatLng p = w->coord;
bool inclusion = w->Inclusion();
qreal Vertex = w->Radius();
qreal group = w->Group();
emit sendFence(Vertex,
group,
p.Lat(),
p.Lng(),
FecneSeq++,
(inclusion)?(MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION ):(MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION ),
sysid,
compid,
1);
}
}
if(FenceItemExit == false)
{
emit showMessage(tr("please load fence first"));
return;
}
emit showMessage(tr("start upload fence,total:%1").arg(FecneSeq));
//选择当前ID号
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
//如果有选中，那么就发送，选中几个就发几个
emit signal_WPUpload(sysid,compid,FecneSeq,1);//直接发送全部围栏到
}
}
}
}
else
{
//发送第一个
QList<mapcontrol::WayPointItem *> list;
//先发送一个清空指令
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
//上传当前选中的航线
if(w->MissionType() == currentGroup)
{
list.append(w);
w->emitWPProperty();
//w->setVisible(false);
}
}
}
if(list.size() <= 0)
{
emit showMessage(tr("please load mission first"));
return;
}
int GrouNumber = currentGroup - 2;
if(GrouNumber > 0)
{
emit showMessage(tr("start upload mission %1,total %2").arg(GrouNumber).arg(list.size()));
}
//选择当前ID号
int sysid = 0;
int compid = 0;
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select() == true)
{
sysid = u->SysID();
compid = u->CompID();
//如果有选中，那么就发送，选中几个就发几个
emit signal_WPUpload(sysid,compid,list.size(),currentGroup);//直接发送全部航点到
}
}
}
}
}
//飞行界面收到的当前航点的消息
void OPMapWidget::groupchanged(int value)
{
currentMissionType = value;
//如果当前是在飞行界面，那么就下载，否则不动
if(isWPCreate == true)//编辑界面
{
}
else//飞行界面
{
//qDebug() << "show current group" << currentMissionType;
if(currentMissionType > 6)
{
return;
}
//将不是当前的全部变成灰色，当前的显示
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == currentMissionType)
{
w->setisActive(true);
}
else
{
w->setisActive(false);
}
}
}
//将不是当前的先全部变成灰色,当前的显示
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
if (l) {
WayPointItem *from = nullptr;
WayPointItem *to = nullptr;
QGraphicsItem *_f = l->WPLineFrom();
QGraphicsItem *_t = l->WPLineTo();
if(_f)
{
from = qgraphicsitem_cast<WayPointItem *>(_f);
}
if(_t)
{
to = qgraphicsitem_cast<WayPointItem *>(_t);
}
if((from)||(to))
{
if(from)
{
if(from->MissionType() == currentMissionType)
{
l->setisActive(true);
}
else
{
l->setisActive(false);
}
}
else if(to)
{
if(to->MissionType() == currentMissionType)
{
l->setisActive(true);
}
else
{
l->setisActive(false);
}
}
else//不知道这句对不对
{
//l->setisActive(false);
}
}
}
}
}
update();
}
//编辑界面收到的组切换的消息
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
//将不是当前的全部变成灰色，当前的显示
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == currentGroup)
{
w->setisActive(true);
}
else
{
w->setisActive(false);
}
}
}
//将不是当前的先全部变成灰色,当前的显示
foreach(QGraphicsItem * i, map->childItems()) {
WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
if (l) {
WayPointItem *from = nullptr;
WayPointItem *to = nullptr;
QGraphicsItem *_f = l->WPLineFrom();
QGraphicsItem *_t = l->WPLineTo();
if(_f)
{
from = qgraphicsitem_cast<WayPointItem *>(_f);
}
if(_t)
{
to = qgraphicsitem_cast<WayPointItem *>(_t);
}
if((from)||(to))
{
if(from)
{
if(from->MissionType() == currentGroup)
{
l->setisActive(true);
}
else
{
l->setisActive(false);
}
}
else if(to)
{
if(to->MissionType() == currentGroup)
{
l->setisActive(true);
}
else
{
l->setisActive(false);
}
}
else//不知道这句对不对
{
//l->setisActive(false);
}
}
}
}
emit settableGroup(currentGroup);
find_PointNumber(currentGroup);
QMap<int,float> Info_Elevation;
QMap<int,float> Info_Altitude;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(w->MissionType() == currentGroup)
{
if(!w->FollowPrevious())
{
Info_Elevation.insert(w->Number(),w->getElevation());
Info_Altitude.insert(w->Number(),w->Alt());
}
}
}
}
if(altitudeitem)
{
altitudeitem->setElevation(Info_Elevation);
altitudeitem->setAltitude(Info_Altitude);
}
update();
}
void OPMapWidget::WPSendItemOK(uint16_t seq, bool flag)
{
if(flag == true)
{
QString str;
str.append(tr("upload Mission"));
str.append(QString::number(seq));
emit showMessage(str);
}
else
{
QString str;
str.append(tr("upload fail %1").arg(seq));
emit showMessage(str);
}
}
//这个有可能是其他线程运行，导致生成的航点不对,下载得到
void OPMapWidget::receivedPoint(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)
{
qDebug() << "receivers Point";
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;
PolygonCount ++;
bool inclusion = true;
PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
if(PolygonCount >= param1)
{
QList<QPointF> latlng;
qreal lat_sum = 0;
qreal lng_sum = 0;
for (internals::PointLatLng point: PolygonPoints) {
qreal lat = point.Lat();
qreal lng = point.Lng();
lat_sum += lat;
lng_sum += lng;
latlng.push_back(QPointF(lat,lng));
}
internals::PointLatLng center;
center.SetLat(lat_sum/latlng.size());
center.SetLng(lng_sum/latlng.size());
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
polyitem->setPoints(PolygonPoints);
emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
PolygonCount = 0;
PolygonPoints.clear();
}
}
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;
PolygonCount ++;
bool inclusion = false;
PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
if(PolygonCount >= param1)
{
QList<QPointF> latlng;
qreal lat_sum = 0;
qreal lng_sum = 0;
for (internals::PointLatLng point: PolygonPoints) {
qreal lat = point.Lat();
qreal lng = point.Lng();
lat_sum += lat;
lng_sum += lng;
latlng.push_back(QPointF(lat,lng));
}
internals::PointLatLng center;
center.SetLat(lat_sum/latlng.size());
center.SetLng(lng_sum/latlng.size());
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
polyitem->setPoints(PolygonPoints);
emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
PolygonCount = 0;
PolygonPoints.clear();
}
}
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;
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,x * 10e-8,y * 10e-8);
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
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;
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,x * 10e-8,y * 10e-8);
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
else if(command == MAV_CMD_NAV_RALLY_POINT )
{
}
}
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);
if (w) {
if(w->MissionType() == mission_type)//如果组别一样，那么就赋值
{
if(w->Number() == (seq+1))
{
qDebug() << "waypoint exist:" << w->Number() << seq+1;
isExist = true;
internals::PointLatLng LatLng;
LatLng.SetLat(x * 10e-8);
LatLng.SetLng(y * 10e-8);
w->SetLat(LatLng.Lat());
LatLng.SetLng(LatLng.Lng());
w->SetNumber(seq+1);
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq+1,
group,
command,
target_system,
target_component,
frame,
current,
autocontinue,
mission_type);
w->emitWPProperty();
}
}
}
}
if(!isExist)
{
internals::PointLatLng LatLng;
LatLng.SetLat(x * 10e-8);
LatLng.SetLng(y * 10e-8);
//获取当前组下面的seq最大值
WayPointItem *Item = new WayPointItem(LatLng, z,seq+1,mission_type, map);
ConnectWP(Item);
Item->setParentItem(map);
Item->SetMissionType(mission_type);
int position = Item->Number();
emit WPCreated(position, Item);
setOverlayOpacity(overlayOpacity);
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq+1,
group,
command,
target_system,
target_component,
frame,
current,
autocontinue,
mission_type);
Item->emitWPProperty();
Item->setisShowTip(isShowTip);
qDebug() << "waypoint not exist:" << Item->Number() << seq+1 <<currentGroup << mission_type;
//===========连线
WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
if(w_last)
{
WPLineCreate(w_last,Item,Qt::green,false,2);
}
}
qDebug() << "Exist" << isExist;
}
}
void OPMapWidget::checkoutVehicle(int sys,int comp)
{
//检查并发送读取航线的信号
//删除一个组
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
emit WPDeleted(w->Number(), w);
delete w;
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
if (w) {
delete w;
}
}
foreach(QGraphicsItem * i, map->childItems()) {
geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
if (w) {
delete w;
}
}
//发送信号清除表格所有东西
emit clearTable();
//发送切换的信号，从缓存读取航线
emit getMissionFromVehicle(sys);
}
//这个有可能是其他线程运行，导致生成的航点不对,下载得到
void OPMapWidget::vehicleChanged(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((mission_type - 2) == -1)
{
qDebug() << command << seq << param1 << param2 << param3 << param4 << x << y;
if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION )
{
static int PolygonCount = 0;
static QList<internals::PointLatLng> PolygonPoints;
PolygonCount ++;
bool inclusion = true;
PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
if(PolygonCount >= param1)
{
QList<QPointF> latlng;
qreal lat_sum = 0;
qreal lng_sum = 0;
for (internals::PointLatLng point: PolygonPoints) {
qreal lat = point.Lat();
qreal lng = point.Lng();
lat_sum += lat;
lng_sum += lng;
latlng.push_back(QPointF(lat,lng));
}
internals::PointLatLng center;
center.SetLat(lat_sum/latlng.size());
center.SetLng(lng_sum/latlng.size());
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
polyitem->setPoints(PolygonPoints);
emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
PolygonCount = 0;
PolygonPoints.clear();
}
}
else if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION )
{
static int PolygonCount = 0;
static QList<internals::PointLatLng> PolygonPoints;
PolygonCount ++;
bool inclusion = false;
PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
if(PolygonCount >= param1)
{
QList<QPointF> latlng;
qreal lat_sum = 0;
qreal lng_sum = 0;
for (internals::PointLatLng point: PolygonPoints) {
qreal lat = point.Lat();
qreal lng = point.Lng();
lat_sum += lat;
lng_sum += lng;
latlng.push_back(QPointF(lat,lng));
}
internals::PointLatLng center;
center.SetLat(lat_sum/latlng.size());
center.SetLng(lng_sum/latlng.size());
geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
polyitem->setPoints(PolygonPoints);
emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
connect(polyitem,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)),
this,SIGNAL(updateFencePolygon(int,qreal,bool,QList<QPointF>)));
PolygonCount = 0;
PolygonPoints.clear();
}
}
else if(command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION )
{
bool inclusion = true;
qreal radius = param1;
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,x * 10e-8,y * 10e-8);
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
else if(command == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION )
{
bool inclusion = false;
qreal radius = param1;
geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
emit createFenceCircle(fenceCount++,radius,inclusion,x * 10e-8,y * 10e-8);
connect(c,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)),
this,SIGNAL(updateFenceCircle(int,qreal,bool,qreal,qreal)));
}
else if(command == MAV_CMD_NAV_RALLY_POINT )
{
}
}
else
{
bool isExist = false;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {
if(w->MissionType() == mission_type)//如果组别一样，那么就赋值
{
if(w->Number() == (seq+1))
{
isExist = true;
internals::PointLatLng LatLng;
LatLng.SetLat(x * 10e-8);
LatLng.SetLng(y * 10e-8);
w->SetLat(LatLng.Lat());
LatLng.SetLng(LatLng.Lng());
w->SetNumber(seq+1);
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq+1,
group,
command,
target_system,
target_component,
frame,
current,
autocontinue,
mission_type);
w->emitWPProperty();
}
}
}
}
if(!isExist)
{
internals::PointLatLng LatLng;
LatLng.SetLat(x * 10e-8);
LatLng.SetLng(y * 10e-8);
//获取当前组下面的seq最大值
WayPointItem *Item = new WayPointItem(LatLng, z,seq+1,mission_type, map);
ConnectWP(Item);
Item->setParentItem(map);
Item->SetMissionType(mission_type);
int position = Item->Number();
emit WPCreated(position, Item);
setOverlayOpacity(overlayOpacity);
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq+1,
group,
command,
target_system,
target_component,
frame,
current,
autocontinue,
mission_type);
Item->emitWPProperty();
Item->setisShowTip(isShowTip);
//===========连线
WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
if(w_last)
{
WPLineCreate(w_last,Item,Qt::green,false,2);
}
}
}
}
void OPMapWidget::getMapTypes(void)
{
emit MapTypes(Helper::MapTypes());
}
void OPMapWidget::setMapTypes(QVariant value)
{
this->SetMapType(Helper::MapTypeFromString(value.toString()));
}
void OPMapWidget::ElevationChanged(int seq,double value)
{
QMap<int,float> Info;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(w->MissionType() == currentGroup)
{
if(!w->FollowPrevious())
Info.insert(w->Number(),w->getElevation());
}
}
}
if(altitudeitem)
{
altitudeitem->setElevation(Info);
}
}
void OPMapWidget::AltitudeChanged(int seq,double value)
{
QMap<int,float> Info;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(w->MissionType() == currentGroup)
{
if(!w->FollowPrevious())
Info.insert(w->Number(),w->Alt());
}
}
}
if(altitudeitem)
{
altitudeitem->setAltitude(Info);
}
updateMessage();
}
void OPMapWidget::setCurrentPoint(int value)
{
//qDebug() << "current point" << value;
if(altitudeitem)
{
altitudeitem->setCurrentPoint(value);
}
}
void OPMapWidget::getCurrentPoint(int group)
{
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(w->MissionType() == group)
{
if(w->isSelected())
{
w->emitWPProperty();
}
}
}
}
}
void OPMapWidget::updateMessage(void)
{
totalDistance = 0;
WayPointItem *Last = nullptr;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(Last != nullptr)
{
totalDistance += internals::PureProjection::DistanceBetweenLatLng(Last->Coord(),w->Coord()) * 10e2;
}
Last = w;
}
}
Last = nullptr;
delete Last;
emit TotalDistanceUpdate(totalDistance);
}
void OPMapWidget::find_PointNumber(int group)
{
QList<int> nums;
nums.clear();
int number = 0;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(w->MissionType() == group)//如果组别一样，那么就赋值
{
number = w->Number();
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST)
{
nums.append(number);
}
}
}
}
qDebug() << "nums" << nums;
emit PointNumber(nums);
}
void OPMapWidget::getAllPoints(int group)
{
QMap<int,WayPointItem *> points;
points.clear();
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
if(w->MissionType() == group)
{
points.insert(w->Number(),w);
}
}
}
QMapIterator<int,WayPointItem *> iter(points);
while (iter.hasNext()) {
iter.next();
WayPointItem *Item = iter.value();
Item->emitWPProperty();
}
}
void OPMapWidget::WPShowTip(bool flag)
{
isShowTip = flag;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w)
{
w->setisShowTip(flag);
}
}
update();
}
}
Reference in New Issue View Git Blame Copy Permalink